CN111232162A - Docking device and underwater robot recovery equipment - Google Patents
Docking device and underwater robot recovery equipment Download PDFInfo
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- CN111232162A CN111232162A CN202010145475.5A CN202010145475A CN111232162A CN 111232162 A CN111232162 A CN 111232162A CN 202010145475 A CN202010145475 A CN 202010145475A CN 111232162 A CN111232162 A CN 111232162A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
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Abstract
The invention discloses a docking device and underwater robot recovery equipment. The butt joint device comprises a passive joint component, wherein the passive joint component is used for being connected with the robot to be recovered; the driving joint component is provided with a butt joint area for inserting the driven joint component, and the driving joint component can limit and fix the driven joint component positioned in the butt joint area; and the driving piece is connected to the driving joint component and drives the driving joint component to be close to the passive joint component so as to enable the passive joint component to be inserted into the butt joint area. The technical scheme of the invention reduces the labor intensity of workers.
Description
Technical Field
The invention relates to the technical field of underwater robot recovery, in particular to a docking device and underwater robot recovery equipment using the docking device.
Background
An underwater robot is a robot working in an underwater environment, and during underwater recovery, particularly under severe sea conditions, the underwater robot needs to be in butt joint with a retractable device to be locked together. At present, the butt joint interlocking process of the underwater robot is generally carried out by hooking a worker on a hook of the underwater robot by using an auxiliary tool such as a hook gun. However, manually completing the docking interlocking process of the underwater robot by a human increases the labor intensity of workers.
The above is only for the purpose of assisting understanding of the technical solutions of the present application, and does not represent an admission that the above is prior art.
Disclosure of Invention
The invention mainly aims to provide a docking device which is applied to underwater robot recovery equipment and aims to reduce the labor intensity of workers.
In order to achieve the above object, the present invention provides a docking apparatus comprising:
the passive joint component is used for being connected with the robot to be recovered;
the driving joint component is provided with a butt joint area for inserting the driven joint component, and the driving joint component can limit and fix the driven joint component positioned in the butt joint area; and
the driving part is connected to the driving joint component and drives the driving joint component to be close to the passive joint component so that the passive joint component is inserted into the butt joint area.
In an embodiment of the present invention, the active joint assembly includes an active joint base and a limiting member;
the active joint seat is provided with the butt joint area and is connected with the driving piece;
the limiting part is arranged on the active joint seat, and the limiting part can be abutted against the passive joint component positioned in the butt joint area, so that the passive joint component is limited and fixed in the butt joint area.
In an embodiment of the invention, the limiting member includes an expansion member and an abutting member, the expansion member is disposed on the active joint seat, the abutting member is connected to the expansion member, and the expansion member drives the abutting member to translate and abut against the passive joint component located in the abutting region.
In an embodiment of the invention, it is defined that the passive joint element is in an unplugged state when not plugged into the active joint, the abutting element is provided with a guiding surface, the guiding surface is arranged to face the passive joint element when the passive joint element is in a state to be plugged into the passive joint element, and the guiding surface is located at an end of the abutting element close to the passive joint element.
In an embodiment of the invention, the active joint component includes at least two limiting members, the at least two limiting members are disposed on the active joint base and are uniformly distributed around the center of the butt-joint region, and each limiting member can abut against the passive joint component located in the butt-joint region.
In an embodiment of the invention, an accommodating cavity is disposed in the active joint base, the accommodating cavity forms the docking area, the active docking joint is further provided with a docking port communicating with the docking area of the accommodating cavity, the passive joint component is inserted into the accommodating cavity from the docking port, and the limiting member is disposed in the accommodating cavity.
In an embodiment of the invention, the active joint component further includes a butt joint cover, the butt joint cover is connected to the active joint seat, the butt joint cover is provided with a guide channel communicated with the butt joint port, and the aperture of the guide channel is gradually reduced in the insertion direction of the passive joint component.
In an embodiment of the present invention, the butt joint cover includes a cover body and a connecting plate, the cover body is provided with the guide channel, the connecting plate is sleeved on an outer surface of the cover body, and the connecting plate is connected to the active joint seat.
