CN111605686A - Mechanical butt-joint locking mechanism for ROV and tool magazine - Google Patents
Mechanical butt-joint locking mechanism for ROV and tool magazine Download PDFInfo
- Publication number
- CN111605686A CN111605686A CN202010453994.8A CN202010453994A CN111605686A CN 111605686 A CN111605686 A CN 111605686A CN 202010453994 A CN202010453994 A CN 202010453994A CN 111605686 A CN111605686 A CN 111605686A
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- butt joint
- locking
- rov
- tool magazine
- conical head
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- 230000007246 mechanism Effects 0.000 title claims abstract description 50
- 210000001503 joint Anatomy 0.000 claims abstract description 81
- 230000005540 biological transmission Effects 0.000 claims abstract description 5
- 238000003032 molecular docking Methods 0.000 claims description 35
- 210000004907 gland Anatomy 0.000 claims description 12
- 238000009434 installation Methods 0.000 claims description 5
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 abstract description 3
- 239000007788 liquid Substances 0.000 abstract description 2
- 241000883990 Flabellum Species 0.000 description 5
- 238000010586 diagram Methods 0.000 description 5
- 238000000034 method Methods 0.000 description 3
- 230000008520 organization Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 230000013011 mating Effects 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 230000007704 transition Effects 0.000 description 1
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Classifications
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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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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16B—DEVICES FOR FASTENING OR SECURING CONSTRUCTIONAL ELEMENTS OR MACHINE PARTS TOGETHER, e.g. NAILS, BOLTS, CIRCLIPS, CLAMPS, CLIPS OR WEDGES; JOINTS OR JOINTING
- F16B21/00—Means for preventing relative axial movement of a pin, spigot, shaft or the like and a member surrounding it; Stud-and-socket releasable fastenings
- F16B21/02—Releasable fastening devices locking by rotation
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Earth Drilling (AREA)
Abstract
The invention relates to a mechanical butt joint locking mechanism of an ROV and a tool library, which comprises a butt joint mechanism and a butt joint seat, wherein the butt joint mechanism completes the guiding by a locking conical head at the end part of the butt joint mechanism and a horn-shaped guide port of the butt joint seat and is inserted into the butt joint seat; the driving piece on the butt joint mechanism is connected with the locking conical head through the transmission piece, and the locking conical head is driven to axially extend into the butt joint seat, so that the fan blade part and the positioning part are locked in an automatic positioning matching mode. The invention has the guiding function and can complete butt joint within the ROV motion error range; the tool magazine has a mechanical self-locking function, and is prevented from being unreliable in locking due to reasons such as hydraulic leakage and the like when an ROV stops or breaks down, so that the tool magazine falls off in water; the automatic positioning precision is high, and good butt joint conditions are provided for butt joint of the electric and liquid connectors.
Description
Technical Field
The invention relates to the technical field of mechanical butt joint of an ROV and a tool magazine, in particular to a mechanical butt joint locking mechanism of the ROV and the tool magazine.
Background
The operation-level ROV body has functions of navigation movement, camera shooting observation and the like, and is provided with the manipulator and the operation tool, so that a diver can be completely replaced, and observation, light operation, heavy operation tasks and the like can be completed in a large-depth severe sea condition environment. To further extend the operational capabilities of a job-level ROV, it is often necessary to configure a tool library. The work tool magazine is mounted below the ROV and stores work tools therein. At present, the operation tool magazine usually adopts a bolt connection mode, only can depend on land manual operation, and cannot realize automatic replacement of the tool magazine by an ROV under water, so an underwater butt joint mechanism of the ROV and the tool magazine is needed.
The operation tool library is used as an ROV operation capacity expansion module and needs a reliable mechanical self-locking function, a hydraulic locking structure commonly adopted in the prior art causes unreliable locking due to leakage after the ROV is stopped, and in addition, the ROV and the tool library need to be butted by electric and hydraulic connectors, so that the ROV and the tool library meet the butting precision requirements of the electric and hydraulic connectors and need to have higher butting precision when mechanical butting is needed. The existing mechanical docking and locking mechanisms available for ROV and tool library cannot meet the requirements.
