CN107351125B - Detachable connecting mechanism of manipulator on underwater robot - Google Patents
Detachable connecting mechanism of manipulator on underwater robot Download PDFInfo
- Publication number
- CN107351125B CN107351125B CN201710670062.7A CN201710670062A CN107351125B CN 107351125 B CN107351125 B CN 107351125B CN 201710670062 A CN201710670062 A CN 201710670062A CN 107351125 B CN107351125 B CN 107351125B
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- mounting sleeve
- manipulator
- clamping blocks
- sleeve seat
- seat
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0075—Means for protecting the manipulator from its environment or vice versa
- B25J19/0083—Means for protecting the manipulator from its environment or vice versa using gaiters
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a detachable connecting mechanism of an upper manipulator of an underwater robot, which can conveniently separate mechanical connection and electrical connection simultaneously, and comprises a mounting sleeve seat arranged on the body of the underwater robot, wherein a cable socket is arranged in the mounting sleeve seat, a hollow manipulator connecting seat is movably embedded in the mounting sleeve seat, a mounting groove is arranged on the periphery of the part of the manipulator connecting seat penetrating through the mounting sleeve seat, two driving clamping blocks and at least two transmission clamping blocks are arranged in the mounting groove, steel balls are arranged between the driving clamping blocks and the transmission clamping blocks and between two adjacent transmission clamping blocks in the mounting groove, a driving part inserted between the two driving clamping blocks to enable all the steel balls to be partially extruded into a locking groove to enable the manipulator connecting seat to be connected with the mounting sleeve seat is arranged on the mounting sleeve seat, and a power device for driving the driving part is also arranged on the mounting sleeve seat, and a cable plug matched with the cable socket is arranged in the manipulator connecting seat.
Description
Technical Field
The invention relates to a detachable connecting mechanism of an upper manipulator of an underwater robot.
Background
The underwater robot is provided with the underwater manipulator, the underwater manipulator can be entangled by waterweeds, fishing nets and cables or clamped by underwater stones in the operation process, so that the underwater robot cannot float, and at the moment, the manipulator is rapidly released to ensure that the underwater robot body can float upwards, so that the underwater robot is the only way for self rescue of the underwater robot. The release device designed by patent document 201210404590.5 entitled "an underwater electromechanical release device" divides the release process of a manipulator into two parts, namely mechanical separation and cable pulling-off, and occupies a large space. The patent document '201210140056.8 releasable device for detachable connection mechanism of manipulator on pneumatic driven underwater robot' adopts high-pressure gas in a gas cylinder as power source to drive releasable action, and because the pressure of the power source needs to overcome the pressure of external seawater additionally, the influence of the working depth on the pressure of the power source is large, and especially when the working depth is large, because the gas with high pressure needs to be filled in the gas cylinder, the danger in the process of installing the gas cylinder on shore is increased.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: provided is a detachable connection mechanism of an upper manipulator of an underwater robot, which can conveniently separate mechanical connection and electrical connection at the same time.
In order to solve the technical problems, the technical scheme adopted by the invention is as follows: a detachable connecting mechanism of a manipulator on an underwater robot comprises a mounting sleeve seat arranged on a body of the underwater robot, wherein a cable socket is arranged in the mounting sleeve seat, the cable socket is sealed with the mounting sleeve seat through vulcanized rubber, a hollow manipulator connecting seat is movably embedded in the mounting sleeve seat, a mounting groove is arranged on the periphery of the part, penetrating the mounting sleeve seat, of the manipulator connecting seat, two driving clamping blocks and at least two transmission clamping blocks are arranged in the mounting groove, steel balls are arranged between the driving clamping blocks and the transmission clamping blocks and between the two adjacent transmission clamping blocks in the mounting groove, the driving clamping blocks and the transmission clamping blocks are arc-shaped blocks matched with the mounting groove, two ends of the driving clamping blocks and the transmission clamping blocks are arc surfaces, a locking groove matched with the steel balls is arranged on the inner wall of the mounting sleeve seat, and the depth of the locking groove is smaller than the radius of the steel ball 2/3, the thickness of the driving clamping block and the thickness of the transmission clamping block are larger than the width of the locking groove, a driving piece which is inserted between the two driving clamping blocks so that all steel balls are partially extruded into the locking groove to enable the manipulator connecting seat to be connected with the mounting sleeve seat is arranged on the mounting sleeve seat, a power device for driving the driving piece is further arranged on the mounting sleeve seat, and a cable plug matched with the cable socket is arranged in the manipulator connecting seat.