In an embodiment of the invention, the driving joint assembly further includes a pull rod, the pull rod is connected to the abutting member, the driving joint seat is further provided with a sliding hole communicated with the outside, the sliding hole extends along a translation direction of the abutting member, and the pull rod penetrates through the sliding hole and is exposed to the outside.
The invention also provides underwater robot recovery equipment, which comprises a docking device, wherein the docking device comprises:
the passive joint component is used for being connected with the robot to be recovered;
the driving joint component is provided with a butt joint area for inserting the driven joint component, and the driving joint component can limit and fix the driven joint component positioned in the butt joint area; and
the driving part is connected to the driving joint component and drives the driving joint component to be close to the passive joint component so that the passive joint component is inserted into the butt joint area.
When the docking device is applied to underwater robot recovery equipment, the driving part drives the driving joint component to be close to the passive joint connected to the robot to be recovered, so that the passive joint component can be inserted into a docking area arranged on the driving joint component. After the passive joint component is inserted into the butt joint area, the active joint component can limit and fix the passive joint component, so that the butt joint interlocking process of fixing the robot to be recovered to the underwater robot recovery equipment is completed. Because the driving joint component is driven by the driving part to be close to the passive joint component and the passive joint component is limited and fixed, the butt joint interlocking process of the robot to be recovered is completed, the manual operation mode that the hook of the underwater robot is hooked by auxiliary tools such as a hook gun and the like is replaced, the automatic butt joint interlocking of the underwater robot recovery equipment and the robot to be recovered is realized, and the labor intensity of workers is reduced.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the structures shown in the drawings without creative efforts.
FIG. 1 is a schematic structural diagram of an embodiment of a docking device according to the present invention;
FIG. 2 is a cross-sectional view of the docking device of FIG. 1;
fig. 3 is a schematic partial cross-sectional view of an active joint assembly of the docking device of fig. 1.
The reference numbers illustrate:
the implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that all the directional indicators (such as up, down, left, right, front, and rear … …) in the embodiment of the present invention are only used to explain the relative position relationship between the components, the movement situation, etc. in a specific posture (as shown in the drawing), and if the specific posture is changed, the directional indicator is changed accordingly.
In the present invention, unless otherwise expressly stated or limited, the terms "connected," "secured," and the like are to be construed broadly, and for example, "secured" may be a fixed connection, a removable connection, or an integral part; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In addition, the descriptions related to "first", "second", etc. in the present invention are for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In addition, the meaning of "and/or" appearing throughout is to include three juxtapositions, exemplified by "A and/or B," including either the A or B arrangement, or both A and B satisfied arrangement. In addition, technical solutions between various embodiments may be combined with each other, but must be realized by a person skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination should not be considered to exist, and is not within the protection scope of the present invention.
The invention provides a butt joint device which is applied to underwater robot recovery equipment.
Referring to fig. 1 and fig. 2, in an embodiment of the present invention, the docking device includes a passive joint assembly 10, an active joint assembly 30, and a driving member (not shown); wherein, the passive joint component 10 is used for connecting with the robot to be recovered; the active joint component 30 is provided with a butt joint area 31a for the passive joint component 10 to be inserted into, and the active joint component 30 can limit and fix the passive joint component 10 positioned in the butt joint area 31 a; the driving member (not shown) is connected to the active joint assembly 30, and the driving member (not shown) drives the active joint assembly 30 to approach the passive joint assembly 10, so that the passive joint assembly 10 is inserted into the docking area 31 a.
