CN205469734U - Class vacuum jettison device - Google Patents
Class vacuum jettison device Download PDFInfo
- Publication number
- CN205469734U CN205469734U CN201620172241.9U CN201620172241U CN205469734U CN 205469734 U CN205469734 U CN 205469734U CN 201620172241 U CN201620172241 U CN 201620172241U CN 205469734 U CN205469734 U CN 205469734U
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- China
- Prior art keywords
- piston rod
- pump
- piston
- arranges
- ejection device
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Abstract
The utility model belongs to the technical field of bionic robot jettison device under water, the purpose provides a simple structure, class vacuum jettison device small, with low costs, and by piston, pump, sealing nut, adjustable screw cap formation confined space, rotatory through gear drive limiting gear through the motor, the pulling piston rod moves backward for gaseous volume grow in the confined space, pressure diminishes, and after the piston rod reachd preset position, spring armature locked it, when launching, electromagnetic mechanism with spring armature to the updraft type, unclamp the piston rod, the piston rod recovers initial position rapidly under atmospheric pressure, the motion of piston rod reaches and launches the purpose on being used in and being launched the light object. The utility model discloses the atmospheric pressure principle is utilized, the effective control can be realized launching to can realize launching in succession. The utility model discloses class vacuum jettison device can realize the object transmission among the practical application of aquatic robot, tasks such as mutual cooperation between transport and the multirobot.
Description
Technical field
This utility model belongs to underwater bionic robot catapult-launching gear technical field, particularly relates to a kind vacuum ejection device.
Background technology
At present, the catapult-launching gear used in robot has a variety of, has finite-length launcher, releasing type discharger, suspension
Device, connection discharger, spring catapult-launching gear etc., can use Pneumatic method or use electromagnetic method, using solenoid or electricity
Magnet etc. are as power.Spring assembly uses Hooke's law, and CN101870350A discloses a kind of crank-type catapult-launching gear,
Use driven by motor bevel gear driving crank mechanism, utilize crank device compression spring, discharge the compression of spring in position
Energy, makes spring-force driven dual on object, completes to launch purpose.The general volume of apparatus above is relatively big, or cost is higher, no
Meet the underwater robot performance requirement to aspects such as the weight of attachment device, volumes.
Utility model content
The technical problems to be solved in the utility model is to provide that a kind of simple in construction, volume be little, the class vacuum ejection device of low cost.
For solving above-mentioned technical problem, this utility model adopts the following technical scheme that
One kind vacuum ejection device, including base, motor, actuating device, motor is arranged on base, the output shaft of motor
Being connected with actuating device, the most also include pump, piston rod, described actuating device is connected with position limited gear, and position limited gear sets
Putting without the flank of tooth, base is installed and supports seat, the rear end of pump is connected with supporting seat, threadeds with sealing nut in front end, seals
Air exhaust rod is set on nut, in air exhaust rod, offers exhaust passage, pump sidewall arranges passage with corresponding position, exhaust passage,
Pump inner chamber connects with exhaust passage through passage, mounting and adjusting nut in air exhaust rod, and piston rod is arranged in pump, piston rod
Medium position piston is set, piston and pump inwall slipper seal, the front end of piston rod passes pump and sealing nut, piston
Bar and sealing nut slipper seal, be positioned on the piston rod of piston rear end and arrange tooth bar, and tooth bar engages with position limited gear, supports seat
Top arranges installing plate, installing plate is installed electromagnetic mechanism, installing plate arranges installing hole, and the lower end of spring armature is through installing
Hole, spring armature is installed spring, and the lower end of spring armature arranges catch, and the two ends of spring are press respectively against on installing plate and catch,
On piston rod, the side at piston arranges spacing hole, and the lower end of spring armature can fall in spacing hole under the action of the spring.
This utility model class vacuum ejection device, further, described electromagnetic mechanism includes support and rack-mount electromagnetism
Ferrum or solenoid.
This utility model class vacuum ejection device, further, the upper end of described air exhaust rod arranges cone seal body, adjusts nut
Conical internal cavity, conical internal cavity and the tight pressing of cone seal body are inside set, adjust nut and be threaded connection with air exhaust rod.
This utility model class vacuum ejection device, further, described actuating device includes first, second angular wheel, transmission
Axle, the first angular wheel is arranged on the outfan of motor, and power transmission shaft is arranged on base by bearing, the second angular wheel and
Described position limited gear is separately mounted to the two ends of power transmission shaft, the second angular wheel and the engagement of the first angular wheel and connects.
This utility model class vacuum ejection device, further, threaded with supporting seat in the rear end of described pump.
This utility model class vacuum ejection device, further, arranges sealing ring between described piston and pump inwall.
This utility model class vacuum ejection device, further, arranges sealing ring between described piston rod and sealing nut.