The invention further aims to solve the technical problems that: a detachable connection mechanism of a manipulator on an underwater robot that is less affected by the working depth is provided.
In order to solve the further technical problem, the technical scheme adopted by the invention is as follows: the power device comprises a pressure-bearing cylinder connected with the mounting sleeve seat, the pressure-bearing cylinder comprises a cylinder body, a front end cover and a rear end cover which are connected together, a motor is arranged in the cylinder body, a lead screw is arranged in the front end cover in a rotating mode, an output shaft of the motor is connected with the lead screw, a guide hole is formed in the front end cover, one end of a driving piece is arranged in the guide hole in a sealing mode, a threaded hole is formed in the driving piece, the end portion of the lead screw is arranged in the threaded hole in a penetrating mode, a one-way valve used for vacuumizing the pressure-bearing cylinder is arranged on the rear end cover, a watertight head is arranged on the cylinder body, a cable of the motor penetrates.
As a preferred scheme, a sealing plate is sleeved on the lower portion of the mounting sleeve seat on the manipulator connecting seat, a sealing ring is arranged on the surface of the sealing plate, which faces the mounting sleeve seat, a sealing ring is also arranged on the portion of the sealing plate, which is in contact with the manipulator connecting seat, and four jacking bolts are arranged on the sealing plate, which jack the manipulator connecting seat and are located outside the mounting sleeve seat, so that the sealing plate and the mounting sleeve seat are sealed.
Preferably, a sealing ring is arranged between the driving piece and the mounting sleeve seat.
As a preferred scheme, the manipulator connecting seat and the cable plug are sealed through vulcanized rubber.
As a preferable scheme, the section of the end part of the output shaft of the motor is rectangular, and a corresponding rectangular hole is formed in the screw rod.
As a preferable scheme, a trigger is arranged on the driving piece, and a proximity switch which is matched with the trigger and sends a signal to stop the motor from rotating is arranged in the front end cover.
The invention has the beneficial effects that: the installation sleeve seat is internally provided with a cable socket, the installation sleeve seat is provided with a driving piece which is inserted between the two driving clamping blocks so that all the steel balls are partially extruded into the locking groove to connect the manipulator connecting seat and the installation sleeve seat together, the installation sleeve seat is also provided with a power device for driving the driving piece, and the manipulator connecting seat is internally provided with a cable plug matched with the cable socket; only need pull back the driving piece, the manipulator under the effect of gravity and winding thing, in addition the power simultaneous action of robot upward movement, can be so that installation sleeve seat and manipulator connecting seat separation, cable plug and cable socket also can separate simultaneously, overall structure is simple, and the separation is quick.
Because the rear end cover is provided with the one-way valve for vacuumizing the pressure-bearing cylinder, the inside of the pressure-bearing cylinder is in a vacuum state, when the driving piece retracts, the pressure intensity inside the pressure-bearing cylinder cannot be increased due to the reduction of the space, and then the condition that the pressure intensities on the two sides of the driving piece are different occurs, so that the acting force required by the action of the driving piece is reduced.
Because the section of the end part of the output shaft of the motor is rectangular, and the lead screw is provided with a corresponding rectangular hole for power transmission, structures such as a coupler, a pre-tightening screw and the like are omitted.
Due to the fact that the screw rod is used for transmission, when the underwater robot works normally, the driving piece and the screw rod shaft form self-locking, and therefore the driving clamping block, the transmission clamping block and the steel ball at the front end of the driving piece are reliably compressed, and fixing of the manipulator is achieved.
Because the sealing plate is sleeved on the lower part of the mounting sleeve seat on the manipulator connecting seat, the sealing ring is arranged on the surface of the sealing plate opposite to the mounting sleeve seat, the sealing ring is also arranged on the part of the sealing plate, which is contacted with the manipulator connecting seat, and the four jacking manipulator connecting seats are arranged on the sealing plate and are positioned outside the mounting sleeve seat so as to ensure that the jacking bolts are sealed between the sealing plate and the mounting sleeve seat. Before the separation, the jacking bolt plays two roles simultaneously, and not only provides supporting force for fixing the manipulator connecting seat, but also provides pretightening force for sealing between the sealing plate and the mounting sleeve seat.
Drawings
Fig. 1 is a front sectional structural schematic view of the present invention.
Fig. 2 is a schematic top view of the present invention.
Fig. 3 is a schematic view of the driving member in the locked state according to the present invention.
Fig. 4 is a schematic structural view of the driving member in the unlocked state in the present invention.
Figure 5 is a schematic view of a mounting sleeve seat portion of the present invention.