In the embodiment of the present invention, the passive joint assembly 10 is mainly used for connecting with the robot to be recovered, and when the passive joint assembly 10 is connected to the active joint assembly 30, indirect fixation between the underwater robot recovery device and the robot to be recovered is achieved, so as to complete recovery of the robot to be recovered. The active connector holder 31 is mainly used to provide a docking area 31a, and limit and fix the passive connector assembly 10 when the passive connector assembly 10 is inserted into the docking area 31 a. The limiting fixing mode of the driving joint component 30 to the driven joint component 10 can be clamping fixing, clamping fixing or magnetic attracting fixing and the like, the application is not limited to this, and the limiting fixing of the driving joint component 30 to the driven joint component 10 can be achieved. In order to reduce the volume of the docking device, so as to reduce the resistance of the docking device under water. The projections of the active joint assembly 30 and the passive joint assembly 10 in the horizontal plane may be arranged in a circle. The driving member (not shown) is actively used to provide power to drive the active joint assembly 30 close to the passive joint assembly 10, so that the passive joint assembly 10 can be inserted into the docking area 31a of the active joint assembly 30 to complete the docking and interlocking process of the two. Wherein the driving member (not shown) may be an underwater robot. Of course, in other embodiments, the driving member (not shown) may be formed by a combination of a waterproof horizontal cylinder and a waterproof vertical cylinder. Specifically, a vertical cylinder is connected to the horizontal cylinder, and the active joint assembly 30 is connected to the vertical cylinder. The horizontal cylinder drives the vertical cylinder and the active joint assembly 30 to move horizontally, and the vertical cylinder drives the active joint assembly 30 to move vertically, so that the active joint assembly 30 approaches the passive joint assembly 10. The present application is not limited to the specific shape of the driving member (not shown), and the driving member 30 may be driven to approach the passive joint assembly 10.
When the docking apparatus according to the present invention is applied to a recycling device of an underwater robot, the driving joint assembly 30 is driven by a driving member (not shown) to approach a passive joint connected to the robot to be recycled, so that the passive joint assembly 10 can be inserted into a docking area 31a provided in the driving joint assembly 30. After the passive joint assembly 10 is inserted into the docking area 31a, the active joint assembly 30 can limit and fix the passive joint assembly 10, thereby completing the docking interlocking process for fixing the robot to be recovered to the underwater robot recovery device. In the scheme, the driving joint component 30 is driven to be close to the driven joint component 10 through the driving part (not shown) and the driven joint component 10 is limited and fixed to complete the butt joint interlocking process of the robot to be recovered, so that the operation mode that the hook of the underwater robot is hooked through auxiliary tools such as a hook gun and the like manually is replaced, the automatic butt joint interlocking of the underwater robot recovery equipment and the robot to be recovered is realized, and the labor intensity of workers is reduced.
In an embodiment of the present invention, the active joint assembly 30 includes an active joint base 31 and a limiting member 33; the active joint seat 31 is provided with a butt joint area 31a and is connected with a driving piece (not shown); the limiting member 33 is disposed on the active joint seat 31, and the limiting member 33 can abut against the passive joint component 10 located in the abutting region 31a, so that the passive joint component 10 is limited and fixed in the abutting region 31 a.
It can be understood that the passive joint component 10 can be tightly abutted and fixed in a limiting manner by abutting the limiting component 33 against the passive joint component 10, so that the connecting structure of the active joint component 30 and the passive joint component 10 is simplified, the connecting efficiency of the active joint component and the passive joint component can be improved, and the manufacturing cost can be reduced. The abutting member may be integrally fixed to the active joint component 30, and the abutting member is elastically deformed when the passive joint component 10 is inserted into the abutting region 31a, and the abutting member 333 abuts against the passive joint component 10 in a process of restoring to the original state after being inserted into the abutting region 31 a. Alternatively, a portion of the movable portion of the abutting member 333 may be fixed to the active joint component 30, another portion of the movable portion may be movably connected to the active joint component 30, the movable portion of the abutting member 333 may be pressed open when the passive joint component 10 is inserted into the docking area 31a, and after the passive joint component 10 is inserted into the docking area 31a, the movable portion of the abutting member 333 approaches the passive joint component 10 to abut against the passive joint component. Of course, in other embodiments, when the position of the active joint element 30 to the passive joint element 10 is a snap-fit position, one of the snap and the hook may be disposed in the butt-joint region 31a, and the other of the snap and the hook is disposed in the passive joint element 10, and the snap and the hook are snap-fit and fixed. When the limiting fixing mode of the driving joint assembly 30 to the driven joint assembly 10 is magnetic fixing, a first magnetic block may be disposed in the abutting region 31a, and a second magnetic block may be disposed in the driven joint assembly 10, and the second magnetic block and the first magnetic block are fixed in an attracting manner. Further, in order to facilitate maintenance and replacement of the active joint assembly 30, the active joint seat 31 is detachably connected to a driving member (not shown), so that when one of the two is damaged, the active joint seat can be detached to avoid local damage and the whole active joint assembly needs to be maintained and replaced, thereby reducing maintenance and replacement costs. Specifically, the active joint seat 31 may be connected to a driving member (not shown) by a screw or a snap to simplify the assembling and disassembling process of the two.
