CN204750533U - Underwater robot locking mechanism - Google Patents
Underwater robot locking mechanism Download PDFInfo
- Publication number
- CN204750533U CN204750533U CN201520401996.7U CN201520401996U CN204750533U CN 204750533 U CN204750533 U CN 204750533U CN 201520401996 U CN201520401996 U CN 201520401996U CN 204750533 U CN204750533 U CN 204750533U
- Authority
- CN
- China
- Prior art keywords
- spring
- clamping piece
- under
- spring shaft
- guide rail
- 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 - Fee Related
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Abstract
An object of the utility model is to provide an underwater robot locking mechanism, which comprises a fixed base, the pneumatic cylinder, the guide rail, the spring axle, clamping mechanism, the guide rail is fixed in the fixing base top, the pneumatic cylinder is installed in the fixing base below, the inboard of guide rail sets up rather than the complex slider, clamping mechanism includes pinch -off blades, the baffle, the baffle is fixed in the pinch -off blades below, the slider is fixed mutually with the baffle, the tailpiece of the piston rod portion of pneumatic cylinder links to each other with the spring axle, the epaxial cover of spring has the spring, set up the hole on the pinch -off blades, the kong bingyu spacer that the epaxial end of spring passed pinch -off blades links to each other, spring axle lower extreme sets up the arch, spring one end top is on pinch -off blades, other end top is in the arch of spring axle. The utility model discloses the power that relies on spring compression to produce is locked the underwater robot, makes the rigidity contact become springiness contaction, has reduced the danger that causes destruction to the underwater robot, and spring compression can realize the locking long -time to the underwater robot, need not other complicated hydraulic pressure locking device.
Description
Technical field
The utility model relates to a kind of catch gear, specifically catch gear under water.
Background technology
Under-water robot is important underwater operation tool, but because himself carries limited energy, be difficult to carry out on a large scale, long working, usually will charge under water to it, thus extend under-water robot production time, improve underwater task efficiency.Before charging under water, need to carry out docking and being locked with under-water robot.Therefore a kind of under-water robot catch gear is designed for realizing the locking of under-water robot and to carry out the subsequent actions such as charging significant.
Application number is 201310491735, the Chinese patent that name is called " the connecing pool and proving installation of recoverable underwater cable joint ", utility model connect that pool device can realize underwater cable connect pool, belong to Offshore Engineering field, without locking function; Application number 201410105287, the Chinese patent that name is called " under water static seal catch gear ", the catch gear of utility model, for solving subsea control modules housing seal problem under 3000 meters of depth of waters, is not the locking for under-water robot.
Summary of the invention
The purpose of this utility model is to provide and can completes under-water robot locking by environment under water, and with a kind of under-water robot catch gear of position feedback function.
The purpose of this utility model is achieved in that
A kind of under-water robot catch gear of the utility model, it is characterized in that: comprise permanent seat, hydraulic actuating cylinder, guide rail, spring shaft, clamping mechanism, guide rail is fixed on above permanent seat, hydraulic actuating cylinder is arranged on below permanent seat, the inner side of guide rail arranges the slide block be mated, clamping mechanism comprises clamping piece, guide plate, guide plate is fixed on below clamping piece, slide block and guide plate fix, the piston rod end of hydraulic actuating cylinder is connected with spring shaft, on spring shaft, cover has spring, providing holes on clamping piece, spring shaft upper end is connected through the Kong Bingyu spacer of clamping piece, spring shaft lower end arranges projection, spring one end withstands on clamping piece, the other end withstands in the projection of spring shaft, the end position of formation up and down of hydraulic actuating cylinder arranges the first proximity switch and the second proximity switch respectively.
The utility model can also comprise:
1, the groove structure of the arranged outside savings impurity of slide block.
2, between spacer with spring shaft by can the screw of regulating spring predetermincd tension be connected.
3, above clamping piece, polyurethane sheet is set.