Disclosure of Invention
The applicant aims at the defects in the prior art and provides a mechanical butt joint locking mechanism for an ROV and a tool magazine, so that the locking reliability is improved, and the butt joint precision requirement of an electric connector and a hydraulic connector is met.
The technical scheme adopted by the invention is as follows:
a kind of ROV and tool storehouse machinery butt joint locking mechanism, including butt joint organization and butt joint seat two parts, the butt joint organization depends on its end locking awl head and flared guide port of the butt joint seat, finish the direction, insert into the butt joint seat, the whole conical structure of locking awl head, locate on its upper circumference side, along having at least three protruding flabellum portions evenly circumferentially, there are location portions cooperating with said flabellum portion in the butt joint seat; the driving piece on the butt joint mechanism is connected with the locking conical head through the transmission piece, and the locking conical head is driven to axially extend into the butt joint seat, so that the fan blade part and the positioning part are automatically positioned and matched with each other for locking.
The further technical scheme is as follows:
the specific structure of the fan blade part is as follows: the outer side surface extending along the circumferential direction is of a spiral arc-shaped structure extending along the circumferential direction, the axial end surfaces extending along the axial direction at two ends are of a trapezoidal structure respectively, and the thickness of the fan blade part is gradually increased along the spiral extending direction; the bottom of the outer side surface and the conical curved surface of the locking conical head are in smooth transition into a whole to form a wedge-shaped structure.
The butt joint seat is integrally of a flange pipe structure, a guide hole is formed in the butt joint seat, the inner circular surface of the guide hole is in a horn mouth shape, at least three positioning blocks extending along the radial direction are arranged on the inner circular surface of the guide hole, the longitudinal section of each positioning block along the axial direction is of a wedge-shaped structure, the cross section of each positioning block along the radial direction is of a ring-shaped structure, the positioning blocks and the fan blade parts are in clamping fit in the axial direction, and the three positioning blocks are.
At least three flanges are arranged on the edge of the notch of the guide hole along the circumferential direction, the flanges extend along the radial direction towards the circle center in an outward convex arc shape, the flanges are positioned at the lower part of the positioning block and are correspondingly arranged, and the outward convex arc surfaces of the flanges are in butt joint with the outer side surfaces of the fan blade parts in the radial direction.
The flange end face of the upper end of the butt joint seat is provided with a first bolt mounting hole.
The structure of the butt joint mechanism further comprises: the swing oil cylinder is respectively used as the driving piece and the transmission piece, the rotating shaft is connected with the output end of the swing oil cylinder through a coupler, and the other end of the rotating shaft is connected with the locking conical head; the rotary shaft is arranged in an axis center hole in a base and is a stepped shaft, a shaft shoulder part at the upper part of the rotary shaft is arranged on a step of the axis center hole through a thrust gasket, the lower part of the rotary shaft is matched with the axis center hole through a rotary bearing, the bottom end of the rotary shaft is connected with a locking conical head through a bolt, a second bolt mounting hole for mounting the bolt is formed in one circle of the end surface of the top of the locking conical head, and a square key groove which is matched with the bottom end of the rotary shaft and used for transmitting rotary torque is formed in the inner circle of the second.
An inner hole with the diameter increased is formed in the base positioned at the upper part of the central hole of the axis, a gland matched with the top surface of the rotating shaft is connected to the end surface of the bottom of the inner hole, and a through hole for accommodating the coupler is formed in the middle of the gland.
The through hole of the gland is matched with the rotating shaft through a flange bearing to limit the axial movement of the rotating shaft.
The bottom of the swing oil cylinder is arranged on the top end face of the base through a connecting column.
The butt joint is installed at the bottom of the ROV, and the butt joint is installed at the top of the tool storage.