Referring to fig. 2, in an embodiment of the invention, the limiting member 33 includes an expansion member 331 and an abutting member 333, the expansion member 331 is disposed on the active joint seat 31, the abutting member 333 is connected to the expansion member 331, and the expansion member 331 drives the abutting member 333 to move horizontally to abut against the passive joint component 10 located in the abutting region 31 a.
It can be understood that, since the telescopic member 331 can be extended and retracted, the abutting member 333 can be pushed open when the passive joint component 10 is inserted into the docking area 31a, and the abutting member 333 is driven to translate by the telescopic member 331 after being inserted into the docking area 31a to abut against the passive joint component 10 located in the docking area 31 a. This facilitates insertion of the passive connector assembly 10 into the mating zone 31a, which improves mating efficiency. The expansion member 331 drives the abutting member 333 to translate, so that the abutting force of the abutting member 333 against the passive joint component 10 and the force-bearing surface of the passive joint component 10 are easily ensured to be perpendicular to each other, and the abutting effect of the abutting member 333 against the passive joint component 10 is improved. Wherein, the telescopic member 331 may be an elastic member, for example: a spring, a silicone plastic or a rubber plastic with certain elasticity, and the like. This allows the telescoping member 331 to be manufactured at a lower cost, while also facilitating maintenance and replacement. Further, referring to fig. 3, the elastic member has a first end and a second end disposed opposite to each other; the driving socket 31 has a first recess 31b facing the first end, the first end is embedded in the first recess 31b, the abutting member 333 has a second recess 333a facing the second end, and the second end is embedded in the second recess 333 a. Therefore, the elastic element can be stably arranged between the active joint seat 31 and the abutting element 333 through the first groove 31b and the second groove 333a, the installation stability of the elastic element is improved, and the elastic element can be guaranteed to accurately drive the abutting element to move so as to have a good abutting effect on the passive joint assembly 10. It should be noted that, in other embodiments, the telescopic member 331 may also be an air cylinder.
Referring to fig. 2 and fig. 3, in an embodiment of the present invention, it is defined that the passive connector element 10 is in an unplugged state when not plugged into the active connector, the abutting element 333 is provided with a guiding surface 333b, the guiding surface 333b is disposed facing the passive connector element 10 when the passive connector element 10 is in a state to be plugged into the passive connector element, and the guiding surface 333b is located at an end of the abutting element 333 close to the passive connector element 10.
It can be understood that the guiding surface 333b guides the insertion of the passive joint assembly 10 into the mating region 31a, and the guiding surface 333b enables the passive joint assembly 10 to be pushed open to be inserted into the mating region 31a of the active joint seat 31, so as to improve the mating efficiency. The guide surface 333b may be planar or arcuate, so as to ensure that the guide surface 333b is adapted to the abutted part of the passive joint component 10, so as to further improve the abutting effect of the abutting piece 333 on the passive joint component 10.
In an embodiment of the invention, the active joint component 30 includes at least two limiting members 33, the at least two limiting members 33 are disposed on the active joint base 31 and are uniformly distributed around the center of the butt-joint region 31a, and each limiting member 33 can abut against the passive joint component 10 located in the butt-joint region 31 a.
It can be understood that at least two limiting parts 33 are arranged to increase the abutting force on the passive joint component 10, so that the limiting fixing effect of the limiting parts 33 on the passive joint component 10 can be greatly improved, and the stability of the underwater robot recovery equipment in the recovery process is improved. And the uniform distribution around the center of the butt joint region 31a ensures the uniformity of the abutting force of the limiting member 33 to the passive joint component 10, and avoids the stress concentration and the pressure loss on the surface of the passive joint component 10. Of course, the present application is not limited thereto, and in other embodiments, the limiting member 33 may be provided with only one set, and the passive joint assembly 10 may be clamped and fixed by the matching of the limiting member 33 and a part of the structure of the active joint.
