CN204179360U - To charge under water bindiny mechanism - Google Patents
To charge under water bindiny mechanism Download PDFInfo
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- CN204179360U CN204179360U CN201420515140.8U CN201420515140U CN204179360U CN 204179360 U CN204179360 U CN 204179360U CN 201420515140 U CN201420515140 U CN 201420515140U CN 204179360 U CN204179360 U CN 204179360U
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Abstract
The purpose of this utility model is to provide bindiny mechanism of charging under water, and this mechanism comprises inner/outer tube short circuit touch straight line vice mechanism, from formal hollow ball hinge body, force mechanisms protected by spring.This mechanism is using hydraulic cylinder or other straight line driving mechanism as power resources, by design and reasonable Arrangement spring, choose the centripetal joint ball bearing of self-lubricating of suitable types and design the length of hollow bearing axle, what make to have tilt self-adaptive ability drives the charging inlet plane of magnetic coupling charging device power transmission device to fit tightly with the charging inlet plane of the receipts electrical equipment on underwater robot from formal hollow ball hinge body, and spring guarantor force mechanisms ensures the adhesive force that long size is certain.The utility model charging connector can be passive adjustment self attitude, to adapt to the angular deviation that docking facilities and AUV charging inlet exist, ensure charging connector be connected with charging inlet after precision.
Description
Technical field
The utility model relates to a kind of docking mechanism, specifically underwater mating mechanism.
Background technology
In the use procedure of all kinds of underwater robot, the particularly use of Autonomous Underwater Vehicle (being called for short AUV), owing to carrying the restriction of the energy, needs frequent salvaging ashore to carry out charging and exchanges data usually.Adopt charging modes under water, namely carry out the energy supplement by AUV charging inlet is connected with Underwater Docking Device charging connector, then can solve salvage frequently, expending of minimizing manpower and materials, raising underwater task efficiency.After being locked in AUV under water docking facilities, the deviation in angle can be there is in the charging inlet on AUV and the charging connector on docking facilities, this deviation is difficult to eliminate, and therefore designing a kind of charging bindiny mechanism that can adapt to this deviation is necessary with the satisfied required precision connected of charging.
The mechanism that AUV is connected with docking facilities charging module can be completed at present under water little.Meng Teli bay under water research center (Monterey Bay Aquarium Research Institute) devises for the connection of AUV and docking facilities charging connector the bindiny mechanism that a kind of pair of contact pin lead, charging mechanism is made up of the guide pin of pair of metal structure and charging connector, whole mechanism is installed on straight line driving mechanism, the guide pin pilot hole inserted on AUV drives the connection of charging connector and AUV charging inlet, the connection precision of charging connector can be ensured by the connection of two contact pin and AUV, but when there is larger position deviation in AUV charging inlet and docking facilities charging connector, connecting moves can not be performed.The patent document that the patent No. is " 00242747.8 " describes a kind of application charging bindiny mechanism on computers, is characterized in that the interface of cradle is replaceable, can adapts to the joint of two types; Mobile robot's charge connector that application number is " 200820020341.5 " describes a kind of by the motor driven gear rackwork drive cephalomotor mechanism of charging, feature is the problem that can solve charging connector virtual connections, and above-mentioned Liang Zhong mechanism does not all relate to the problem of angular deviation when charging connector is connected with charging inlet.
Summary of the invention
The purpose of this utility model is to provide adjustment self attitude that can be passive, to adapt to the bindiny mechanism of charging under water of the angular deviation that docking facilities and AUV charging inlet exist.
