CN209601920U - A kind of underwater robot is automatically upper, unlock hang locker - Google Patents
A kind of underwater robot is automatically upper, unlock hang locker Download PDFInfo
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- CN209601920U CN209601920U CN201920206700.4U CN201920206700U CN209601920U CN 209601920 U CN209601920 U CN 209601920U CN 201920206700 U CN201920206700 U CN 201920206700U CN 209601920 U CN209601920 U CN 209601920U
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- header structure
- unlock
- underwater robot
- movable
- locker
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Abstract
That the utility model discloses a kind of underwater robots is automatically upper, unlock hang locker, it includes fixed header structure, the fixed header structure includes the optical axis for matching with movable header structure, one of end of the optical axis is machined with the limit frustum for matching with latching device, another end of optical axis is equipped with fixing head pedestal；The latching device is fitted between movable header structure and buoyant mass, and the buoyant mass is sleeved on the outside of movable header structure, and drives latching device and limit frustum to realize release or locking action under buoyancy.This device not only realizes automatic upper, unlock, also changes previous by way of pulling rope triggering unlock, it is ensured that underwater robot is automatic locking during hanging, unlock reliability, prevents the probability of maloperation.
Description
Technical field
That the utility model relates to a kind of underwater robots is automatically upper, unlock hang locker, belong to underwater robot
Device field.
Background technique
Underwater robot currently used in the market is more than certain limit in self weight, it is difficult to when using manual handling, is all provided with
Automatic locking device is hung in respect of automatic locking, unlock, fixing head, movable head hollow design is all made of, covers machine under water
Combining form in people's umbilical cables drives bolt unlock, from by the way of gravity combination locking using pulling connecting rope.
Above-mentioned hangs locker when in use, and the connection of general activity head hangs rope, and a drawing is reconnected at bolt
Running rope rope, fixing head are fixedly connected with underwater robot, as lifting point.Movable head and fixing head locking are connected before lifting,
Hanging rope and can carry out underwater robot lifting by movable head pulls connection when underwater robot is hung to the water surface
Pulling rope at movable head bolt can unlock the locked state of movable head, fixing head, realize movable head, fixing head point
From underwater robot can be detached from and hang into water.When underwater robot returns to the water surface, by movable headgear machine under water
By realizing locking, underwater robot, that is, capable of hoisting by opening bolt from gravity at Gravitational sliding to fixing head in people's umbilical cables
Load onto bank.When bolt breaks down, the pulling rope being connected on movable head is pulled to be unable to complete bolt unlock, underwater
People cannot achieve fixing head, movable head separation, if maloperation occurs during hanging, underwater robot does not reach the water surface also
With regard to having touched pulling rope, it would be possible to underwater robot be caused just to unlock in the sky and underwater robot is caused to drop damage.Cause
This, what underwater robot used at present hangs the locker of automatic locking unlock, and there is also safe and reliable hidden danger, do not have also
The design scheme having had.
Utility model content
The utility model aim be to provide a kind of underwater robot is automatically upper, unlock hang locker, this device is not
It only realizes automatic upper, unlock, also changes previous by way of pulling rope triggering unlock, it is ensured that underwater robot was hung
Automatic locking in journey, unlock reliability, prevents the probability of maloperation.
In order to realize above-mentioned technical characteristic, purpose of the utility model is realized as follows: a kind of underwater robot is certainly
Dynamic upper, unlock to hang locker, it includes fixed header structure, the fixed header structure include for and movable header structure phase
The optical axis of cooperation, one of end of the optical axis are machined with the limit frustum for matching with latching device, optical axis
Another end is equipped with fixing head pedestal；The latching device is fitted between movable header structure and buoyant mass, described
Buoyant mass is sleeved on the outside of movable header structure, and under buoyancy drive latching device and limit frustum realize unclamp or
Locking action.
The outer end face of the fixing head pedestal is fixed with the first connecting plates of two pieces of parallel arrangements, on first connecting plate
It is machined with through-hole, the lifting point of the through-hole and underwater robot is hinged and connected.
The center of the optical axis is machined with the umbilical cables through hole for passing through robot umbilical cables.
The activity header structure includes the centre bore being used for across optical axis of processing in its center, the one of movable header structure
End outer rim is provided with hinged seat, and the upper section of the hinged seat is the buoyant mass mounting ring for sleeved floating block, the buoyant mass
It is machined with sliding slot along its axis direction in mounting ring, the end of the buoyant mass mounting ring is machined with hook boss, the hook
Boss is connected with hanging ring cooperation.
The hanging ring is connected with the rope that hangs for lifting underwater robot.
