CN107520854A - The urgent desertion device of manned underwater vehicle manipulator - Google Patents
The urgent desertion device of manned underwater vehicle manipulator Download PDFInfo
- Publication number
- CN107520854A CN107520854A CN201710755803.1A CN201710755803A CN107520854A CN 107520854 A CN107520854 A CN 107520854A CN 201710755803 A CN201710755803 A CN 201710755803A CN 107520854 A CN107520854 A CN 107520854A
- Authority
- CN
- China
- Prior art keywords
- frame
- mounting base
- suspension ring
- pedestal
- monaural
- 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.)
- Granted
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
Abstract
The present invention relates to a kind of urgent desertion device of manned underwater vehicle manipulator, including the mounting base and frame being spaced apart, the frame to be connected with manipulator；Support column is connected with the close periphery of the frame between mounting base, is detachable connection between the support column and frame, is connected between support column and mounting base；Suspension ring, monaural pedestal and support shaft are installed between the center of frame and mounting base, the suspension ring are connected with frame, monaural pedestal is connected with mounting base, the contact jaw stagger setting of suspension ring and monaural pedestal, support shaft is inserted in suspension ring and in the end jack of monaural pedestal, the support shaft is connected with the oil cylinder being fixed on mounting base；After support shaft described in hydraulic oil cylinder driving departs from from the end jack, the mounting base departs from frame.Structure of the invention is simple, easy to assembly, functional reliability is high, maintainability is good.
Description
Technical field
The present invention relates to submersible field, and in particular to the urgent desertion device of manipulator for manned underwater vehicle.
Background technology
Manned underwater vehicle is one of current most important instrument of ocean exploratory development, and manipulator is that manned underwater vehicle is most heavy
The power tool wanted, under water, aquanaut manipulator are completed equipment and laid, and obtain tuberculosis sample, abyssopelagic organism, water sample
Deng job task, but when aquanaut seabed manipulator robot carry out operation when, once occur manipulator insertion bottom silt or
Wound by foreign matter, cause submersible to be difficult to situation about breaking away from, aquanaut will be placed in extremely hazardous condition.
To solve problem described above, the urgent desertion device of manipulator need to be designed.It is existing, such as flood dragon number, its manipulator
Urgent desertion device uses the principle of Hydraulic Cylinder shear knife cutting machine hand connecting bolt, but is generally considered that submersible
The wave slamming force and manipulator of the discrepancy water surface grab weight, and connecting bolt quantity typically takes 4, and is relatively large in diameter, therefore hydraulic pressure
Cylinder promotes the mode of shear knife cut-out connecting bolt, and its oil cylinder cylinder diameter is larger, Reliability of Microprocessor also by connecting bolt material and
Horizontal influence is installed, and this part of shear knife be present, because shear knife need to preferentially meet the needs of cutting bolt, so
The selection of its material can not take into account corrosion-resistant requirement in the seawater, therefore need often to change shear knife in actually using.
The content of the invention
In view of the above-mentioned problems existing in the prior art, the present invention provides a kind of urgent desertion device of manipulator, its oil cylinder direct
Footpath is small, Reliability of Microprocessor is high and without the part of not seawater corrosion resistance.
In order to solve the above problems, the present invention uses following scheme：
A kind of urgent desertion device of manned underwater vehicle manipulator, including the mounting base and frame being spaced apart, the machine
Frame is connected with manipulator；Support column, the support column and machine are connected with the close periphery of the frame between mounting base
It is detachable connection between frame, is connected between support column and mounting base；Installed between the center of frame and mounting base
There are suspension ring, monaural pedestal and support shaft, the suspension ring are connected with frame, and monaural pedestal is connected with mounting base, suspension ring and monaural
The contact jaw stagger setting of pedestal, support shaft is inserted in suspension ring and in the end jack of monaural pedestal, the support shaft is with being connected
It is connected in the oil cylinder on mounting base；After support shaft described in hydraulic oil cylinder driving departs from from the end jack, the mounting base
Depart from frame.
As the preferred of above-mentioned technical proposal：
At four angles of the frame, there is the first half spherical-concave-surfaces, the support column and peace close to the side of mounting base
The connected one end of dress bottom plate has a flange, and the other end has the first hemisphere plush copper matched with the first half spherical-concave-surface.
