CN202368776U - Automatic locking bolt device for underwater robot - Google Patents
Automatic locking bolt device for underwater robot Download PDFInfo
- Publication number
- CN202368776U CN202368776U CN2011205160831U CN201120516083U CN202368776U CN 202368776 U CN202368776 U CN 202368776U CN 2011205160831 U CN2011205160831 U CN 2011205160831U CN 201120516083 U CN201120516083 U CN 201120516083U CN 202368776 U CN202368776 U CN 202368776U
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- CN
- China
- Prior art keywords
- locking bolt
- bar
- lock pin
- automatic lock
- hollow channel
- 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.)
- Expired - Lifetime
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Abstract
The utility model relates to a lifting component in a release or recovery process of an underwater robot, in particular to an automatic locking bolt device for the underwater robot. The automatic locking bolt device comprises a locking bolt body, return springs and locking bolt blocks, wherein a hollow passage for inserting a lifting point is formed in the middle of the locking bolt body; the symmetric locking bolt blocks are arranged on the two sides of the axial section of the hollow passage respectively; the locking bolt blocks are hinged with the locking bolt body; one end of each of the locking bolt blocks is a working end which is pressed against the lifting point, and the other end of each of the locking bolt blocks is connected with one end of each of the return spring; the other ends of the return springs are hinged with the locking bolt body; and the top of the locking bolt body is provided with a lifting lugs which are connected with a lifting cable. According to the automatic locking bolt device, the lifting point is locked or unlocked through turning of the locking bolt blocks; and in a recovery process of the underwater robot, the underwater robot can be automatically locked through the elasticity of the return spring without a diver or being affected by weather and environment, and the personal injury is also avoided.
Description
Technical field
The utility model relates to the lifting part in under-water robot dispensing or the removal process, and specifically a kind of under-water robot is used the automatic lock pin device.
Background technology
Locking bolt is an indispensable lifting part in a kind of under-water robot dispensing or the removal process.Under-water robot is discharged to water (sea) face process by operation lash ship deck; At first the locking of the Heave Here on locking bolt and the under-water robot is one; Hang door frame by crane on the lash ship or under-water robot special use, just can under-water robot be hung to the water surface locking bolt release then from the deck; Be that locking bolt separates with the Heave Here, under-water robot just can be by the free lash ship of the power of self and the operation of diving beneath the water.After the operation mission is accomplished, need under-water robot is recycled to operation lash ship deck by the water surface.At first, under-water robot returns near the water surface of lash ship, and locking bolt is hung to top, under-water robot Heave Here, makes the locking of locking bolt and Heave Here be one, just can under-water robot be recycled to the lash ship deck by the water surface again.
In above-mentioned under-water robot removal process, at present used locking bolt device all needs artificial the participation when locking with the Heave Here, is promptly accomplished the locking action of locking bolt and under-water robot Heave Here by manual work.Normally take rubber boat, approach near the under-water robot Heave Here, by hand the locking bolt device is locked at the Heave Here by the diver.This process not only wastes time and energy, and abominable when sea situation, when the sea stormy waves is big, also has certain personnel's risk of injury, even can't accomplish this operation.
The utility model content
In removal process, need artificial the participation and the above-mentioned dangerous problem of existence in order to solve under-water robot, the purpose of the utility model is to provide a kind of under-water robot to use the automatic lock pin device.This automatic lock pin device pins locking bolt body and Heave Here in the robot removal process under water automatically, need not the diver and participates in.
The purpose of the utility model realizes through following technical scheme:
The utility model comprises locking bolt body, retracing spring and locking bolt piece; Wherein have the hollow channel that supplies the Heave Here to insert in the middle of the locking bolt body; The both sides of this hollow channel axial cross section are respectively equipped with symmetrical locking bolt piece, and said locking bolt piece is articulated on the locking bolt body, and an end is the working end with the Heave Here butt; The other end is connected with an end of said retracing spring, and the other end of this retracing spring is articulated on the locking bolt body; Be provided with the hanger that has connected hanger rope at the top of locking bolt body.