Referring to fig. 2, in an embodiment of the present invention, the active joint seat 31 is provided therein with a receiving cavity 31c, the receiving cavity 31c forms a docking area 31a, the active joint is further provided with a docking port 31d communicating with the docking area 31a of the receiving cavity 31c, the passive joint assembly 10 is inserted into the receiving cavity 31c from the docking port 31d, and the limiting member 33 is disposed in the receiving cavity 31 c.
It can be understood that the accommodating cavity 31c provides the installation space for the limiting member 33, so that the distribution of the limiting member and the accommodating cavity is compact, the volume of the docking device can be reduced, the occupation of the docking device on the space is reduced, and the resistance of the docking device during underwater work is reduced. Meanwhile, the limiting member 33 is disposed in the accommodating cavity 31c, so that the limiting member 33 is prevented from being exposed to the outside and being easily damaged, and the service life of the limiting member 33 is prolonged. In order to ensure the smoothness of the movement of the abutting piece 333 of the limiting piece 33, the wall surface of the abutting piece 333 perpendicular to the movement direction thereof may abut against the cavity wall of the accommodating cavity 31 c; of course, one of the slide block and the slide rail may be disposed on the abutting member 333, the other of the slide block and the slide rail may be disposed on the cavity wall of the accommodating cavity 31c, the slide rail extends along the moving direction of the abutting member 333, and the slide block is slidably connected to the slide rail. Further, the active joint seat 31 includes an upper joint seat 311 and a lower joint seat 313, the upper joint seat 311 is detachably connected to the driving component (not shown) and covers the lower joint seat 313, the upper joint seat 311 and the lower joint seat 313 enclose to form an accommodating cavity 31c, and the lower joint seat 313 may be provided with a docking port 31 d. It can be understood that the arrangement of the active socket 31 as the upper socket 311 and the lower socket 313 allows the upper socket 311 and the lower socket 313 to be manufactured independently, which simplifies the complexity of the machining of the receiving cavity 31c, thereby facilitating the molding of the active socket 31. The upper joint seat 311 is detachably connected to a driving member (not shown), so that the driving joint assembly 30 can be detached from the driving member (not shown) when damaged, thereby avoiding local damage and the need of replacing the whole body, and reducing the maintenance and replacement costs. The upper connector holder 311 may be connected to a driving member (not shown) by a screw or a snap. In the same way, in order to facilitate the maintenance and replacement of the limiting member 33 located in the accommodating cavity 31c, the upper joint seat 311 and the lower joint seat 313 may also be detachably connected, specifically, may be connected by a screw or a snap, and the application is not limited thereto.
Referring to fig. 1 and 2, in an embodiment of the present invention, the active connector assembly 30 further includes a docking cover 35, the docking cover 35 is connected to the active connector base 31, the docking cover 35 is provided with a guide channel 351a communicating with the docking port 31d, and the diameter of the guide channel 351a is gradually reduced in the insertion direction of the passive connector assembly 10.
It can be understood that the arrangement of the docking cover 35 has a guiding effect on the docking process of the passive joint assembly 10 and the active joint assembly 30, so that the passive joint assembly 10 can be quickly and accurately inserted into the accommodating cavity 31c of the active joint seat 31 under the guiding effect of the docking cover 35, and the docking efficiency of the passive joint assembly 10 and the active joint assembly 30 is improved. The diameter of the guide channel 351a on the side close to the interface 31d is the same as the diameter of the interface 31d, so as to improve the guiding effect of the docking cover 35.
In an embodiment of the present invention, the docking cap 35 includes a cap body 351 and a connecting plate 353, the cap body 351 is provided with a guide channel 351a, the connecting plate 353 is sleeved on an outer surface of the cap body 351, and the connecting plate 353 is connected to the driving socket 31.