The middle position of the frame has the second half spherical-concave-surfaces, and the second hemispherical center has described in insertion
The through hole of frame；Connected between the suspension ring and frame by ball-head tension rod, one end of the ball-head tension rod has and described the
Second hemisphere plush copper of two hemisphere faces matching, the other end have the screw thread being connected with the suspension ring end convolution；The bulb is drawn
Bar is connected after passing through the through hole of the frame with the suspension ring.
After the installation of the ball-head tension rod and the suspension ring spiral, also by fastening screw nut and tight.
The cylinder body of the oil cylinder is connected with mounting base, the piston rod end of oil cylinder by piston rod engaging lug, bearing pin with
Support axis connection.
The technical effects of the invention are that：
The structure of the present invention is simple, easy to assembly, compared with traditional structure, is needed without shear knife and shear knife motion
The part such as guide rail；The functional reliability of the present invention is high：Package unit is not influenceed by installation level, part material, only needs oil cylinder
Piston rod is retracted, you can is completed manipulator and is abandoned；The present invention's is maintainable good：There is no part can not because of functional requirement
Using sea water resistance material, therefore there is no part often to change, cost is low.
Brief description of the drawings
Fig. 1 is the front view of the present invention.
Fig. 2 is Fig. 1 top view.
Fig. 3 is Fig. 1 left view.
Fig. 4 is Fig. 1 A0A sectional views.
Fig. 5 is Fig. 3 B0B sectional views.
Fig. 6 is the structural representation of frame in the present invention.
Fig. 7 is the structural representation of suspension ring in the present invention.
Fig. 8 is the structural representation of monaural pedestal in the present invention.
Fig. 9 is the structural representation of support shaft in the present invention.
Figure 10 is the structural representation of ball-head tension rod in the present invention.
Embodiment
The embodiment of the present invention is described further below in conjunction with the accompanying drawings, how skill is applied to the present invention whereby
Art means solve technical problem, and the implementation process for reaching technique effect can fully understand and implement according to this.Need what is illustrated
It is that, as long as not forming conflict, each embodiment in the present invention and each feature in each embodiment can be combined with each other,
The technical scheme formed is within protection scope of the present invention.
As Figure 1-10 shows, manned underwater vehicle manipulator desertion device includes：Frame 1, support column 2, mounting base 3, hang
Ring 4, monaural pedestal 5, oil cylinder hinged-support 6, oil cylinder afterbody bearing pin 7, oil cylinder 8, piston rod engaging lug 9, bearing pin 10, support shaft
11st, ball-head tension rod 12, fastening screw nut 13.
Part is characterised by：It is provided with 4 half spherical-concave-surfaces 101 in frame 1 at corner, is provided with frame 1 at corner
Four boss 104, four through holes 103 are provided with corner in frame 1, half spherical-concave-surface 102, through hole are provided with the center of frame 1
105；Support column 2 is elongated cylindrical structure, and one end is provided with ring flange 201, and the other end is provided with hemisphere plush copper 202；Bulb is drawn
The one end of bar 12 is provided with external screw thread 1203, and the other end is provided with hemisphere plush copper 1201, and hemisphere plush copper top surface is plane, and at center
It is provided with interior hexagonal blind hole 1202, it is preferred that the diameter of through hole 105 is than 1203 big 2-4mm of external screw thread.
Assembly relation is：Oil cylinder hinged-support 6,4 support columns 2, monaural pedestals 5 are bolted with mounting base 3；Support shaft 11
Through hole 402 through on monaural pedestal 5, suspension ring 4, its other end and piston rod engaging lug 9 are be hinged；The afterbody of oil cylinder 8 is articulated with oil
Cylinder hinged-support 6, head are bolted in piston rod engaging lug 9；The hemisphere convex surface 1201 of ball-head tension rod 12 and the hemisphere face of frame 1 are recessed
Face 102 is matched, and the external screw thread 1203 of its other end is bolted in the internal thread 401 of suspension ring 4；Manipulator base is supported and is seated at machine
On 4 boss 104 of frame 1, and it is bolted in by 4 through holes 103 in frame 1；The ring flange 201 of 4 support columns 2 is bolted in
On mounting base 3, half spherical-concave-surface 101 of other end hemisphere plush copper 202 and frame 1 matches.