The latching device includes movable lock tongue, and one end of the activity lock tongue is hinged on movable head knot by the first pin shaft
On the hinged seat of structure, the other end of the activity lock tongue passes through the sliding slot on movable header structure, and the limit with fixed header structure
Frustum matches；Guide groove, the guide pin composition of the guide groove and the second connecting plate end are machined on the activity lock tongue
It is slidably matched, and drive activity lock tongue rotates；Second connecting plate is mounted on fixed bottom plate, and the fixed bottom plate passes through spiral shell
Bolt is fixed on the end face of buoyant mass.
It is machined on the inner wall of the centre bore of the activity header structure and is vertically directed slot, it is described to be vertically directed slot and fixing head
Pedestal composition is slidably matched.
The utility model has the advantages that:
1, using the structure of the utility model, pass through the different location of buoyant mass in air and in water, the company of drive
Fishplate bar, connecting plate drive movable lock tongue again, fix header structure and activity by the open and close realization with limit frustum of movable lock tongue
Automatic locking, the unlocking function of header structure are solved by pulling rope that bolt is driven to realize automatic locking, unlocking function ask
Topic, during underwater robot is hung, unlock can be only triggered when underwater robot and movable head submerge in water, is prevented
Artificial incorrect operation, and present apparatus structure is simple, uses safe ready.
2, above-mentioned structure thinks to intervene without excessive, is automatically realized by using latching device fixed header structure with
The connection and release of movable header structure, ensure that the reliability of its operation.
Detailed description of the invention
The utility model is described in further detail with reference to the accompanying drawings and examples.
Fig. 1 is the main sectional view that the fixed header structure of the utility model is connected with movable header structure.
Fig. 2 is the three-dimensional figure of the fixed header structure of the utility model.
Fig. 3 is the main view of the utility model activity header structure.
In figure: through-hole 1, the first connecting plate 2, umbilical cables through hole 3, fixing head pedestal 4, optical axis 5, limit frustum 6, activity
Header structure 7, the first pin shaft 9, guide pin 10, the second connecting plate 11, fixed bottom plate 12, bolt 13, guide groove 14, is lived at hinged seat 8
Dynamic lock tongue 15, buoyant mass 17, hooks boss 18, centre bore 19, buoyant mass mounting ring 20, is vertically directed slot 21, is fixed sliding slot 16
Header structure 22, hanging ring 23.
Specific embodiment
The embodiments of the present invention is described further with reference to the accompanying drawing.
Embodiment 1:
Please refer to Fig. 1-3, a kind of underwater robot is automatically upper, unlock hang locker, it includes fixed header structure
22, the fixed header structure 22 includes the optical axis 5 for matching with movable header structure 7, one of end of the optical axis 5
It is machined with the limit frustum 6 for matching with latching device, another end of optical axis 5 is equipped with fixing head pedestal 4；It is described
Latching device is fitted between movable header structure 7 and buoyant mass 17, and the buoyant mass 17 is sleeved on the outer of movable header structure 7
Portion, and drive latching device and limit frustum 6 to realize release or locking action under buoyancy.Lock is hung by above-mentioned
Buckle device can assist completing the decentralization and lifting of lower robot, and can virtue of buoyancy realize automatic unlocking process, significantly
The safety and reliability for improving underwater robot and hanging.
Further, the outer end face of the fixing head pedestal 4 is fixed with the first connecting plate 2 of two pieces of parallel arrangements, described
Through-hole 1 is machined on first connecting plate 2, the lifting point of the through-hole 1 and underwater robot is hinged and connected.Pass through the first connecting plate
2 can be connected underwater robot with fixing head pedestal 4.
Further, the center of the optical axis 5 is machined with the umbilical cables through hole 3 for passing through robot umbilical cables.Into
And convenient passing through for robot umbilical cables.
Further, the movable header structure 7 includes the centre bore 19, In being used for across optical axis 5 of processing in its center
One end outer rim of movable header structure 7 is provided with hinged seat 8, and the upper section of the hinged seat 8 is the buoyancy for sleeved floating block 17
Block mounting ring 20 is machined with sliding slot 16 along its axis direction in the buoyant mass mounting ring 20, the buoyant mass mounting ring 20
End, which is machined with, hooks boss 18, and the hook boss 18 is connected with the cooperation of hanging ring 23.It can by above-mentioned movable header structure 7
Latching device and buoyant mass 17 is cooperated to realize the locking and release of fixed header structure 22.
Further, the hanging ring 23 is connected with the rope that hangs for lifting underwater robot.Pass through 23 convenience of hanging ring
It is connected with hanging device.