The invention has the following beneficial effects:
the mechanical butt-joint locking mechanism of the ROV and the tool magazine has compact structure and high reliability. The mechanical butt joint locking mechanism for the ROV and the tool magazine can complete butt joint and locking of the ROV and the tool magazine underwater. The butt joint device has a guiding function and can complete butt joint within the ROV movement error range; the tool magazine has a mechanical self-locking function, and cannot fall off in water due to unreliable locking caused by hydraulic leakage and the like when an ROV is stopped or fails; the automatic positioning device has high automatic positioning precision and provides good butt joint conditions for butt joint of the electric and liquid connectors.
Drawings
FIG. 1 is a schematic structural diagram of the docking mechanism and the docking cradle in a pre-docking state according to the present invention.
Fig. 2 is a schematic structural diagram of the butt joint mechanism of the present invention.
Fig. 3 is a schematic structural diagram of the locking cone head of the invention.
Fig. 4 is a top view of fig. 3.
Fig. 5 is a schematic structural diagram of the docking station of the present invention.
FIG. 6 is a top view of the docking pod.
Fig. 7 is a sectional view taken along line B-B of fig. 6.
FIG. 8 is a schematic structural diagram of the docking mechanism and the docking cradle in a docked state according to the present invention.
FIG. 9 is a schematic view of the mating structure of the docking head mechanism and the docking cradle after docking.
Wherein: 1. a swing oil cylinder; 2. a coupling; 3. connecting columns; 4. a gland; 5. a flange bearing; 6. a thrust washer; 7. a base; 8. a slew bearing; 9. a rotating shaft; 10. locking the conical head; 11. a butt joint mechanism; 12. a docking station; 101. a fan blade portion; 102. a second bolt mounting hole; 103. a square keyway; 121. positioning blocks; 122. a flange; 123. a first bolt mounting hole; 1011. an outer side surface; 1012. an axial end face.
Detailed Description
The following describes embodiments of the present invention with reference to the drawings.
As shown in fig. 1, the ROV and tool magazine mechanical docking locking mechanism of this embodiment includes two parts, namely, a docking head mechanism 11 and a docking seat 12, the docking head mechanism 11 completes guidance by means of a locking cone 10 at an end thereof and a trumpet-shaped guide opening of the docking seat 12, and is inserted into the docking seat 12, the locking cone 10 is integrally conical, and is located on a circumferential side surface of an upper portion thereof, at least three raised fan blade portions 101 are uniformly provided along a circumferential direction, and a positioning portion matched with the fan blade portions 101 is provided in the docking seat 12; the driving part on the butt joint mechanism 11 is connected with the locking conical head 10 through a transmission part, and drives the locking conical head 10 to axially extend into the butt joint seat 12, so that the fan blade part 101 and the positioning part are automatically positioned and matched with each other for locking.
As shown in fig. 3 and 4, the specific structure of the blade part 101: the outer side surface 1011 extending along the circumferential direction is of a spiral arc-shaped structure extending along the circumferential direction, the axial end surfaces 1012 extending along the axial direction at two ends are of a trapezoidal structure respectively, and the thickness of the fan blade part 101 is gradually increased along the spiral extending direction; the bottom of the outer side surface 1011 and the conical curved surface of the locking cone head 10 are smoothly transited into a whole to form a wedge-shaped structure.
As shown in fig. 5-7, the docking seat 12 is a flange structure as a whole, a guide hole is formed therein, an inner circle of the guide hole is in a bell mouth shape, at least three positioning blocks 121 extending along the radial direction are arranged on the inner circle of the guide hole, a longitudinal section of each positioning block 121 along the axial direction is in a wedge shape, a cross section of each positioning block 121 along the radial direction is in a ring shape, the positioning blocks 121 and the fan blade portion 101 are in clamping fit with each other in the axial direction, and the three positioning blocks 121 are distributed in.
At least three flanges 122 are arranged on the edge of the notch of the guide hole along the circumferential direction, the flanges 122 are in an outward convex arc shape and extend along the radial direction towards the circle center, the flanges 122 are positioned at the lower part of the positioning block 121 and are correspondingly arranged, and the outward convex arc surface of the flanges 122 is mutually abutted and matched with the outer side surface 1011 of the fan blade part 101 in the radial direction.