Figure 6 is a schematic view of the robot connecting block with the sealing plate portion disengaged from the mounting sleeve mount of the present invention.
In fig. 1 to 6: 1. the mechanical arm comprises a mounting sleeve seat, 2 a cable socket, 3 a mechanical arm connecting seat, 4 a driving clamping block, 5 a transmission clamping block, 6 a steel ball, 7 a driving piece, 8 a sealing ring, 9 a cylinder body, 10 a front end cover, 11 a rear end cover, 12 a motor, 13 a lead screw, 14 a trigger piece, 15 a proximity switch, 16 a one-way valve, 17 a watertight head, 18 a vulcanized rubber sealing piece, 19 a cable plug, 20 a sealing plate, 21 a sealing ring, 22 a sealing ring and 23 a jacking bolt.
Detailed Description
Specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings.
As shown in fig. 1-6, a detachable connection mechanism for a manipulator on an underwater robot comprises a mounting sleeve seat 1 arranged on an underwater robot body, wherein a cable socket 2 is arranged in the mounting sleeve seat 1, the cable socket 2 is sealed with the mounting sleeve seat 1 through vulcanized rubber, and a hollow manipulator connection seat 3 is movably embedded in the mounting sleeve seat 1.
The manipulator connecting seat 3 is provided with a mounting groove on the upper periphery of the part penetrating through the mounting sleeve seat 1. Be equipped with two drive fixture blocks 4 and two transmission fixture blocks 5 in the mounting groove, all be equipped with steel ball 6 between drive fixture block 4 and transmission fixture block 5 in the mounting groove and between two adjacent transmission fixture blocks 5, drive fixture block 4 and transmission fixture block 5 are the arc piece with mounting groove matched with, and the both ends of drive fixture block 4 and transmission fixture block 5 all are the arc surface, be equipped with on the 1 inner wall of mounting sleeve seat and lock the recess with steel ball 6 matched with, the degree of depth of locking recess is less than 2/3's steel ball 6 radiuses, the thickness of drive fixture block 4 and transmission fixture block 5 is greater than the locking recess width. The mounting sleeve seat 1 is provided with a driving piece 7 which is inserted between the two driving clamping blocks 4 so that all the steel balls 6 are partially extruded into the locking groove to connect the manipulator connecting seat 3 and the mounting sleeve seat 1 together. A sealing ring 8 is arranged between the driving piece 7 and the mounting sleeve seat 1.
The mounting sleeve seat 1 is also provided with a power device for driving the driving piece 7. The power device comprises a pressure-bearing cylinder connected with the mounting sleeve seat 1, and the pressure-bearing cylinder comprises a cylinder body 9, a front end cover 10 and a rear end cover 11 which are connected together. The cylinder 9 is provided with a motor 12. A screw 13 is rotatably arranged in the front end cover 10, and an output shaft of the motor 12 is connected with the screw 13. The section of the end part of the output shaft of the motor 12 is rectangular, and a corresponding rectangular hole is arranged in the lead screw 13.
The front end cover 10 is provided with a guide hole, one end of the driving piece 7 is hermetically arranged in the guide hole in a penetrating mode, a threaded hole is formed in the driving piece 7, and the end portion of the lead screw 13 is arranged in the threaded hole in a penetrating mode. The driving member 7 is provided with a trigger 14, and the front end cover 10 is provided with a proximity switch 15 which is matched with the trigger 14 and sends a signal to stop the motor 12. The rear end cover 11 is provided with a one-way valve 16 for vacuumizing the pressure-bearing cylinder. The cylinder 9 is provided with a watertight head 17, a cable wire of the motor 12 penetrates out of the watertight head 17, and a vulcanized rubber sealing piece 18 for sealing the cable is arranged in the watertight head 17.
The manipulator connecting seat 3 is provided with a cable plug 19 which is matched with the cable socket 2. The manipulator connecting seat 3 and the cable plug 19 are sealed through vulcanized rubber.
The manipulator connecting seat 3 is sleeved with a sealing plate 20 at the lower part of the mounting sleeve seat 1, the sealing plate 20 is provided with a sealing ring 21 on the surface facing the mounting sleeve seat 1, the sealing ring 22 is also arranged on the part of the sealing plate 20 contacting with the manipulator connecting seat 3, and the sealing plate 20 is provided with four jacking bolts 23 for jacking the parts of the manipulator connecting seat 3 outside the mounting sleeve seat 1 so as to seal the sealing plate 20 and the mounting sleeve seat 1.