This utility model class vacuum ejection device compared with prior art, has the advantages that
1. this utility model is formed one sealed space, simple in construction, volume by piston, pump, sealing nut, adjustment nut
Little, low cost of manufacture, rotated through actuator drives position limited gear by motor, pull piston rod rearward movement so that seal
Gas volume in space becomes big, and pressure diminishes, and after piston rod arrives precalculated position, it is locked by spring armature；Bullet
When penetrating, spring armature is upwards inhaled by electromagnetic mechanism, unclamps piston rod, and piston rod at atmosheric pressure, is promptly restored to initial bit
Putting, the motion of piston rod acts on is launched in lightweight object, reaches to launch purpose.This utility model utilizes atmospheric pressure principle,
Can realize launching effectively control, and can realize launching continuously.This utility model class vacuum ejection device can realize machine in water
Object transfer in the actual application of device people, the task such as cooperate between carrying and multirobot, lightweight object can be launched,
Complete the application demand in reality, and can also be used in Multi-Agent Cooperation task, improve machine task efficiency, increase
The accuracy rate of strong object transfer, has saved the energy simultaneously, has made the contribution of oneself for environmental protection cause.
2. use sealing nut and adjustment nut that pump front end is sealed, after screwing adjustment nut, shape between pump and piston
Becoming to seal space, after opening adjustment nut, pump inner chamber connects with ambient atmosphere, and it act as: due in life-time service process
Sealing between middle piston and pump it cannot be guaranteed that preferable sealing state, make the sealing space between pump and piston it cannot be guaranteed that
The initial state set, thus length is launched in impact, therefore after use a period of time when catapult-launching gear is at initial position, opens
Adjust nut, air unnecessary in pump can be discharged, make sealing space recover to the initial state set.
Below in conjunction with the accompanying drawings class vacuum ejection device of the present utility model is described further.
Accompanying drawing explanation
Fig. 1 is the axonometric chart of this utility model class vacuum ejection device；
Fig. 2 is the front view of this utility model class vacuum ejection device；
Fig. 3 is pump, piston rod, the profile of sealing nut part.
Detailed description of the invention
As shown in Figure 1 and Figure 2, this utility model class vacuum ejection device include base 1, motor 2, actuating device, pump 3,
Piston rod 4, motor 2 is arranged on base 1, actuating device include first, second angular wheel 11,12, power transmission shaft 13,
First angular wheel 11 is arranged on the output shaft of motor 2, and power transmission shaft 13 is arranged on base 1 by bearing, power transmission shaft 13
Two ends be respectively mounted the second angular wheel 12 and position limited gear 14, the second angular wheel 12 engages with the first angular wheel 11
Connect, position limited gear 14 is arranged without the flank of tooth 15.
Being installed by screw on base 1 and support seat 5, threadeds with supporting seat 5 in the rear end of pump 3, front end and sealing nut 6
Threaded, shown in Fig. 3, sealing nut 6 arranges air exhaust rod 61, in air exhaust rod 61, offers exhaust passage 62, purt
Arranging passage 32 with corresponding position, exhaust passage 62 on cylinder 3 sidewalls, pump 3 inner chamber is through passage 32 and exhaust passage 62
Connection.Mounting and adjusting nut 7 in air exhaust rod 61, the upper end of air exhaust rod 61 arranges cone seal body 63, sets in adjusting nut 7
Put conical internal cavity 71, conical internal cavity 71 and the tight pressing of cone seal body 63, adjust nut 7 and pass through screw thread with air exhaust rod 61
Connect, good sealing effect.
Piston rod 4 is arranged in pump 3, and can slide in pump 3, and the medium position of piston rod 4 arranges piston 8, lives
Plug 8 and pump 3 inwall slipper seal, arrange sealing ring between piston 8 and pump 3 inwall, the front end of piston rod 4 passes purt
Cylinder 3 and sealing nut 6, piston rod 4 and sealing nut 6 slipper seal, arrange sealing between piston rod 4 and sealing nut 6
Circle, forms confined space between pump 3, piston 8, sealing nut 6, adjustment nut 7.It is positioned at the piston rod 4 of piston rear end
Bottom tooth bar 41 is set, tooth bar 41 engages with position limited gear 14.
Supporting seat 5 top and arrange installing plate 51, installing plate 51 is installed electromagnetic mechanism, electromagnetic mechanism includes support 52 and installs
Electric magnet 53 on support or solenoid, be electric magnet shown in figure.At electric magnet 53 or solenoid on installing plate 51
Underface installing hole is set, the lower end of spring armature 9 pass installing hole, on spring armature 9 install spring 10, spring armature
The lower end of 9 arranges catch 91, and the two ends of spring 10 are press respectively against on installing plate 51 and catch 91, at piston on piston rod 4
Side arranges spacing hole 42, and the lower end of spring armature 9 can fall in spacing hole 42 under the effect of spring 10.
This utility model class vacuum ejection device is arranged in Shui Zhong robot, is exported by the signal of the control system of Shui Zhong robot
End is connected with motor 2, is connected by the power end of the signal output part of control system with electric magnet or solenoid, and work process is such as
Under:
When Shui Zhong robot boot system initializes, set this utility model class vacuum ejection device and be in initial position, initially
Position is that piston 8 is positioned at pump 3 foremost, position limited gear 14 be in parastate, just without the flank of tooth 15 and piston rod 4
During beginning position, the sealing space formed between pump 3, piston 8, sealing nut 6, adjustment nut 7 is minimum, and electric magnet is in
Power failure state.