Advantage of the present utility model is:
1, the power relying on spring-compressed to produce is locked under-water robot, makes rigid contact become Elastic Contact, reduces the danger damaged under-water robot;
2, spring-compressed can realize locking for a long time under-water robot, without the need to the hydraulic locking apparatus of other complexity;
3, with position feedback function, complete locking and unclamp put in place after proximity switch all can send the signal that puts in place, convenient monitoring.
Accompanying drawing explanation
Fig. 1 is structural representation of the present utility model;
Fig. 2 is spring shaft schematic diagram of the present utility model;
Fig. 3 is the utility model clamping piece birds-eye view;
Fig. 4 is the utility model guide rail schematic diagram.
Detailed description of the invention
Below in conjunction with accompanying drawing citing, the utility model is described in more detail:
Composition graphs 1 ~ 4, the utility model is primarily of clamping piece, spring, spring shaft, polyethylene slide block, hydraulic actuating cylinder and bearing.Bearing is arranged on under-water robot docking facilities, and hydraulic actuating cylinder and slide rail are arranged on bearing.Hydraulic cylinder piston rod end portion and spring shaft are threaded connection, and spring housing is on spring shaft, and one end leans against on spring shaft, and one end leans against on clamping piece.Spring shaft, through the corresponding aperture on clamping piece, is bolted with spacer.
Polyurethane sheet 11 is connected with clamping piece 12 by bolt 10, clamping piece 12 is connected by bolt 8 with guide plate 7, the slide block 6 of polyethylene material is connected by screw 5 with guide plate 7, spacer 14 is connected by screw 13 with spring shaft 15, and turning screw 13 can regulate the predetermincd tension of spring.Slide block 6, guide plate 7, clamping piece 12 and polyurethane sheet 11 form the clamp of clamping mechanism, and clamp can move up and down under hydraulic actuating cylinder effect in guide rail 2.Slide block 6 is provided with groove structure, for putting aside impurity, avoiding seawater impurity to enter between slide block 6 and guide rail 2 and damaging kinematic pair.Guide rail 2 and permanent seat 1 are together connected on docking facilities by bolt.Spring 16 is enclosed within spring shaft 15, and spring one end leans against on spring shaft 15, and one end leans against on clamping piece 12.Spring shaft 15 is connected with hydraulic actuating cylinder 21 end by screw thread.The up-downgoing way limit position of hydraulic actuating cylinder 21 is provided with corrosion-resistant steel proximity switch 22, the detecting distance of proximity switch 22 is 2mm, piston position in hydraulic actuating cylinder 21 can be detected, when after piston arrives end position, proximity switch 22 sends the signal that puts in place, indicating locking or unclamp action and complete.
Bearing is arranged on under-water robot docking facilities, and hydraulic actuating cylinder and slide rail are arranged on bearing.Hydraulic cylinder piston rod end portion and spring shaft are threaded connection, and spring housing is on spring shaft, and one end leans against on spring shaft, and one end leans against on clamping piece.Spring shaft, through the corresponding aperture on clamping piece, is bolted with spacer.Clamping piece both sides are clamping side plates, connect the slide block made of polythene material, can in the slide rail of mechanism both sides up-and-down movement.Damage in order to avoid the impurity in briny environment enters between slide block and slide rail, in the utility model, slide block is provided with groove structure, for putting aside impurity, avoids the destruction to kinematic pair.The predetermincd tension of spring can be regulated by spring shaft, Connection Block and spacer.The utility model patent adopts hydraulic-driven, and sealing property is reliable, is applicable to under-water operation environment, can completes being locked to under-water robot, also can be applicable to other subsea equipments.
All metal parts materials contacted with water are 316L corrosion-resistant steel, can seawater corrosion resistance for a long time.