Before the underwater robot is launched, the driving piece 7 retracts, the steel balls, the driving clamping block 4 and the driving clamping block 5 are installed in an installation groove on the installation sleeve seat 1, the sealing plate 20 is installed on the installation sleeve seat 1, the mechanical arm is lifted, the upper portion of the mechanical arm connecting seat 3 is inserted into the installation sleeve seat 1, the mechanical arm connecting seat 3 is pushed to move upwards, the connection between a cable plug 19 on the mechanical arm connecting seat 3 and a cable socket 2 in the installation sleeve seat 1 is completed, then the driving piece 7 is driven to extend out, so that the front end of the driving piece 7 is inserted into the installation groove of the mechanical arm connecting seat 3, the three steel balls are extruded into a locking groove on the installation sleeve seat 1, the suspension of the mechanical arm connecting seat 3 is completed, then the four jacking bolts 23 on the sealing plate 20 are screwed, the lower ends of the jacking bolts 23 are jacked on the mechanical arm connecting seat 3, and the counter-, pressing a sealing plate 20 on the bottom surface of the mounting sleeve seat 1 to complete end surface sealing, and vacuumizing the interior of the pressure-bearing cylinder through a one-way valve 16, so that the mounting, pre-tightening and sealing of the mounting sleeve seat 1 and a mechanical shoulder joint are completed;
after the underwater robot is launched, when the manipulator needs to be detached, the motor 12 rotates to drive the screw rod 13 to rotate, the driving piece 7 is pulled to retract through the screw pair, when the driving piece 7 moves in place, the trigger piece 14 on the driving piece 7 leans against the proximity switch 15, the proximity switch 15 sends a signal, the motor 12 stops rotating, at the moment, in the installation sleeve seat 1, due to the retraction of the driving piece 7, the sealing performance between the driving piece 7 and the installation sleeve seat 1 is relieved, meanwhile, after the driving piece 7 withdraws, a certain space is reserved in the installation groove of the manipulator connecting seat 3, so that the driving fixture block 4 and the driving fixture block 5 lose constraint force on three steel balls, due to the action of gravity and a winding object on the manipulator, relative motion is generated between the installation sleeve seat 1 and the manipulator connecting seat 3, and the three steel balls are pushed by the locking groove wall on the installation sleeve seat 1 to move towards the bottom of the installation groove on the manipulator, when the three steel balls completely return to the mounting grooves of the manipulator connecting seat 3, the mounting sleeve seat 1 loses the suspension constraint on the manipulator connecting seat 3, so that the manipulator connecting seat 3, the sealing plate 20 and the manipulator are separated from the underwater robot body under the action of gravity or external resistance, and electromechanical release is completed.
The above-mentioned embodiments are merely illustrative of the principles and effects of the present invention, and some embodiments may be used, not restrictive; it should be noted that, for those skilled in the art, various changes and modifications can be made without departing from the inventive concept of the present invention, and these changes and modifications belong to the protection scope of the present invention.
Claims (6)
1. The utility model provides a manipulator can dismantle coupling mechanism on underwater robot which characterized in that: the underwater robot comprises a mounting sleeve seat arranged on an underwater robot body, wherein a cable socket is arranged in the mounting sleeve seat, the cable socket is sealed with the mounting sleeve seat through vulcanized rubber, a hollow manipulator connecting seat is movably embedded in the mounting sleeve seat, a mounting groove is formed in the periphery of the part, penetrating through the mounting sleeve seat, of the manipulator connecting seat, two driving clamping blocks and at least two transmission clamping blocks are arranged in the mounting groove, steel balls are arranged between the driving clamping blocks and the transmission clamping blocks and between two adjacent transmission clamping blocks in the mounting groove, the driving clamping blocks and the transmission clamping blocks are arc-shaped blocks matched with the mounting groove, two ends of the driving clamping blocks and the transmission clamping blocks are arc surfaces, a locking groove matched with the steel balls is formed in the inner wall of the mounting sleeve seat, the depth of the locking groove is smaller than the radius of the steel balls of 2/3, and the thicknesses of the driving clamping blocks and, the mounting sleeve base is provided with a driving piece which is inserted between the two driving clamping blocks to enable all the steel balls to be partially extruded into the locking groove to enable the manipulator connecting base to be connected with the mounting sleeve base, the mounting sleeve base is also provided with a power device for driving the driving piece, a cable plug matched with the cable socket is arranged in the manipulator connecting base, the power device comprises a pressure-bearing cylinder connected with the mounting sleeve base, the pressure-bearing cylinder comprises a cylinder body, a front end cover and a rear end cover which are connected together, a motor is arranged in the cylinder body, a lead screw is arranged in the front end cover in a rotating mode, a force output shaft of the motor is connected with the lead screw, a guide hole is arranged in the front end cover, one end of the driving piece is arranged in the guide hole in a sealing mode, a threaded hole is arranged in the driving piece, the end of the lead screw is arranged in, the cable conductor of motor is worn out from the watertight head, is equipped with the vulcanite sealing member of sealed cable in the watertight head.