The flange end face of the upper end of the butt joint seat 12 is provided with a first bolt mounting hole 123, and the flange end face is used for being matched with the butt joint face of the locking mechanism base 7 to be positioned and locked.
As shown in fig. 2 to 4, the structure of the docking head mechanism 11 further includes: the device comprises a swing oil cylinder 1 and a rotating shaft 9, wherein the swing oil cylinder 1 is respectively used as a driving part and a driving part, the rotating shaft 9 is connected with the output end of the swing oil cylinder 1 through a coupler 2, and the other end of the rotating shaft 9 is connected with a locking conical head 10; the rotating shaft 9 is arranged in an axis center hole in a base 7, the rotating shaft 9 is a stepped shaft, the upper shaft shoulder part of the rotating shaft 9 is arranged on a step of the axis center hole through a thrust washer 6, the lower part of the rotating shaft 9 is matched with the axis center hole through an installation rotating bearing 8, the bottom end of the rotating shaft 9 is connected with a locking conical head 10 through a bolt, a circle of the circumference of the top end face of the locking conical head 10 is provided with a second bolt installation hole 102 for installing the bolt, and the inner ring of the second bolt installation hole 102 is provided with a square key groove 103 which is matched with the bottom end of the rotating shaft.
An inner hole with the diameter increased is formed in the base 7 positioned at the upper part of the central hole of the axis, a gland 4 matched with the top surface of the rotating shaft 9 is connected to the end surface of the bottom of the inner hole, and a through hole for accommodating the coupler 2 is formed in the middle of the gland 4.
The through hole of the gland 4 is matched with the rotating shaft 9 through the flange bearing 5 to limit the axial movement of the rotating shaft 9.
The bottom of the swing oil cylinder 1 is arranged on the top end surface of the base 7 through a connecting column 3.
The design principle of the invention is as follows:
the butt joint is installed at the bottom of the ROV, and the butt joint is installed at the top of the tool storage.
In operation, the docking mechanism 11 is inserted vertically downward into the docking cradle 12 and locked. The butt joint mechanism 11 depends on the locking cone 10 at the end to complete the guiding with the horn-shaped guiding mouth of the butt joint seat, and inserts into the butt joint seat.
In the locking action, axial force is generated by the interaction of three fan blade parts 101 at the circumferential direction of the locking conical head 10 at the end part of the mechanism and three wedge-shaped structure positioning blocks 121 in the butt joint seat 12, and the locking of the butt joint seat is completed by matching with a locking plane of the base 7. The wedge angle is less than the friction angle, possesses the self-locking function.
The lower end face of a flange of the base 7 is matched with a butt joint plane of a butt joint seat to complete axial Z and positioning in the rotation direction around a horizontal X, Y shaft, in the rotation locking process of the locking conical head 10, a radial cam structure (the outer side surface 1011 is of an arc-shaped structure in the circumferential extension direction, the thickness of the fan blade part 101 is gradually increased in the spiral extension direction) is matched with a positioning flange in the butt joint seat 12 to complete positioning in the horizontal X, Y direction, and the two groups of butt joint locking mechanisms can complete positioning in the Z shaft direction, so that accurate positioning is completed.
Three flabellum portion 101 of above-mentioned in-process locking conical head 10 circumference is the wedge structure in axial, can accomplish rotatory locking with the wedge structure interact on the three locating piece 121 of butt joint seat 12 inside, and three flabellum portion 101 is cam structure on the cross section (lateral surface 1011 is arc structure along the circumference extension, and the thickness of flabellum portion 101 increases along spiral extending direction gradually), can mutually support automatic positioning with three flange 122.