Bearing is arranged on under-water robot docking facilities, and hydraulic actuating cylinder and slide rail are arranged on bearing.Hydraulic cylinder piston rod end portion and spring shaft are threaded connection, and spring housing is on spring shaft, and one end leans against on spring shaft, and one end leans against on clamping piece.Spring shaft, through the corresponding aperture on clamping piece, is bolted with spacer.
Clamping piece can complete the locking to under-water robot under Hydraulic Cylinder, the clamping piece the superiors are polyurethane sheet, with produce elastic deformation during under-water robot housing contacts thus avoid producing under-water robot shell destroying, clamping piece both sides are clamping side plates, connect the slide block made of polythene material, can in the slide rail of mechanism both sides up-and-down movement.
Clamping piece upwards contacts with under-water robot, and then spring is compressed, and produces application force, ensures that under-water robot is in clamped condition all the time.
Spring shaft is connected with hydraulic cylinder piston rod end portion by screw thread, and spring housing is on spring shaft, and the spring shaft other end adopts with clamping piece and is flexibly connected, and ensures that spring can be compressed.
Slide block can in the slide rail of mechanism both sides up-and-down movement.Damage in order to avoid the impurity in briny environment enters between slide block and slide rail, in design, slide block is provided with groove structure herein, for putting aside impurity, avoids the destruction to kinematic pair.
Hydraulic actuating cylinder is double acting hydraulic cylinder, and material is 316L corrosion-resistant steel, can be operated in underwater environment, is provided with withstand voltage corrosion-resistant steel proximity switch, can detects hydraulic cylinder travel bottom hydraulic actuating cylinder with top.
Bearing is connected with hydraulic actuating cylinder, guide rail respectively by bolt, and is fixed on under-water robot docking facilities.
Claims (5)
1. a under-water robot catch gear, it is characterized in that: comprise permanent seat, hydraulic actuating cylinder, guide rail, spring shaft, clamping mechanism, guide rail is fixed on above permanent seat, hydraulic actuating cylinder is arranged on below permanent seat, the inner side of guide rail arranges the slide block be mated, clamping mechanism comprises clamping piece, guide plate, guide plate is fixed on below clamping piece, slide block and guide plate fix, the piston rod end of hydraulic actuating cylinder is connected with spring shaft, on spring shaft, cover has spring, providing holes on clamping piece, spring shaft upper end is connected through the Kong Bingyu spacer of clamping piece, spring shaft lower end arranges projection, spring one end withstands on clamping piece, the other end withstands in the projection of spring shaft, the end position of formation up and down of hydraulic actuating cylinder arranges the first proximity switch and the second proximity switch respectively.
2. a kind of under-water robot catch gear according to claim 1, is characterized in that: the groove structure of the arranged outside savings impurity of slide block.
3. a kind of under-water robot catch gear according to claim 1 and 2, is characterized in that: by can the screw of regulating spring predetermincd tension be connected between spacer with spring shaft.
4. a kind of under-water robot catch gear according to claim 1 and 2, is characterized in that: arrange polyurethane sheet above clamping piece.
5. a kind of under-water robot catch gear according to claim 3, is characterized in that: arrange polyurethane sheet above clamping piece.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520401996.7U CN204750533U (en) | 2015-06-11 | 2015-06-11 | Underwater robot locking mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520401996.7U CN204750533U (en) | 2015-06-11 | 2015-06-11 | Underwater robot locking mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN204750533U true CN204750533U (en) | 2015-11-11 |
Family
ID=54465267
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520401996.7U Expired - Fee Related CN204750533U (en) | 2015-06-11 | 2015-06-11 | Underwater robot locking mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN204750533U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104908912A (en) * | 2015-06-11 | 2015-09-16 | 哈尔滨工程大学 | Underwater robot locking mechanism |
-
2015
- 2015-06-11 CN CN201520401996.7U patent/CN204750533U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104908912A (en) * | 2015-06-11 | 2015-09-16 | 哈尔滨工程大学 | Underwater robot locking 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: 20151111 Termination date: 20170611 |