It is further characterized by during assembling：After each component assembly in place, ball-head tension rod 12 is rotated using inner hexagon spanner
On interior hexagonal blind hole 1202, by 1 firm pretension of frame, then by fastening screw nut 13 by ball-head tension rod 12 and suspension ring 4 simultaneously
Tightly.Its obtain beneficial effect be：No matter where manipulator is to stress, and for frame 1 by supported at three point, this 3 points are that bulb is drawn
Certain two in bar 12 and four support columns 2, therefore frame 1 and manipulator can be installed firmly.
Abandoning principle is：The logical oil of cylinder rod chamber, piston rod drive support shaft 11 to retract, frame 1, ball-head tension rod 12, hung
Ring 4, it is abandoned together with the manipulator installed in frame.Because frame 1 is by support shaft 11, ball-head tension rod 12 and list
The cantilevered of ear pedestal 5 tenses, and the support part support column 2 of frame 1 is designed to elongated cylindrical structure, therefore in manipulator
When being abandoned, frame 1, ball-head tension rod 12, suspension ring 4 and manipulator will not be with support part (support column 2, the monaurals of frame 1
Pedestal 5) hooking occurs.
Embodiment provided above is the better embodiment of the present invention, is only used for the convenient explanation present invention, not to this hair
It is bright to make any formal limitation, any those of ordinary skill in the art, if putting forward skill not departing from the present invention
In the range of art feature, using the equivalent embodiment locally changed or modified made by disclosed technology contents, and
Without departing from the technical feature content of the present invention, in the range of still falling within the technology of the present invention feature.
Claims (5)
- A kind of 1. urgent desertion device of manned underwater vehicle manipulator, it is characterised in that：Including the mounting base (3) that is spaced apart and Frame (1), the frame (1) are connected with manipulator；It is connected at the close periphery of the frame (1) between mounting base (3) There is support column (2), be detachable connection between the support column (2) and frame (1), between support column (2) and mounting base (3) It is connected；Suspension ring (4), monaural pedestal (5) and support shaft (11) are installed between the center of frame (1) and mounting base (3), The suspension ring (4) are connected with frame (1), and monaural pedestal (5) is connected with mounting base (3), suspension ring (4) and monaural pedestal (5) Contact jaw stagger setting, support shaft (11) are inserted in the end jack of suspension ring (4) and monaural pedestal (5), the support shaft (11) it is connected with the oil cylinder (8) being fixed on mounting base (3)；Oil cylinder (8) drives the support shaft (11) to be inserted from the end After departing from hole, the mounting base (3) departs from frame (1).
- 2. the urgent desertion device of manned underwater vehicle manipulator according to claim 1, it is characterised in that：The frame (1) Four angles at, there are the first half spherical-concave-surface (101), the support column (2) and mounting bases close to the side of mounting base (3) (3) connected one end has a flange (201), and the other end has the first hemisphere matched with the first half spherical-concave-surface (101) convex Head (202).
- 3. the urgent desertion device of manned underwater vehicle manipulator according to claim 1, it is characterised in that：The frame (1) Middle position there are the second half spherical-concave-surfaces (102), the center of second hemisphere face (102), which has, penetrates the frame (1) through hole (105)；It is connected between the suspension ring (4) and frame (1) by ball-head tension rod (12), the ball-head tension rod (12) One end there is the second hemisphere plush copper (1201) for match with second hemisphere face (102), the other end with and the suspension ring (4) screw thread (1203) of end convolution connection；The ball-head tension rod (12) passes through the through hole (105) of the frame (1) afterwards and institute State suspension ring (4) connection.
- 4. the urgent desertion device of manned underwater vehicle manipulator according to claim 2, it is characterised in that：The ball-head tension rod (12) after being installed with the suspension ring (4) spiral, also by fastening screw nut (13) and tightly.