Robot control system according to mission requirements, sends enabling signal to motor, motor 2 start drive the first angular wheel 11,
Second angular wheel 12, power transmission shaft 13 rotate, thus drive position limited gear 14 to turn clockwise, position limited gear 14 and piston
Tooth bar 41 bottom bar engages, and is pulled back by piston rod 4 so that sealing the gas volume in space and become big, pressure diminishes,
When position limited gear 14 rotation is turned around, spring armature 9 falls in the spacing hole 42 on piston rod 4 in spring 10 effect, will
Piston rod 4 is locked in treats ejection seat.Meanwhile, position limited gear 14 rotates to the position parallel with piston rod 4 without the flank of tooth 15
Putting, disengaging is engaged with piston rod 4, ready for launching of catapult-launching gear.
Robot control system, according to mission requirements, sends and launches order, and electric magnet 53 obtains electric, and electric magnet 53 utilizes electromagnetic force
Upwards being inhaled by spring armature 9, make spring armature 9 depart from the spacing hole 42 on piston rod 4, now piston rod 4 is in ambient atmosphere
Under pressure effect, ejecting the most forward, complete the task of launching, catapult-launching gear returns to initial position.
Said process is one and launches the cycle, and robot control system, by controlling motor and electric magnet, can realize catapult-launching gear
Launch continuously.
Embodiment described above is only to be described preferred implementation of the present utility model, not to of the present utility model
Scope is defined, and on the premise of without departing from this utility model design spirit, those of ordinary skill in the art are to this utility model
The various deformation made of technical scheme and improvement, all should fall in the protection domain that this utility model claims determine.
Claims (7)
1. a kind vacuum ejection device, including base, motor, actuating device, motor is arranged on base, the output of motor
Axle is connected with actuating device, it is characterised in that: also include that pump, piston rod, described actuating device are connected with position limited gear, limit
Arranging without the flank of tooth on the gear of position, base is installed and supports seat, the rear end of pump is connected with supporting seat, front end and sealing nut screw thread
Connect, sealing nut arranges air exhaust rod, in air exhaust rod, offers exhaust passage, with corresponding position, exhaust passage on pump sidewall
Arranging passage, pump inner chamber connects with exhaust passage through passage, mounting and adjusting nut in air exhaust rod, and piston rod is arranged on purt
In cylinder, the medium position of piston rod arranges piston, piston and pump inwall slipper seal, and the front end of piston rod is through pump and close
Envelope nut, piston rod and sealing nut slipper seal, be positioned on the piston rod of piston rear end and arrange tooth bar, tooth bar and position limited gear
Engagement, supports seat top and arranges installing plate, installing plate is installed electromagnetic mechanism, installing plate arranges installing hole, spring armature
Lower end passes installing hole, and spring armature is installed spring, and the lower end of spring armature arranges catch, and the two ends of spring are press respectively against peace
On dress plate and catch, on piston rod, the side at piston arranges spacing hole, and the lower end of spring armature can fall under the action of the spring
In spacing hole.
Class vacuum ejection device the most according to claim 1, it is characterised in that: described electromagnetic mechanism includes support and installation
Electric magnet on support or solenoid.
Class vacuum ejection device the most according to claim 1, it is characterised in that: it is close that the upper end of described air exhaust rod arranges taper
Feng Ti, arranges conical internal cavity, conical internal cavity and the tight pressing of cone seal body in adjusting nut, adjust nut and pass through with air exhaust rod
Threaded.
Class vacuum ejection device the most according to claim 1, it is characterised in that: described actuating device includes first, second
Angular wheel, power transmission shaft, the first angular wheel is arranged on the outfan of motor, and power transmission shaft is arranged on base by bearing,
Second angular wheel and described position limited gear are separately mounted to the two ends of power transmission shaft, the second angular wheel and the engagement of the first angular wheel
Connect.
Class vacuum ejection device the most according to claim 1, it is characterised in that: the rear end of described pump and support seat screw thread
Connect.
Class vacuum ejection device the most according to claim 1, it is characterised in that: arrange between described piston and pump inwall
Sealing ring.
Class vacuum ejection device the most according to claim 1, it is characterised in that: set between described piston rod and sealing nut
Put sealing ring.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620172241.9U CN205469734U (en) | 2016-03-07 | 2016-03-07 | Class vacuum jettison device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620172241.9U CN205469734U (en) | 2016-03-07 | 2016-03-07 | Class vacuum jettison device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205469734U true CN205469734U (en) | 2016-08-17 |
Family
ID=56659555
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620172241.9U Expired - Fee Related CN205469734U (en) | 2016-03-07 | 2016-03-07 | Class vacuum jettison device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205469734U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105775076A (en) * | 2016-03-07 | 2016-07-20 | 北京大学 | Vacuum-like ejection device |
-
2016
- 2016-03-07 CN CN201620172241.9U patent/CN205469734U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105775076A (en) * | 2016-03-07 | 2016-07-20 | 北京大学 | Vacuum-like ejection device |
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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: 20160817 Termination date: 20170307 |