CN107486705A - A kind of ROV carries more changing device - Google Patents
A kind of ROV carries more changing device Download PDFInfo
- Publication number
- CN107486705A CN107486705A CN201710824517.6A CN201710824517A CN107486705A CN 107486705 A CN107486705 A CN 107486705A CN 201710824517 A CN201710824517 A CN 201710824517A CN 107486705 A CN107486705 A CN 107486705A
- Authority
- CN
- China
- Prior art keywords
- sliding block
- guide rail
- rov
- clamping jaw
- pneumatic clamping
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 230000007246 mechanism Effects 0.000 claims abstract description 30
- 230000008859 change Effects 0.000 claims description 10
- 230000002285 radioactive effect Effects 0.000 abstract description 34
- 238000013461 design Methods 0.000 description 4
- 238000000034 method Methods 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 238000013519 translation Methods 0.000 description 3
- 238000000926 separation method Methods 0.000 description 2
- 150000004996 alkyl benzenes Chemical class 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/04—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes for assembling or disassembling parts
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/001—Article feeders for assembling machines
- B23P19/004—Feeding the articles from hoppers to machines or dispensers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/001—Article feeders for assembling machines
- B23P19/006—Holding or positioning the article in front of the applying tool
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Earth Drilling (AREA)
Abstract
The invention discloses a kind of ROV carries more changing device, is made up of detent mechanism, feel trim actuator and replacing mechanism；Detent mechanism mainly includes conical hopper, positioning handgrip, base, guide rail, sliding block and motor to realize ROV positioning；Feel trim actuator mainly includes Pneumatic clamping jaw, connecting plate, guide rail, sliding block and motor, and feel trim actuator main function is the joint with radioactive source is separated with ROV；Changing mechanism mainly includes connecing source hand and 3DOF servo platform to realize the automatic replacing of radioactive source carry.ROV carries more changing device provided by the present invention can replace the manual operations of people, realize the automatic replacing of carry exactly, have the characteristics of convenient, fast and accurate.
Description
Technical field
The present invention relates to nobody cable underwater robot (ROV) field, and in particular to a kind of ROV positioning, carry unload
Load and apparatus for automatic change.
Background technology
ROV (nobody has cable underwater robot) has become a kind of important underwater operation equipment, and ROV has motor-driven spirit
Living, the features such as power is abundant, depth of implements is big, endurance is strong and environmental suitability is strong, be widely used in inland river dykes and dams detection,
The fields such as the I＆M of ocean structure, deep-sea resources detect, off-shore pipeline maintenance.
Extraordinary ROV carries radioactive source carry and fixed point monitoring and positioning is carried out in alkylbenzene medium, and extraordinary ROV is every one section
Time needs to change radioactive source carry, and because carry has radioactivity, so needing to design a set of carry more changing device
Automatic replacing for ROV carries.The more changing device of design can replace the manual operations of people, realize the automatic of carry exactly
Change, there is the characteristics of convenient, fast and accurate.
The content of the invention
It is an object of the invention to design a kind of ROV carries more changing device, realize that radioactive source carry and extraordinary ROV's is automatic
Change and connect automatically.More particularly to ROV positioning, unloading and carry replacement problem, using 3 executing agencies set each other off come real
Existing ROV positioning, the unloading and replacing of radioactive source, while 3 independent executing agencies can be avoided in carry Renewal process
Movement interference.
The technical scheme of reached purpose of the present invention is：
A kind of ROV carries more changing device, including detent mechanism, feel trim actuator and replacing mechanism.ROV carries more changing device is used
Detent mechanism realizes ROV positioning, and feel trim actuator realizes the unloading of radioactive source carry after positioning and locking, after carry unloading more
Converting mechanism is upper to realize the automatic replacing of radioactive source carry, is switched between executing agency.
The detent mechanism mainly includes conical hopper, positioning handgrip, base, guide rail, sliding block and motor.Taper
Funnel is mainly used in ROV pre-determined bit, play the guiding role simultaneously.Handgrip is positioned using the positioning handgrip of chuck mode for ROV's
Positioning and locking.Using threaded connection between conical hopper and base.Guide rail be secured transverse to it is symmetrical below conical hopper,
Sliding block is driven on guide rail by motor, and sliding block use mode connects for screw with positioning handgrip, sliding block with position handgrip movement from
And realize ROV positioning and locking.