- 5. the urgent desertion device of manned underwater vehicle manipulator according to claim 1, it is characterised in that：The oil cylinder (8) Cylinder body and mounting base (3) be connected, the piston rod end of oil cylinder (8) passes through piston rod engaging lug (9), bearing pin (10) and support Axle (11) connects.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710755803.1A CN107520854B (en) | 2017-08-29 | 2017-08-29 | Manned submersible manipulator emergency abandoning device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710755803.1A CN107520854B (en) | 2017-08-29 | 2017-08-29 | Manned submersible manipulator emergency abandoning device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107520854A true CN107520854A (en) | 2017-12-29 |
| CN107520854B CN107520854B (en) | 2020-11-10 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710755803.1A Active CN107520854B (en) | 2017-08-29 | 2017-08-29 | Manned submersible manipulator emergency abandoning device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107520854B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108622349A (en) * | 2018-06-21 | 2018-10-09 | 中国船舶科学研究中心（中国船舶重工集团公司第七0二研究所） | A kind of manned underwater vehicle seven freedom hydraulic efficiency manipulator desertion device |
| CN109606589A (en) * | 2018-11-22 | 2019-04-12 | 中国船舶科学研究中心（中国船舶重工集团公司第七0二研究所） | A kind of manipulator desertion device of manned underwater vehicle |
Citations (7)
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| JPS62289496A (en) * | 1986-06-09 | 1987-12-16 | Hitachi Zosen Corp | Automatic depth adjusting device for underwater moored buoyancy body |
| US7614209B1 (en) * | 2008-08-26 | 2009-11-10 | J. Ray Mcdermott, S.A. | Mechanically releasable shackle pin |
| CN201907643U (en) * | 2010-12-07 | 2011-07-27 | 中国船舶重工集团公司第七一○研究所 | Deep sea seat bottom releasing device |
| CN103807252A (en) * | 2012-11-15 | 2014-05-21 | 中国科学院沈阳自动化研究所 | Electromagnetic chuck type remote control locking and releasing device |
| CN205707249U (en) * | 2016-03-17 | 2016-11-23 | 山东琴海船舶设备有限公司 | A kind of UAV navigation docking release device |
| CN106625750A (en) * | 2017-01-11 | 2017-05-10 | 陈旭芳 | Quick change module of manipulator |
| CN107089310A (en) * | 2017-04-19 | 2017-08-25 | 中国船舶科学研究中心（中国船舶重工集团公司第七0二研究所） | Manned underwater vehicle sampling basket desertion device |
-
2017
- 2017-08-29 CN CN201710755803.1A patent/CN107520854B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS62289496A (en) * | 1986-06-09 | 1987-12-16 | Hitachi Zosen Corp | Automatic depth adjusting device for underwater moored buoyancy body |
| US7614209B1 (en) * | 2008-08-26 | 2009-11-10 | J. Ray Mcdermott, S.A. | Mechanically releasable shackle pin |
| CN201907643U (en) * | 2010-12-07 | 2011-07-27 | 中国船舶重工集团公司第七一○研究所 | Deep sea seat bottom releasing device |
| CN103807252A (en) * | 2012-11-15 | 2014-05-21 | 中国科学院沈阳自动化研究所 | Electromagnetic chuck type remote control locking and releasing device |
| CN205707249U (en) * | 2016-03-17 | 2016-11-23 | 山东琴海船舶设备有限公司 | A kind of UAV navigation docking release device |
| CN106625750A (en) * | 2017-01-11 | 2017-05-10 | 陈旭芳 | Quick change module of manipulator |
| CN107089310A (en) * | 2017-04-19 | 2017-08-25 | 中国船舶科学研究中心（中国船舶重工集团公司第七0二研究所） | Manned underwater vehicle sampling basket desertion device |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108622349A (en) * | 2018-06-21 | 2018-10-09 | 中国船舶科学研究中心（中国船舶重工集团公司第七0二研究所） | A kind of manned underwater vehicle seven freedom hydraulic efficiency manipulator desertion device |
| CN109606589A (en) * | 2018-11-22 | 2019-04-12 | 中国船舶科学研究中心（中国船舶重工集团公司第七0二研究所） | A kind of manipulator desertion device of manned underwater vehicle |
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| Publication number | Publication date |
|---|---|
| CN107520854B (en) | 2020-11-10 |
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