Wherein: said locking bolt body is positioned at two parts between the locking bolt piece and has bar-shaped trough, and this bar-shaped trough is communicated with said hollow channel, in bar-shaped trough, is provided with its osed top shutoff; The central axis conllinear of the line of centers of said bar-shaped trough and hollow channel, this bar-shaped trough reaches lower surface by the upper surface of said locking bolt body always; Said shutoff is fixed on the two side of bar-shaped trough through bolt; The top of said hollow channel is cylindrical hole, and the bottom is a conical bore, and the conical surface of this conical bore is corresponding with the top frustum conical surface of said Heave Here; The both sides of said hollow channel axial cross section all have bar hole, and each bar hole all is communicated with hollow channel; Said locking bolt piece is passed by bar hole; The two ends up and down of each side bar hole respectively are inserted with a locking bolt bearing pin, and the other end of said retracing spring is articulated on the locking bolt bearing pin that is positioned at the upper end, and said locking bolt piece is articulated on the locking bolt bearing pin that is positioned at the lower end; The both sides at the two ends up and down of each side bar hole respectively are provided with a gap, and expose by a gap at the two ends of said locking bolt bearing pin; The bottom of said locking bolt body is equipped with backing plate, and the centre of this backing plate has the hole that supplies the Heave Here to insert.
Advantage of the utility model and good effect are:
The upset of the utility model through the locking bolt piece Heave Here is pinned or with the Heave Here release; In the under-water robot removal process, can pin automatically, need not the diver and participate in through the elastic force of retracing spring; Do not receive the influence of weather and environment, avoid generation personnel injury yet.
2. the utility model is offered bar-shaped trough on the locking bolt body; Guiding cable or ROV heaving pile get into hollow channel through bar-shaped trough; Bar-shaped trough can be sealed by shutoff, and in the process that the automatic lock pin device falls, guiding cable or ROV heaving pile can guide the automatic lock pin device to dock with the accurate of Heave Here.
3. the top of the utility model hollow channel is cylindrical hole, and the bottom is a conical bore, the frustum cone match on the conical surface of conical bore and top, Heave Here, the upward position of restriction Heave Here.
4. the utility model has respectively been offered gap at the two ends of locking bolt bearing pin, is convenient to the dismounting of locking bolt bearing pin.
Description of drawings
Fig. 1 is the structural front view of the utility model;
Fig. 2 removes the birds-eye view of retracing spring for Fig. 1;
Fig. 3 is the left view of Fig. 1;
Fig. 4 is the A-A cutaway view among Fig. 3;
Fig. 5 is the B-B cutaway view among Fig. 3;
Wherein: 1 is the locking bolt body, and 2 is the locking bolt bearing pin, and 3 is retracing spring, and 4 is the locking bolt piece, and 5 is backing plate, and 6 are shutoff, and 7 is hollow channel, and 8 is bar hole, and 9 is hanger, and 10 is the Heave Here, and 11 is bolt, and 12 is gap.
The specific embodiment
Below in conjunction with accompanying drawing the utility model is done further to detail.
Shown in Fig. 1～5; The utility model comprises locking bolt body 1, locking bolt bearing pin 2, retracing spring 3, locking bolt piece 4, backing plate 5, shutoff 6 and hanger 9, locking bolt body 1 hollow channel 7 that supplies Heave Here 10 to insert for cylindrical, centre have wherein, this hollow channel 7 central axis and the central axis conllinear of locking bolt body 1; The top of hollow channel 7 is cylindrical hole; The bottom is a conical bore, and the conical surface of this conical bore is corresponding with the top frustum conical surface of said Heave Here 10, the upward position of restriction Heave Here 10.The welded top of locking bolt body 1 has 9, two hangers 9 of two hangers to be symmetry with the central axis of locking bolt body 1 and to parallel with the inwall of said cylindrical hole axial cross section; The bottom of locking bolt body 1 is connected with backing plate 5 through screw, and the centre of this backing plate 5 has the hole that supplies Heave Here 10 to insert.
The both sides of hollow channel 7 axial cross sections all have bar hole 8, and each bar hole 8 all is communicated with hollow channel 7; The two ends up and down of each side bar hole 8 respectively are inserted with a locking bolt bearing pin 2, have four locking bolt bearing pins 2; And the both sides at the two ends up and down of each side bar hole 8 respectively are provided with a gap 12; Expose by a gap 12 at the two ends of each locking bolt bearing pin 2, is convenient to dismounting locking bolt bearing pin 2.Each bar hole 8 all is equipped with 4, two locking bolt pieces of a locking bolt piece and is symmetricly set on the both sides of hollow channel 7 axial cross sections and hinged with the locking bolt bearing pin 2 that is positioned at the lower end respectively; One end of locking bolt piece 4 is and the working end of Heave Here butt that the other end has stern notch, is connected with an end of retracing spring 3, on the locking bolt bearing pin 2 on the other end of retracing spring 3 is articulated in and is positioned at.Retracing spring 3 and locking bolt piece 4 all can freely rotate on locking bolt bearing pin 2.The retracing spring 3 of the utility model can be bungee.