The feel trim actuator mainly includes Pneumatic clamping jaw, connecting plate, guide rail, sliding block and motor.Pneumatic clamping jaw master
Act on is radioactive source joint is separated with ROV.Connecting plate connects Pneumatic clamping jaw and sliding block, front end fluting, and Pneumatic clamping jaw can be with
Freely open and close up, Pneumatic clamping jaw close up after with sliding block move down promote radioactive source joint push rod so as to realize radioactive source carry with
ROV separation.
The mechanism that changes mainly connects source hand and the servo platform of 3DOF movement including carry supporting.3DOF is watched
Taking platform includes guide rail, sliding block and motor.The main function for connecing source hand is when the joint with radioactive source and ROV separation
Afterwards, the ready source hand that connects catches joint, is placed back into source of bank savings storehouse, and take new radioactive source to be connected with ROV from source of bank savings storehouse.3
Free degree servo platform is built by guide rail, the sliding block of horizontally and vertically 3 free degree movements, and is fixed on base.Connect
Source hand is with horizontal to sliding block mode connects for screw.
The same model of guide rail slide block in three executing agencies, guide rail amount to 9, and sliding block amounts to 9.Guide rail and taper
Fastened between funnel and base by bolt and nut, sliding block is connected by screw with connector, and guide rail slide block is by servomotor
Driving.
The positioning handgrip 2, is symmetrically arranged, is arranged symmetrically before and after Pneumatic clamping jaw 2, connect one, source hand.
Compared with existing same device, ROV carries more changing device proposed by the present invention has the following advantages that：
Detent mechanism, feel trim actuator and replacing mechanism in ROV carries more changing device can realize ROV positioning respectively, hang
The unloading of load and automatic replacing, 3 executing agencies can avoid movement interference independently of one another, while cooperate and realize between mechanism
The automatic replacing of carry.
Because ROV carry radioactive source has radioactivity, therefore the ROV carries more changing device designed can replace the hand of people
Work operates, and realizes the automatic replacing of carry exactly, has the characteristics of convenient, fast and accurate.
Brief description of the drawings
A kind of ROV carries of Fig. 1 change apparatus structure schematic diagram.
Fig. 2 ROV carries more changing device cross-sectional view.
Fig. 3 ROV carries more changing device overlooking the structure diagram.
Fig. 4 ROV carries more changing device top view partial enlargement structural representation.
In figure：1. the base 7. of 5. guide rail of conical hopper 2. support column, 3. Pneumatic clamping jaw connecting plate, 4. sliding block 6. positions
The Pneumatic clamping jaw 9. of handgrip 8. connects source hand
Embodiment
The present embodiment is a kind of ROV carries more changing device.
As shown in figure 1, a kind of ROV carries change apparatus structure schematic diagram, including detent mechanism, feel trim actuator and changing machine
Structure.Detent mechanism includes conical hopper 1, positioning handgrip 7, sliding block 4, guide rail 5 and Auxiliary support post 2 and base 6, the sliding block 4 of guide rail 5
Driven by servomotor, position and be connected by screw between handgrip 7 and sliding block 4.Feel trim actuator include Pneumatic clamping jaw connecting plate 3,
Pneumatic clamping jaw 8, sliding block 4, guide rail 5, the sliding block 4 of guide rail 5 are driven by servomotor, Pneumatic clamping jaw 8 by Pneumatic clamping jaw connecting plate 3 with
Sliding block 4 is connected.Level is vertically installed at the lower section of conical hopper 1 respectively for detent mechanism and feel trim actuator guide rail 5, passes through bolt and nut
Fastening.Changing mechanism includes connecing source hand 9,3DOF servo platform, and 3DOF servo platform is built by sliding block 4 and guide rail 5, led
Rail 5 is fastened with base 6 by bolt and nut, is connect source hand 3 and is connected by screw with sliding block 4.Cooperated between 3 executing agencies
Complete the automatic replacing of ROV radioactive source carries.
As shown in Fig. 2 cross-section structures, the conical hopper 1 for ROV pre-determined bits is connected by support column 2 with base 6, positioning
Mechanism guide rail 5 is horizontally arranged at the lower section of conical hopper 1, and sliding block 4 is connected by screw with positioning handgrip.Feel trim actuator guide rail 5 is perpendicular
The lower section of conical hopper 1 is directly arranged on, feel trim actuator is moved to sliding block 4 while so as to avoid Pneumatic clamping jaw from being done with ROV when ROV is positioned
Relate to, feel trim actuator Pneumatic clamping jaw 8 moves to radioactive source joint middle pneumatic and closed up after the completion of positioning, then with sliding block 4 on guide rail 5
Move down and promote radioactive source joint push rod to be allowed to separate with ROV.Radioactive source separates with ROV to be followed by source hand 9 and catches radioactive source being moved
To source of bank savings storehouse and new radioactive source is taken to be connected with ROV.