The purpose of this utility model is achieved in that
The utility model charges bindiny mechanism under water, it is characterized in that: comprise power transmission device, support tube, bearing shaft, sliding cylinder, guide cylinder, base, spring shaft, hydraulic cylinder, dish line cylinder, hydraulic cylinder, guide cylinder is fixed on above base, dish line cylinder is fixed on below base, sliding cylinder end cap is installed in sliding cylinder lower end, the sliding cylinder that can do straight reciprocating motion along guide cylinder inwall is positioned in guide cylinder, sliding cylinder inwall providing holes is takeed on, groove is formed between hole shoulder and sliding cylinder inwall, power transmission device is arranged in support tube, bearing shaft is fixed on below support tube, hole shoulder installs self-lubricating plain radial bearing, bearing shaft is arranged on the inner ring of self-lubricating plain radial bearing by the bearing shaft shaft shoulder arranged on itself, in groove, support spring is set, support spring withstands on support tube, in the middle part of sliding cylinder end cap, centre bore is set, spring shaft top is stretched into centre bore and is connected with the spacer be positioned in sliding cylinder, spacer area is greater than centre bore area, the piston rod of connecting fluid cylinder pressure bottom spring shaft, on spring shaft, cover has fastening spring, fastening spring one end withstands on the shaft shoulder of spring shaft self, the fastening spring other end withstands on sliding cylinder end cap, hydraulic cylinder is arranged on dish line cylinder, dish line cylinder side has the hole that watertight connector and cable for power transmission device pass through, on side, hole, wire clip is set, wire clip comprises line card stroma and wire clip lid, line card stroma is fixed on base, the two ends of wire clip lid are arranged on line card stroma respectively by bolt.
The utility model can also comprise:
1, bearing shaft is hollow-core construction; The upper end fixed guide cylinder end cap of guide cylinder.
Advantage of the present utility model is:
1, inner/outer tube short circuit touch straight line vice mechanism is compared full-contact and can be reduced frictional resistance;
2, from formal hollow ball hinge body, there is all-round tilt self-adaptive ability, can angular deviation be adapted to.Fastening spring arrangement saves space, achieve from formal hollow ball hinge body from orthofunction;
3, ball-and-socket hinge device adopts hollow-core construction, can internal wiring, and Appropriate application space, improves security reliability;
4, spring is protected force mechanisms and can be realized the requirement keeping clamping force for a long time.
Accompanying drawing explanation
Fig. 1 is structural representation of the present utility model;
Fig. 2 is internal slide cylinder end cap part vertical view;
Fig. 3 is harness clip structural representation.
Embodiment
Below in conjunction with accompanying drawing citing, the utility model is described in more detail:
Composition graphs 1 ~ 3, guide cylinder 10, sliding cylinder 9 and guide cylinder end cap 4 constitute short circuit touch straight line vice mechanism, guide cylinder 10 lower edge design and installation hole is connected with base 12, base 12 is connected on docking facilities framework, sliding cylinder 9 lower end is connected with sliding cylinder end cap 11 by bolt, and sliding cylinder 9 can do straight reciprocating motion along the inwall of guide cylinder 10 and guide cylinder end cap 4, support tube 2, bearing shaft 3, circlip for hole 5, self-lubricating plain radial bearing 6, support spring 7, circlip for shaft 8 and sliding cylinder 9 constitute from formal hollow ball hinge body, support tube 2 is connected with power transmission device 1 and bearing shaft 3 respectively by bolt, self-lubricating plain radial bearing 6 is arranged on sliding cylinder 9 by the hole shoulder of circlip for hole 5 and sliding cylinder 9, bearing shaft 3 is arranged on the inner ring of self-lubricating plain radial bearing 6 by the between centers of circlip for shaft 8 and bearing shaft 3, support spring 7 is arranged in the groove of sliding cylinder 9 upper end, the other end is against on support tube 2, power transmission device 1 can around the center low-angle whole-revolution swing of self-lubricating plain radial bearing 6, support spring 7 can keep power transmission device 1 initial position from positivity, the hollow-core construction of ball-and-socket hinge device can arrange the cable of power transmission device 1, sliding cylinder end cap 11, spacer 14, spring shaft 15 and fastening spring 16 constitute spring and protect force mechanisms, spring shaft 15 is by the piston rod end of thread connection at hydraulic cylinder 19, fastening spring 16 is enclosed within spring shaft 15, sliding cylinder end cap 11 as shown in Figure 2, spring shaft 15 is through the centre bore of sliding cylinder end cap 11, spacer 14 by Bolt Connection on spring shaft 15, clamping force can be acted on sliding cylinder end cap 11 by fastening spring 16 by movable hydraulic cylinder piston rod, and finally act on the end face of power transmission device 1.Dish line cylinder 13 by Bolt Connection on base 12, hydraulic cylinder 19 is coiling on line cylinder 13 by Bolt Connection, dish line cylinder 13 side has through hole, passing through of the watertight connector of power transmission device 1 and cable can be allowed, line card stroma 17 and wire clip lid 18 are connected by bolt and form wire clip, as shown in Figure 3, line card stroma 17 is connected with base 12 by bolt, line card stroma 17 and wire clip lid 18 can be made to clamp cable by adjusting bolt to prevent from, the cable of power transmission device 1 need coil one section at dish line cylinder 13, meets the demand to length of cable in linear motion.