The locking conical head 10 is arranged on the end face of the rotating shaft 9 through four bolts and is matched with square keys on the end face of the rotating shaft 9 to transmit torque. The rotating shaft 9 is arranged in a central hole of the axis of the base, the rotating shaft 9 is a stepped shaft, a shaft shoulder is arranged in an inner hole of the base 7 through a thrust washer 6 and mainly bears axial locking force, the lower portion of the rotating shaft 9 is matched with the inner hole of the base 7 through a rotating bearing 8, the rotating precision of the rotating shaft 9 is guaranteed, the upper portion of the rotating shaft 9 is matched with a gland 4, the gland 4 is arranged on the lower end face of the largest inner hole above the base 7 through bolts and is matched with the rotating shaft 9 through a flange bearing 5, and the axial movement of the rotating shaft 9 is limited. The upper end of the rotating shaft 9 is connected with the swing oil cylinder 1 through the coupler 2, and the swing oil cylinder 1 provides torque force for the swing oil cylinder. The swing oil cylinder 1 is arranged on a connecting column 3, and the connecting column 3 is arranged on the upper end surface of the base 7.
The locking cone head 10 mainly functions in guiding, positioning and locking. The locking cone 10 is a conical structure with a small lower end and a large upper end, and can be smoothly inserted into the docking seat 12. The circumference of the locking conical head 10 is provided with three fan-blade-shaped structures which are distributed in a central symmetry manner and are wedge-shaped in the vertical direction, the wedge-shaped surfaces can be matched with the wedge-shaped surfaces of the butt joint seats 12 for axial locking, and the wedge-shaped angles are smaller than the friction angle and can be self-locked; in the horizontal direction, is cam-shaped and the cam surface cooperates with a positioning flange of the docking cradle 12 for radial positioning. The middle part of the locking conical head 10 is provided with 4 axial bolt mounting holes for mounting on a rotating shaft, and the top end surface is provided with a square key groove for transmitting rotating torque.
The docking cradle 12 is generally a flanged tube structure. The inner hole (guide hole) is in a horn mouth shape and plays a role in guiding; the peripheral wall of the guide hole is provided with three wedge-shaped structure positioning blocks 121 which are distributed in central symmetry and used for completing locking by matching with the wedge-shaped structures of the fan blade part 101 on the locking conical head 10; three positioning flanges 122 are provided below (closer to the notch edge of the guide hole) three wedge-shaped structure positioning blocks 121 on the periphery of the guide hole for positioning in the horizontal direction. The upper end face of the butt joint seat 12 is of a flange structure and is provided with six bolt mounting holes, and the flange end face is used for being matched with the butt joint face of the locking mechanism base 7 to be positioned and locked.
The working process of the invention is as follows:
fig. 1 and 8 show the state of the butt-joint locking mechanism before and after locking, respectively.
When the butt joint mechanism 11 works, the butt joint mechanism 11 is vertically inserted into the butt joint seat 12 downwards, after the butt joint mechanism is in place, the swing oil cylinder 1 drives the rotating shaft 9 to rotate, and then the locking conical head 10 is driven to rotate, and the circumferential cam structure and the circumferential wedge-shaped structure of the locking conical head interact with the positioning flange 122 and the wedge-shaped structure positioning block 121 on the circumferential wall of the inner hole of the butt joint seat 12 respectively to complete positioning and locking. The locking conical head 10 cam structure interacts with the positioning flange of the inner hole circumferential wall of the butt joint seat 12 to complete positioning, and the locking conical head 10 wedge-shaped locking structure interacts with the butt joint seat 12 wedge-shaped locking structure to complete locking.
The above description is intended to be illustrative and not restrictive, and the scope of the invention is defined by the appended claims, which may be modified in any manner within the scope of the invention.