Handgrip 7, Pneumatic clamping jaw 8 are positioned as shown in Fig. 3, Fig. 4 top view, during work, source hand 9 is connect and is being respectively positioned on conical hopper just
Lower section, close up when capsule-type ROV enters fashionable positioning handgrip 7 along funnel from the right and left to ROV progress positioning and lockings, positioning lock
Next dynamic clamping jaw 8 moves to radioactive source joint middle pneumatic and closed up, and is then moved down with sliding block 4 on guide rail 5 and promotes radioactive source joint
Push rod is allowed to separate with ROV.Connect source hand 9 and 3DOF servo station coordinates the replacing for completing radioactive source.
Specific radioactive source carry Renewal process is as follows：The ROV to have worked is pulled out with winch, is then put down along running rail
Move, when moving on to 1 surface of conical hopper, winch decentralization ROV, conical hopper 1 plays guiding and pre-determined bit simultaneously.ROV along
Wall drops to specified location, realizes pre-determined bit.Even if driving fails accurately to move on to ROV directly over conical hopper, taper leakage
Bucket can also make it enter specified location along wall, here it is its guide effect, and by the tapered original of its structure design
Cause.ROV is after the pre-determined bit of conical hopper 1 enters specified location, and positioning handgrip 7 is under the drive of sliding block 4 along guide rail 5 from both sides card
Tight locating groove, detent mechanism realize ROV positioning and locking.
Feel trim actuator is upper after positioning and locking, and Pneumatic clamping jaw 8 moves to radioactive source joint middle pneumatic and closed up, then with sliding block
4 move down promotion radioactive source joint push rod on guide rail 5 is allowed to separate with ROV.ROV carry Renewal process substantially has the following steps：
It is upper to change mechanism and --- old radioactive source is put to source of bank savings storehouse to --- taking new radioactive source --- new radioactive source to be connected with ROV.Change
Mechanism is built by the motion guide rail of Three Degree Of Freedom, and the translation front and rear up and down of radioactive source can be achieved, and meets that carry is changed
It is required that.
After ROV positioning and lockings, replacing mechanism is upper, that is, connects source hand 9 and move to the right immediately below radioactive source, it is accurate to connect source hand 9
It is standby ready, prepare to catch the radioactive source that with ROV will depart from.Connect after source hand 9 catches the radioactive source separated with ROV, first translation downwards,
Backward right translation, Jiang Jiuyuan put back to source of bank savings storehouse.Then, station is changed in annular source of bank savings storehouse, connects source hand 9 from source of bank savings storehouse Qu Xin sources.First
Moved to left with guide rail 5, it is rear on move on to initial position.Finally change mechanism with joint to rise, carry the joint and ROV of new radioactive source
Automatic connection, so far completes the overall process that ROV carries are changed.
Presently preferred embodiments of the present invention is these are only, is not used for limiting the scope that the present invention is implemented, Fan Yibenfa
Shape, construction, the equivalent changes and modifications of feature described in bright right, the claim of the present invention all should be included in
In the range of.
Claims (4)
- A kind of 1. ROV carries more changing device, it is characterised in that：Including detent mechanism, feel trim actuator and change 3 execution machines of mechanism Structure；Detent mechanism includes conical hopper 1, positioning handgrip 7, sliding block 4, guide rail 5 and Auxiliary support post 2 and base 6, the sliding block 4 of guide rail 5 Driven by servomotor, position and be connected by screw between handgrip 7 and sliding block 4；Feel trim actuator include Pneumatic clamping jaw connecting plate 3, Pneumatic clamping jaw 8, sliding block 4, guide rail 5, the sliding block 4 of guide rail 5 are driven by servomotor, Pneumatic clamping jaw 8 by Pneumatic clamping jaw connecting plate 3 with Sliding block 4 is connected；Level is vertically installed at the lower section of conical hopper 1 respectively for detent mechanism and feel trim actuator guide rail 5, passes through bolt and nut Fastening；Changing mechanism includes connecing source hand 9,3DOF servo platform, and 3DOF servo platform is built by sliding block 4 and guide rail 5, led Rail 5 is fastened with base 6 by bolt and nut, is connect source hand 3 and is connected by screw with sliding block 4.