It can be understood that, by connecting the docking hood 35 to the active joint seat 31 through the connecting plate 353, the abutting area of the docking hood 35 and the active joint seat can be increased, so that the connection stability of the docking hood 35 and the active joint seat is improved to ensure the guiding effect of the docking hood 35. To simplify the assembly process of the docking cap 35 and the active adapter 31, the connection plate 353 and the active adapter may be connected by a screw or a snap. Wherein, cover body 351 can be the setting of round platform shape, and the wall thickness of cover body 351 everywhere is unanimous and has less volume this moment, so can further reduce the resistance that interfacing apparatus received when working under water. And the connecting plate 353 may be the lower socket 313 connected to the active socket 31.
In an embodiment of the present invention, the driving joint assembly 30 further includes a pull rod 37, the pull rod 37 is connected to the abutting member 333, the driving joint seat 31 is further provided with a sliding hole 31e communicated with the outside, the sliding hole 31e extends along a translation direction of the abutting member 333, and the pull rod 37 penetrates through the sliding hole 31e and is exposed to the outside.
In particular, the pull rod 37 may be connected to the abutment 333 of the limiting member 33. It can be understood that, the arrangement of the pull rod 37 enables the robot to be recovered to release the abutting part 333 from abutting against the passive joint component 10 by pulling the pull rod 37 to drive the abutting part 333 of the limiting part 33 to move in the direction away from the passive joint component 10 after the robot finishes recovering, so that the releasing process is convenient and fast, and the labor intensity of workers is further reduced. Among them, the sliding hole 31e may be provided in the upper joint seat 311 of the active joint seat 31, so that the pull rod 37 has a large operation space.
In an embodiment of the present invention, the passive joint assembly 10 includes a passive joint base 11 and an insert rod 13, the passive joint base 11 is configured to be detachably connected to the robot to be recovered, one end of the insert rod 13 is connected to the passive joint base 11, the other end of the insert rod 13 is inserted into the docking area 31a, and the limiting member 33 abuts against the insert rod 13.
It can be understood that the passive joint seat 11 is detachably connected to the robot to be recovered, so that when one of the two is damaged, the passive joint seat can be detached, the problem that the whole robot needs to be repaired and replaced due to local damage is avoided, and the repair and replacement cost is reduced. Wherein, passive joint seat 11 can be through screw or buckle connection in waiting to retrieve the robot to simplify the dismouting process between them, thereby can improve dismouting efficiency between them.
In an embodiment of the invention, the insertion rod 13 is provided with an abutting groove 13a, the abutting groove 13a is disposed opposite to the limiting member 33, and the limiting member 33 is partially embedded in the abutting groove 13a and abuts against a groove wall of the abutting groove 13 a.
It can be understood that the abutting area of the limiting piece 33 and the inserting rod 13 is increased by the abutting groove 13a, so that the abutting effect of the limiting piece 33 on the inserting rod 13 can be increased, and the stability of the robot to be recovered in the automatic abutting interlocking process is further improved. The abutting groove 13a may be formed in a circle along the circumference of the insertion rod 13, so that the limiting member 33 can be inserted into the abutting groove 13a along any direction of the circumference of the insertion rod 13, thereby improving the convenience of the passive joint assembly 10 and the active joint assembly 30 in the butt joint process.
In an embodiment of the present invention, an end of the insert rod 13 away from the passive connector base 11 has a guiding section 131, and an area of a cross section of the guiding section 131 is gradually reduced in an inserting direction of the insert rod 13.
It can be understood that the guiding section 131 of the inserting rod 13 is configured to cooperate with the guiding surface 333b of the limiting member 33, so that when the inserting rod 13 is inserted into the abutting region 31a, the inserting rod 13 can be rapidly pushed out of the limiting member 33 and inserted into the abutting region 31a, thereby improving the inserting efficiency of the inserting rod 13. Wherein the abutment groove 13a may be located between the guiding section 131 and the non-guiding section 131 of the plugging rod.
The invention further provides underwater robot recovery equipment, which comprises a docking device, the specific structure of the docking device refers to the above embodiments, and the underwater robot recovery equipment adopts all the technical schemes of all the embodiments, so that the underwater robot recovery equipment at least has all the beneficial effects brought by the technical schemes of the embodiments, and further description is omitted.