Claims (10)
1. The utility model provides a ROV and mechanical butt joint locking mechanism of tool magazine which characterized in that: the butt joint mechanism (11) completes guiding by means of a locking conical head (10) at the end part of the butt joint mechanism and a horn-shaped guide port of the butt joint seat (12), and is inserted into the butt joint seat (12), the locking conical head (10) is integrally in a conical structure, at least three raised fan blade parts (101) are uniformly arranged on the circumferential side surface of the upper part of the locking conical head, and a positioning part matched with the fan blade parts (101) is arranged in the butt joint seat (12); the driving piece on the butt joint mechanism (11) is connected with the locking conical head (10) through a transmission piece, and the locking conical head (10) is driven to axially extend into the butt joint seat (12), so that the fan blade part (101) and the positioning part are automatically positioned and matched with each other for locking.
2. The ROV and tool magazine mechanical docking locking mechanism of claim 1, wherein: the specific structure of the fan blade part (101) is as follows: the outer side surface (1011) extending along the circumferential direction is of a spiral arc-shaped structure extending along the circumferential direction, the axial end surfaces (1012) extending along the axial direction at two ends are of a trapezoidal structure respectively, and the thickness of the fan blade part (101) is gradually increased along the spiral extending direction; the bottom of the outer side surface (1011) and the conical curved surface of the locking conical head (10) are smoothly transited into a whole to form a wedge-shaped structure.
3. The ROV and tool magazine mechanical docking locking mechanism of claim 2, wherein: the butt joint seat (12) is integrally of a flange pipe structure, a guide hole is formed in the flange pipe structure, the inner circular surface of the guide hole is in a horn mouth shape, at least three positioning blocks (121) extending along the radial direction are arranged on the inner circular surface of the guide hole, each positioning block (121) is of a wedge-shaped structure along the axial longitudinal section, the cross section of each positioning block along the radial direction is of a ring-shaped structure, the positioning blocks (121) and the fan blade parts (101) are in clamping fit in the axial direction, and the three positioning blocks (121) are distributed in.
4. The ROV and tool magazine mechanical docking locking mechanism of claim 3, wherein: at least three flanges (122) are arranged on the edge of the notch of the guide hole along the circumferential direction, the flanges (122) extend along the radial direction of the circle center in an outward convex arc shape, the flanges (122) are positioned at the lower part of the positioning block (121) and are correspondingly arranged, and the outward convex arc surface of the flange (122) is in butt joint with the outer side surface (1011) of the fan blade part (101) in the radial direction.
5. The ROV and tool magazine mechanical docking locking mechanism of claim 3, wherein: a first bolt mounting hole (123) is formed in the flange end face of the upper end of the butt joint seat (12).
6. The ROV and tool magazine mechanical docking locking mechanism of claim 1, wherein: the structure of the butt joint mechanism (11) further comprises: the locking device comprises a swing oil cylinder (1) and a rotating shaft (9), wherein the swing oil cylinder (1) is respectively used as a driving piece and a driving piece, the rotating shaft (9) is connected with the output end of the swing oil cylinder (1) through a coupler (2), and the other end of the rotating shaft (9) is connected with a locking conical head (10);
the rotary shaft (9) is arranged in an axis center hole in a base (7), the rotary shaft (9) is a stepped shaft, the upper shaft shoulder part of the rotary shaft (9) is arranged on a step of the axis center hole through a thrust washer (6), the lower part of the rotary shaft (9) is matched with the axis center hole through an installation rotary bearing (8), the bottom end of the rotary shaft (9) is connected with a locking conical head (10) through a bolt, a second bolt installation hole (102) for installing the bolt is formed in one circle of the circumference of the end face of the top of the locking conical head (10), and a square key groove (103) which is matched with the bottom end of the rotary shaft (9) and used for transmitting rotary torque is formed in the inner ring of the second bolt.
7. The ROV and tool magazine mechanical docking locking mechanism of claim 6, wherein: an inner hole with the diameter increased is formed in the base (7) positioned at the upper part of the central hole of the axis, a gland (4) matched with the top surface of the rotating shaft (9) is connected to the end surface of the bottom of the inner hole, and a through hole for accommodating the coupler (2) is formed in the middle of the gland (4).
8. The ROV and tool magazine mechanical docking locking mechanism of claim 7, wherein: the through hole of the gland (4) is matched with the rotating shaft (9) through the flange bearing (5) to limit the axial movement of the rotating shaft (9).