During connection, the moving lever of hydraulic cylinder piston rod or straight line driving mechanism moves upward, other mechanism promoting sliding cylinder end cap 11 and upper connection thereof moves upward, and power transmission device 1 moves upward and receipts electrical equipment end face that is final and AUV belly fits tightly, and realizes the connection of charging inlet; Power transmission device 1 can around the center low-angle whole-revolution swing of self-lubricating plain radial bearing 6, when sending electrical equipment 1 outside and there is angular deviation with receipts electrical equipment end face, power transmission device 1 can be subject to the restriction of receiving electrical equipment end face, and angular deviation can be corrected, and finally realizes two charging end faces and fits tightly; After this moving lever of hydraulic cylinder piston rod or straight line driving mechanism continues to move upward, and applies enough clamping forces by mechanical spring; After this moving lever stop motion of hydraulic cylinder piston rod or straight line driving mechanism.
The utility model it comprise inner/outer tube short circuit touch straight line vice mechanism, from formal hollow ball hinge body, spring protect force mechanisms; Described inner/outer tube short circuit touch straight line vice mechanism is made up of external orientation cylinder and internal slide cylinder, and external orientation cylinder is arranged in docking facilities frame, and internal slide cylinder externally can do straight reciprocating motion by guide cylinder inwall; Describedly to be made up of self-lubricating plain radial bearing, bearing shaft, support spring and support tube from formal hollow ball hinge body, self-lubricating plain radial bearing passing hole shoulder and circlip for hole are arranged on internal slide cylinder, bearing shaft is arranged on oscillating bearing inner ring by the shaft shoulder and circlip for shaft, support spring one end is arranged in the upper recess of internal slide cylinder, and the other end is against on support tube bottom surface; Spring is protected force mechanisms and is made up of fastening spring, spring shaft and spacer, fastening spring is enclosed within spring shaft, spring shaft is threaded connection in hydraulic cylinder piston rod end portion, and spring shaft is through the centre bore of internal slide cylinder end cap, and spacer is bolted on spring shaft.In connection procedure, the moving lever of hydraulic cylinder piston rod or straight line driving mechanism moves upward, and other mechanism promoting internal slide cylinder and upper connection thereof moves upward, the receipts electrical equipment end contact of power transmission device end face and AUV belly; The moving lever of hydraulic cylinder piston rod or straight line driving mechanism continues to move upward, and under the effect of the receipts electrical equipment end face of AUV belly, the angle of the power transmission device end face of ball-and-socket hinge device and upper connection thereof is corrected; The moving lever of hydraulic cylinder piston rod or straight line driving mechanism continues to move upward, and is protected the effect of force mechanisms by spring, finally makes power transmission device and receive electrical equipment end face to fit tightly, the after this moving lever stop motion of hydraulic cylinder piston rod or straight line driving mechanism.
Flexible charging mechanism under water of the present utility model, using hydraulic cylinder or straight line driving mechanism as the power resources of charging bindiny mechanism motion, by the length of reasonable Arrangement spring, design sliding cylinder internal diameter and bearing shaft, make to have adjusting with the angle receiving electrical equipment end face from formal hollow ball hinge body drive power transmission device end face of tilt self-adaptive ability, both guarantees end face fits tightly.The arrangement of described support spring saves space, achieve ball-and-socket hinge device from orthofunction, also can ensure support tube and on power transmission device stress balance when initial position.Described bearing shaft adopts tubular structure, can inner cabling, and Appropriate application space, for power transmission device and connecting line thereof provide safety guarantee.Spring is protected force mechanisms and is kept clamping force by mechanical spring, even if hydraulic cylinder piston rod, because hydraulic oil slightly reveals, micro-displacement occurs, spring still can make clamping force remain on certain limit and can not disappear immediately.