- 2. ROV carries more changing device according to claim 1, it is characterised in that：On detent mechanism conical hopper 1 it is big under It is small；The guide rail 5 of connection positioning handgrip 7 is horizontally arranged at the lower section of conical hopper 1, and two dish-type positioning handgrips 7 are symmetrical and sliding Block 4 uses mode connects for screw.
- 3. ROV carries more changing device according to claim 1, it is characterised in that：Feel trim actuator guide rail 5 is vertically installed at cone The lower section of shape funnel 1；Connecting plate 3 connects Pneumatic clamping jaw 8 and sliding block 4, and the front end of connecting plate 3 is slotted, and is symmetrically installed before and after Pneumatic clamping jaw, Pneumatic clamping jaw 8, which can freely open, to be closed up, and connecting plate 3 uses mode connects for screw with sliding block 4.
- 4. ROV carries more changing device according to claim 1, it is characterised in that：Mechanism is changed by connecing source hand 9 and 3 freely Spend servo platform composition；3DOF servo platform is built by guide rail 5 and sliding block 4, and guide rail, which is fixed on base, is located at conical hopper Underface；It is smooth to connect the surface of source hand 9, connects source hand 9 and is connected by screw with sliding block 4.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710824517.6A CN107486705A (en) | 2017-09-14 | 2017-09-14 | A kind of ROV carries more changing device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710824517.6A CN107486705A (en) | 2017-09-14 | 2017-09-14 | A kind of ROV carries more changing device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107486705A true CN107486705A (en) | 2017-12-19 |
Family
ID=60652568
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710824517.6A Pending CN107486705A (en) | 2017-09-14 | 2017-09-14 | A kind of ROV carries more changing device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107486705A (en) |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2006021274A (en) * | 2004-07-08 | 2006-01-26 | Murata Mach Ltd | Tooling change part of loader device |
| CN102614594A (en) * | 2012-03-26 | 2012-08-01 | 华中科技大学 | Automatic source converter for gamma knife and method thereof |
| CN102909546A (en) * | 2011-08-03 | 2013-02-06 | 顾勤秀 | Rolling roll dismantling mechanism for battery pole piece rolling machine |
| CN203031218U (en) * | 2012-12-07 | 2013-07-03 | 青岛海尔模具有限公司 | Injection mould automatic detaching device |
| CN203794181U (en) * | 2014-04-28 | 2014-08-27 | 山东爱通工业机器人科技有限公司 | Tool lifting and transferring manipulator |
| CN105643612A (en) * | 2016-03-07 | 2016-06-08 | 中信重工机械股份有限公司 | Robot used for replacing spiral liner plate |
| CN106504807A (en) * | 2016-12-30 | 2017-03-15 | 清华大学天津高端装备研究院 | Graphite more changing device on the outside of a kind of HTGR |
| CN106891138A (en) * | 2017-01-04 | 2017-06-27 | 潍柴动力股份有限公司 | Equipment for dismantling and installing valve spring |
-
2017
- 2017-09-14 CN CN201710824517.6A patent/CN107486705A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2006021274A (en) * | 2004-07-08 | 2006-01-26 | Murata Mach Ltd | Tooling change part of loader device |
| CN102909546A (en) * | 2011-08-03 | 2013-02-06 | 顾勤秀 | Rolling roll dismantling mechanism for battery pole piece rolling machine |
| CN102614594A (en) * | 2012-03-26 | 2012-08-01 | 华中科技大学 | Automatic source converter for gamma knife and method thereof |
| CN203031218U (en) * | 2012-12-07 | 2013-07-03 | 青岛海尔模具有限公司 | Injection mould automatic detaching device |
| CN203794181U (en) * | 2014-04-28 | 2014-08-27 | 山东爱通工业机器人科技有限公司 | Tool lifting and transferring manipulator |
| CN105643612A (en) * | 2016-03-07 | 2016-06-08 | 中信重工机械股份有限公司 | Robot used for replacing spiral liner plate |
| CN106504807A (en) * | 2016-12-30 | 2017-03-15 | 清华大学天津高端装备研究院 | Graphite more changing device on the outside of a kind of HTGR |
| CN106891138A (en) * | 2017-01-04 | 2017-06-27 | 潍柴动力股份有限公司 | Equipment for dismantling and installing valve spring |
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| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20171219 |