9. The ROV and tool magazine mechanical docking locking mechanism of claim 6, wherein: the bottom of the swing oil cylinder (1) is arranged on the top end surface of the base (7) through the connecting column (3).
10. The ROV and tool magazine mechanical docking locking mechanism of claim 1, wherein: the butt joint is installed at the bottom of the ROV, and the butt joint is installed at the top of the tool storage.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010453994.8A CN111605686A (en) | 2020-05-26 | 2020-05-26 | Mechanical butt-joint locking mechanism for ROV and tool magazine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010453994.8A CN111605686A (en) | 2020-05-26 | 2020-05-26 | Mechanical butt-joint locking mechanism for ROV and tool magazine |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111605686A true CN111605686A (en) | 2020-09-01 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010453994.8A Pending CN111605686A (en) | 2020-05-26 | 2020-05-26 | Mechanical butt-joint locking mechanism for ROV and tool magazine |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111605686A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113291481A (en) * | 2021-05-17 | 2021-08-24 | 南京航空航天大学 | Aerial butt joint locking device of unmanned aerial vehicle cluster |
| CN113418747A (en) * | 2021-08-11 | 2021-09-21 | 中国船舶科学研究中心 | A interfacing apparatus for sample is transported under water |
| CN114261473A (en) * | 2021-12-09 | 2022-04-01 | 武汉理工大学 | Connector mechanism for butt joint of unmanned boat |
| CN114506418A (en) * | 2022-03-28 | 2022-05-17 | 武汉中科海讯电子科技有限公司 | Multi-dimensional folding type folding and unfolding device of towed body |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2241244Y (en) * | 1995-08-21 | 1996-11-27 | 上海东升灯饰厂 | Screw locking connector |
| US20030049092A1 (en) * | 2001-09-07 | 2003-03-13 | Alexander Winker | Securing nut and method for its fabrication |
| CN102083701A (en) * | 2008-05-30 | 2011-06-01 | 中村浩平 | Connecting structure |
| CN105539782A (en) * | 2015-12-21 | 2016-05-04 | 中国船舶重工集团公司第七○二研究所 | Underwater automatic docking mechanism for ROV |
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2020
- 2020-05-26 CN CN202010453994.8A patent/CN111605686A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2241244Y (en) * | 1995-08-21 | 1996-11-27 | 上海东升灯饰厂 | Screw locking connector |
| US20030049092A1 (en) * | 2001-09-07 | 2003-03-13 | Alexander Winker | Securing nut and method for its fabrication |
| CN102083701A (en) * | 2008-05-30 | 2011-06-01 | 中村浩平 | Connecting structure |
| CN105539782A (en) * | 2015-12-21 | 2016-05-04 | 中国船舶重工集团公司第七○二研究所 | Underwater automatic docking mechanism for ROV |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113291481A (en) * | 2021-05-17 | 2021-08-24 | 南京航空航天大学 | Aerial butt joint locking device of unmanned aerial vehicle cluster |
| CN113291481B (en) * | 2021-05-17 | 2022-04-08 | 南京航空航天大学 | Aerial butt joint locking device of unmanned aerial vehicle cluster |
| CN113418747A (en) * | 2021-08-11 | 2021-09-21 | 中国船舶科学研究中心 | A interfacing apparatus for sample is transported under water |
| CN113418747B (en) * | 2021-08-11 | 2022-06-14 | 中国船舶科学研究中心 | A interfacing apparatus for sample is transported under water |
| CN114261473A (en) * | 2021-12-09 | 2022-04-01 | 武汉理工大学 | Connector mechanism for butt joint of unmanned boat |
| CN114506418A (en) * | 2022-03-28 | 2022-05-17 | 武汉中科海讯电子科技有限公司 | Multi-dimensional folding type folding and unfolding device of towed body |
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Application publication date: 20200901 |
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| RJ01 | Rejection of invention patent application after publication |