The part of locking bolt body 1 between two locking bolt pieces 4 has bar-shaped trough; This bar-shaped trough be positioned at two hangers 9 centre one side, be communicated with said hollow channel 7; The central axis conllinear of the line of centers of bar-shaped trough and hollow channel 7, this bar-shaped trough reaches lower surface by the upper surface of said locking bolt body 1 always; In bar-shaped trough, be provided with its osed top shutoff 6, the two ends up and down of this shutoff 6 are fixed on the two side of bar-shaped trough through bolt 11 respectively, and expose by gap 12 at the two ends of bolt 11.Bar-shaped trough can be used for guiding cable or ROV (cable remote underwater robot is arranged) heaving pile into and out of; After guiding cable or ROV heaving pile get into the hollow channel 7 of automatic lock pin device; With the sealing of this bar-shaped trough, the effect of guiding cable or ROV heaving pile is a guiding automatic lock pin device and the docking of Heave Here 10 by shutoff 6.
The principle of work of the utility model is:
Guiding cable or ROV heaving pile are put into hollow channel 7 by bar-shaped trough, with the bar-shaped trough sealing, are connected to winch on guiding cable or the ROV heaving pile with shutoff 6, and the lower end links to each other with Heave Here 10.When discharging to the water surface by the lash ship deck under-water robot, the retracing spring 3 of automatic lock pin device separates with locking bolt piece 4, and promptly operating personal breaks away from retracing spring 3 from the stern notch of locking bolt piece 4.Locking bolt piece 4 is outwards upset (the locking bolt piece left-hand revolution in left side, the locking bolt piece clickwise on right side among Fig. 5) under its deadweight (eccentric with respect to the locking bolt bearing pin) effect, and hollow channel 7 is got out of the way; Locking bolt body 1 falls along guiding cable or ROV heaving pile, makes Heave Here 10 get into and arrive upper limit position.Operating personal upset locking bolt piece 4 then makes that plane and Heave Here 10 top frustum lower planes offset on the end of every side chain bolt piece 4, by the lash ship crane locking bolt body 1 is mentioned then, and under-water robot is together sling, with can under-water robot being put into water.After the under-water robot entry, under himself positive buoyancy effect, locking bolt piece 4 is thrown off with the plane that Heave Here 10 offsets, and locking bolt piece 4 is outwards upset under its deadweight effect, makes locking bolt body 1 and Heave Here 10 releases.Can promote go back to the lash ship deck this moment with the automatic lock pin device, and the under-water robot dive that just can dissociate, mission fulfils assignment.
Under-water robot is accomplished mission and is floated to the water surface, and operating personal combines the retracing spring 3 of automatic lock pin device with locking bolt piece 4, is about to retracing spring 3 and inserts in the stern notch of locking bolt piece 4.Operating personal is sling the automatic lock pin device also along guiding 10 places, Heave Here that cable or ROV heaving pile are delivered to the device of diving by the lash ship crane; Under the deadweight effect of locking bolt body 1; Heave Here 10 on the under-water robot is washed locking bolt piece 4 open; Locking bolt piece 4 resets under the elastic force effect of retracing spring 3 behind the supreme end position, and Heave Here 10 is pinned.This process need not diver's participation and accomplishes automatically.Locking bolt body 1 just can be recycled to the lash ship deck with under-water robot after Heave Here 10 is locked under the lifting of lash ship crane, under-water robot has been accomplished the one-stop operation process.
Claims (9)
1. a under-water robot is used the automatic lock pin device; It is characterized in that: comprise locking bolt body (1), retracing spring (3) and locking bolt piece (4); Wherein have the hollow channel (7) that supplies Heave Here (10) to insert in the middle of the locking bolt body (1); The both sides of this hollow channel (7) axial cross section are respectively equipped with symmetrical locking bolt piece (4), and said locking bolt piece (4) is articulated on the locking bolt body (1), and an end is the working end with the Heave Here butt; The other end is connected with an end of said retracing spring (3), and the other end of this retracing spring (3) is articulated on the locking bolt body (1); Be provided with the hanger (9) that has connected hanger rope at the top of locking bolt body (1).
2. use the automatic lock pin device by the described under-water robot of claim 1; It is characterized in that: the part that said locking bolt body (1) is positioned between two locking bolt pieces (4) has bar-shaped trough; This bar-shaped trough is communicated with said hollow channel (7), in bar-shaped trough, is provided with its osed top shutoff (6).