2. A detachable connection mechanism of a manipulator on an underwater robot according to claim 1, characterized in that: the manipulator connecting seat is sleeved with a sealing plate at the lower part of the mounting sleeve seat, the sealing plate is provided with a sealing ring on the surface opposite to the mounting sleeve seat, the sealing ring is also arranged on the part of the sealing plate contacting with the manipulator connecting seat, and the sealing plate is provided with four jacking bolts which jack the part of the manipulator connecting seat outside the mounting sleeve seat to seal the sealing plate and the mounting sleeve seat.
3. A detachable connection mechanism of a manipulator on an underwater robot according to claim 1, characterized in that: and a sealing ring is arranged between the driving piece and the mounting sleeve seat.
4. A detachable connection mechanism of a manipulator on an underwater robot according to any one of claims 1 to 3, characterized in that: the manipulator connecting seat and the cable plug are sealed through vulcanized rubber.
5. A detachable connection mechanism of a manipulator on an underwater robot according to claim 2, characterized in that: the section of the end part of the output shaft of the motor is rectangular, and a corresponding rectangular hole is formed in the lead screw.
6. A detachable connection mechanism of a manipulator on an underwater robot according to claim 2, characterized in that: the driving part is provided with a trigger part, and the front end cover is internally provided with a proximity switch which is matched with the trigger part and sends a signal to stop the motor from rotating.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710670062.7A CN107351125B (en) | 2017-08-08 | 2017-08-08 | Detachable connecting mechanism of manipulator on underwater robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710670062.7A CN107351125B (en) | 2017-08-08 | 2017-08-08 | Detachable connecting mechanism of manipulator on underwater robot |
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| Publication Number | Publication Date |
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| CN107351125A CN107351125A (en) | 2017-11-17 |
| CN107351125B true CN107351125B (en) | 2020-08-04 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710670062.7A Active CN107351125B (en) | 2017-08-08 | 2017-08-08 | Detachable connecting mechanism of manipulator on underwater robot |
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Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113146679B (en) * | 2021-04-20 | 2022-06-03 | 哈尔滨工业大学 | Incomplete-constraint quick butt joint mechanism |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2107359U (en) * | 1991-12-10 | 1992-06-17 | 上海交通大学 | Piston plug type tool automatic changing device |
| WO2009059440A1 (en) * | 2007-11-07 | 2009-05-14 | Multi-Holding Ag | Plug and plug connector for robots |
| CN201913646U (en) * | 2011-01-07 | 2011-08-03 | 湖北大工机电有限公司 | Automatic switching device between industrial robot and tools |
| CN102897303A (en) * | 2012-10-22 | 2013-01-30 | 哈尔滨工程大学 | Underwater electromechanical removal device |
| CN103978497A (en) * | 2014-05-09 | 2014-08-13 | 哈尔滨工程大学 | Hydraulic driving type underwater emergency release device |
| CN106005320A (en) * | 2016-07-01 | 2016-10-12 | 中国南方电网有限责任公司调峰调频发电公司 | Device for releasing umbilical cable connected to underwater robot |
-
2017
- 2017-08-08 CN CN201710670062.7A patent/CN107351125B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2107359U (en) * | 1991-12-10 | 1992-06-17 | 上海交通大学 | Piston plug type tool automatic changing device |
| WO2009059440A1 (en) * | 2007-11-07 | 2009-05-14 | Multi-Holding Ag | Plug and plug connector for robots |
| CN201913646U (en) * | 2011-01-07 | 2011-08-03 | 湖北大工机电有限公司 | Automatic switching device between industrial robot and tools |
| CN102897303A (en) * | 2012-10-22 | 2013-01-30 | 哈尔滨工程大学 | Underwater electromechanical removal device |
| CN103978497A (en) * | 2014-05-09 | 2014-08-13 | 哈尔滨工程大学 | Hydraulic driving type underwater emergency release device |
| CN106005320A (en) * | 2016-07-01 | 2016-10-12 | 中国南方电网有限责任公司调峰调频发电公司 | Device for releasing umbilical cable connected to underwater robot |
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| CN107351125A (en) | 2017-11-17 |
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