The above description is only a preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications and equivalents of the present invention, which are made by the contents of the present specification and the accompanying drawings, or directly/indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (10)
1. A docking device for an underwater robotic recovery apparatus, the docking device comprising:
the passive joint component is used for being connected with the robot to be recovered;
the driving joint component is provided with a butt joint area for inserting the driven joint component, and the driving joint component can limit and fix the driven joint component positioned in the butt joint area; and
the driving part is connected to the driving joint component and drives the driving joint component to be close to the passive joint component so that the passive joint component is inserted into the butt joint area.
2. The docking device of claim 1, wherein the active joint assembly comprises an active joint mount and a retainer;
the active joint seat is provided with the butt joint area and is connected with the driving piece;
the limiting part is arranged on the active joint seat, and the limiting part can be abutted against the passive joint component positioned in the butt joint area, so that the passive joint component is limited and fixed in the butt joint area.
3. The docking device as claimed in claim 2, wherein the limiting member comprises an expansion member and an abutting member, the expansion member is disposed on the active joint base, the abutting member is connected to the expansion member, and the expansion member drives the abutting member to translate to abut against the passive joint component in the docking area.
4. A docking device according to claim 3, wherein the passive connector element is defined to be in an unplugged state when it is unplugged from the active connector, and the abutment member is provided with a guide surface which is arranged to face the passive connector element when it is in the ready-to-plug state, the guide surface being located at an end of the abutment member which is close to the passive connector element.
5. The docking device as claimed in claim 2, wherein the active joint assembly comprises at least two of the position-limiting members, the at least two position-limiting members are disposed on the active joint base and are uniformly distributed around the center of the docking area, and each of the position-limiting members can abut against the passive joint assembly located in the docking area.
6. The docking device as claimed in any one of claims 2 to 5, wherein a receiving cavity is provided in the active socket, the receiving cavity forms the docking area, the active docking head further has a docking port communicating with the docking area of the receiving cavity, the passive joint component is inserted into the receiving cavity from the docking port, and the retaining member is disposed in the receiving cavity.
7. The docking device as claimed in claim 6, wherein the active joint assembly further comprises a docking cover, the docking cover is connected to the active joint base, the docking cover is provided with a guide channel communicated with the docking port, and the diameter of the guide channel is gradually reduced in the insertion direction of the passive joint assembly.
8. The docking device as claimed in claim 7, wherein the docking cover comprises a cover body and a connecting plate, the cover body is provided with the guiding channel, the connecting plate is sleeved on the outer surface of the cover body, and the connecting plate is connected to the active joint seat.
9. The docking device as claimed in claim 6, wherein the active joint assembly further comprises a pull rod, the pull rod is connected to the abutment member, the active joint base further has a sliding hole communicated with the outside, the sliding hole extends along the translation direction of the abutment member, and the pull rod penetrates through the sliding hole and is exposed to the outside.
10. An underwater robotic recovery device comprising a docking apparatus as claimed in any one of claims 1 to 9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010145475.5A CN111232162A (en) | 2020-03-04 | 2020-03-04 | Docking device and underwater robot recovery equipment |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010145475.5A CN111232162A (en) | 2020-03-04 | 2020-03-04 | Docking device and underwater robot recovery equipment |
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| Publication Number | Publication Date |
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| CN111232162A true CN111232162A (en) | 2020-06-05 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202010145475.5A Pending CN111232162A (en) | 2020-03-04 | 2020-03-04 | Docking device and underwater robot recovery equipment |
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| CN (1) | CN111232162A (en) |
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| CN111874168A (en) * | 2020-07-21 | 2020-11-03 | 上海交通大学 | Mobile cable-free underwater robot laying, recycling and charging device |
| CN113232806A (en) * | 2021-05-21 | 2021-08-10 | 中国船舶科学研究中心 | Drawer type cable-controlled submersible underwater laying and recycling device and operation method thereof |
| WO2023007085A1 (en) * | 2021-07-27 | 2023-02-02 | Eca Robotics | Device for receiving a marine or sub-marine vehicle, especially an autonomous marine or sub-marine vehicle, from a ship |
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Application publication date: 20200605 |