3. use the automatic lock pin device by the described under-water robot of claim 2, it is characterized in that: the central axis conllinear of the line of centers of said bar-shaped trough and hollow channel (7), this bar-shaped trough reaches lower surface by the upper surface of said locking bolt body (1) always.
4. use the automatic lock pin device by the described under-water robot of claim 2, it is characterized in that: said shutoff (6) is fixed on the two side of bar-shaped trough through bolt (11).
5. use the automatic lock pin device by claim 1 or 2 described under-water robots, it is characterized in that: the top of said hollow channel (7) is cylindrical hole, and the bottom is a conical bore, and the conical surface of this conical bore is corresponding with the top frustum conical surface of said Heave Here (10).
6. use the automatic lock pin device by claim 1 or 2 described under-water robots, it is characterized in that: the both sides of said hollow channel (7) axial cross section all have bar hole (8), and each bar hole (8) all is communicated with hollow channel (7); Said locking bolt piece (4) is passed by bar hole (8).
7. use the automatic lock pin device by the described under-water robot of claim 6; It is characterized in that: the two ends up and down of each side bar hole (8) respectively are inserted with a locking bolt bearing pin (2); The other end of said retracing spring (3) is articulated on the locking bolt bearing pin (2) that is positioned at the upper end, and said locking bolt piece (4) is articulated on the locking bolt bearing pin (2) that is positioned at the lower end.
8. use the automatic lock pin device by the described under-water robot of claim 7, it is characterized in that: the both sides at the two ends up and down of each side bar hole (8) respectively are provided with a gap (12), and expose by a gap (12) at the two ends of said locking bolt bearing pin (2).
9. use the automatic lock pin device by claim 1 or 2 described under-water robots, it is characterized in that: the bottom of said locking bolt body (1) is equipped with backing plate (5), and the centre of this backing plate (5) has the hole that supplies Heave Here (10) to insert.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011205160831U CN202368776U (en) | 2011-12-12 | 2011-12-12 | Automatic locking bolt device for underwater robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011205160831U CN202368776U (en) | 2011-12-12 | 2011-12-12 | Automatic locking bolt device for underwater robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN202368776U true CN202368776U (en) | 2012-08-08 |
Family
ID=46592491
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2011205160831U Expired - Lifetime CN202368776U (en) | 2011-12-12 | 2011-12-12 | Automatic locking bolt device for underwater robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN202368776U (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103158844A (en) * | 2011-12-12 | 2013-06-19 | 中国科学院沈阳自动化研究所 | Automatic locking bolt device for underwater robot |
| 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 |
| CN105620684A (en) * | 2016-03-15 | 2016-06-01 | 哈尔滨工程大学 | Hanging sling for unmanned underwater vehicle water surface launching and retrieving |
| CN106864683A (en) * | 2017-02-14 | 2017-06-20 | 青岛海洋地质研究所 | A kind of distance type ocean platform compresses guider |
| CN109238343A (en) * | 2018-10-09 | 2019-01-18 | 厦门大学 | A kind of recovery method of hydrospace detection device and its watertight connector protective case and its survey meter |
-
2011
- 2011-12-12 CN CN2011205160831U patent/CN202368776U/en not_active Expired - Lifetime
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103158844A (en) * | 2011-12-12 | 2013-06-19 | 中国科学院沈阳自动化研究所 | Automatic locking bolt device for underwater robot |
| CN103158844B (en) * | 2011-12-12 | 2015-07-15 | 中国科学院沈阳自动化研究所 | Automatic locking bolt device for underwater robot |
| 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 |
| CN105620684A (en) * | 2016-03-15 | 2016-06-01 | 哈尔滨工程大学 | Hanging sling for unmanned underwater vehicle water surface launching and retrieving |
| CN105620684B (en) * | 2016-03-15 | 2017-11-21 | 哈尔滨工程大学 | Laid for the underwater unmanned vehicle water surface and hang suspender with what is reclaimed |
| CN106864683A (en) * | 2017-02-14 | 2017-06-20 | 青岛海洋地质研究所 | A kind of distance type ocean platform compresses guider |
| CN109238343A (en) * | 2018-10-09 | 2019-01-18 | 厦门大学 | A kind of recovery method of hydrospace detection device and its watertight connector protective case and its survey meter |
| CN109238343B (en) * | 2018-10-09 | 2024-04-09 | 厦门大学 | Recovery method of detector of ocean detector |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20120808 Effective date of abandoning: 20150715 |
|
| AV01 | Patent right actively abandoned |
Granted publication date: 20120808 Effective date of abandoning: 20150715 |
|
| RGAV | Abandon patent right to avoid regrant |