Claims (2)
1. to charge under water bindiny mechanism, it is characterized in that: comprise power transmission device, support tube, bearing shaft, sliding cylinder, guide cylinder, base, spring shaft, hydraulic cylinder, dish line cylinder, hydraulic cylinder, guide cylinder is fixed on above base, dish line cylinder is fixed on below base, sliding cylinder end cap is installed in sliding cylinder lower end, the sliding cylinder that can do straight reciprocating motion along guide cylinder inwall is positioned in guide cylinder, sliding cylinder inwall providing holes is takeed on, groove is formed between hole shoulder and sliding cylinder inwall, power transmission device is arranged in support tube, bearing shaft is fixed on below support tube, hole shoulder installs self-lubricating plain radial bearing, bearing shaft is arranged on the inner ring of self-lubricating plain radial bearing by the bearing shaft shaft shoulder arranged on itself, in groove, support spring is set, support spring withstands on support tube, in the middle part of sliding cylinder end cap, centre bore is set, spring shaft top is stretched into centre bore and is connected with the spacer be positioned in sliding cylinder, spacer area is greater than centre bore area, the piston rod of connecting fluid cylinder pressure bottom spring shaft, on spring shaft, cover has fastening spring, fastening spring one end withstands on the shaft shoulder of spring shaft self, the fastening spring other end withstands on sliding cylinder end cap, hydraulic cylinder is arranged on dish line cylinder, dish line cylinder side has the hole that watertight connector and cable for power transmission device pass through, on side, hole, wire clip is set, wire clip comprises line card stroma and wire clip lid, line card stroma is fixed on base, the two ends of wire clip lid are arranged on line card stroma respectively by bolt.
2. bindiny mechanism of charging under water according to claim 1, is characterized in that: bearing shaft is hollow-core construction; The upper end fixed guide cylinder end cap of guide cylinder.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420515140.8U CN204179360U (en) | 2014-09-09 | 2014-09-09 | To charge under water bindiny mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420515140.8U CN204179360U (en) | 2014-09-09 | 2014-09-09 | To charge under water bindiny mechanism |
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| Publication Number | Publication Date |
|---|---|
| CN204179360U true CN204179360U (en) | 2015-02-25 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201420515140.8U Expired - Fee Related CN204179360U (en) | 2014-09-09 | 2014-09-09 | To charge under water bindiny mechanism |
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| CN (1) | CN204179360U (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104201512A (en) * | 2014-09-09 | 2014-12-10 | 哈尔滨工程大学 | Underwater charging connecting mechanism |
| CN105006693A (en) * | 2015-08-31 | 2015-10-28 | 尚庆光 | Power supply equipment with tunnel guiding holes and sound proof box and used for soft line |
| CN105098410A (en) * | 2015-08-31 | 2015-11-25 | 晋江市东坤电子实业有限公司 | Convenient-to-maintain power supply equipment for flexible circuit |
| CN107204530A (en) * | 2017-05-16 | 2017-09-26 | 中国船舶科学研究中心（中国船舶重工集团公司第七0二研究所） | The latent device docking charging plug device of autonomous |
| CN109921232A (en) * | 2017-12-13 | 2019-06-21 | 中国科学院沈阳自动化研究所 | A kind of underwater pluggable mechanism |
-
2014
- 2014-09-09 CN CN201420515140.8U patent/CN204179360U/en not_active Expired - Fee Related
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104201512A (en) * | 2014-09-09 | 2014-12-10 | 哈尔滨工程大学 | Underwater charging connecting mechanism |
| CN104201512B (en) * | 2014-09-09 | 2016-08-17 | 哈尔滨工程大学 | Charging connection mechanism under water |
| CN105006693A (en) * | 2015-08-31 | 2015-10-28 | 尚庆光 | Power supply equipment with tunnel guiding holes and sound proof box and used for soft line |
| CN105098410A (en) * | 2015-08-31 | 2015-11-25 | 晋江市东坤电子实业有限公司 | Convenient-to-maintain power supply equipment for flexible circuit |
| CN107204530A (en) * | 2017-05-16 | 2017-09-26 | 中国船舶科学研究中心（中国船舶重工集团公司第七0二研究所） | The latent device docking charging plug device of autonomous |
| CN109921232A (en) * | 2017-12-13 | 2019-06-21 | 中国科学院沈阳自动化研究所 | A kind of underwater pluggable mechanism |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20150225 Termination date: 20170909 |