Further, the latching device includes movable lock tongue 15, and one end of the activity lock tongue 15 passes through the first pin shaft 9
It being hinged on the hinged seat 8 of movable header structure 7, the other end of the activity lock tongue 15 passes through the sliding slot 16 on movable header structure 7,
And it is matched with the limit frustum 6 of fixed header structure 22；Guide groove 14, the guide groove 14 are machined on the activity lock tongue 15
It is slidably matched with the composition of guide pin 10 of 11 end of the second connecting plate, and drive activity lock tongue 15 rotates；Second connecting plate
11 are mounted on fixed bottom plate 12, and the fixed bottom plate 12 is fixed on the end face of buoyant mass 17 by bolt 13.By above-mentioned
Latching device after underwater robot enters water, be sleeved on buoyant mass 17 on movable header structure 7 in use and contact
After water, the effect by buoyancy will float, and then fixed bottom plate 12 is driven to rise, then drive the second connection by fixed bottom plate 12
Plate 11, and then guide pin 10 is driven by the second connecting plate 11, matched by the guide groove 14 of guide pin 10 and movable lock tongue 15
It closes, and then makes its rotation so that movable lock tongue 15 is detached from the cooperation with limit frustum 6, realization unlock, and completion activity header structure 7
Unlock between fixed header structure 22 is detached from.
In addition, movable lock tongue 15 will be opened by self gravitation effect during it exposes the surface lifting, so that living
Dynamic lock tongue 15 is sleeved on again on optical axis 5, and guarantees its cooperation that is in contact with limit frustum 6, so realization activity header structure 7 and
Lock again between fixed header structure 22 is connected.
Further, it is machined on the inner wall of the centre bore 19 of the movable header structure 7 and is vertically directed slot 21, it is described vertical
Guide groove 21 is slidably matched with the composition of fixing head pedestal 4.Fixed header structure 22 is effectively prevented by being vertically directed slot 21 to exist
It rotates inside centre bore 19.
Embodiment 2:
The operating method for hanging locker that the underwater robot is automatically upper, unlocks, it is characterised in that including following
Step:
Step1: when needing to lift decentralization underwater robot, the first connecting plate 2 of fixed header structure 22 is passed through first
The lifting point of pin shaft and underwater robot is hinged and connected；
Step2: movable header structure 7 is sleeved on the optical axis 5 of fixed header structure 22, buoyant mass 17 is in self gravity at this time
Effect is glided, and fixed bottom plate 12 is driven to push, and drives the second connecting plate 11 and guide pin 10 to compress by fixed bottom plate 12
Movable lock tongue 15, the cooperation so that movable lock tongue 15 is in contact with limit frustum 6 always, and then realization activity header structure 7 and fixation
Lock between header structure 22 is connected；
Step3: robot umbilical cables are passed through into umbilical cables through hole 3 and centre bore 19, and rope and hanging ring 23 will be hung
It is connected, is then sling entire underwater robot by playing equipment；
Step4: it after underwater robot enters water, is sleeved on after the contact water of buoyant mass 17 on movable header structure 7, by floating
The effect of power will float, and then fixed bottom plate 12 is driven to rise, then drive the second connecting plate 11 by fixed bottom plate 12, and then pass through
Second connecting plate 11 drives guide pin 10, is matched by guide pin 10 with the guide groove 14 of movable lock tongue 15, and then make its turn
It moves so that movable lock tongue 15 is detached from the cooperation with limit frustum 6, realization unlock, and completion activity header structure 7 and fixed header structure
Unlock between 22 is detached from；
Step5: when underwater robot fulfils assignment, when needing to lift by crane, movable header structure 7 will be along robot umbilical cord at this time
Cable glides automatically, will open movable lock tongue 15 by self gravitation effect, so that movable lock tongue 15 is sleeved on again on optical axis 5,
And guarantee its cooperation that is in contact with limit frustum 6, and then the lock again between realization activity header structure 7 and fixed header structure 22
It is connected；
Step6: starting boom hoisting is again lifted by crane entire underwater robot by boom hoisting.
Above-described embodiment is used to illustrate the utility model, rather than limits the utility model, practical at this
In novel spirit and scope of protection of the claims, to any modifications and changes that the utility model is made, this reality is both fallen within
With novel protection scope.
Claims (7)
1. a kind of underwater robot is automatically upper, unlock hang locker, it is characterised in that: it includes fixed header structure
(22), the fixed header structure (22) include for and the optical axis (5) that matches of movable header structure (7), the optical axis (5) its
In an end be machined with the limit frustum (6) for matching with latching device, another end of optical axis (5) is equipped with solid
Determine head pedestal (4)；The latching device is fitted between movable header structure (7) and buoyant mass (17), the buoyant mass
(17) it is sleeved on the outside of movable header structure (7), and drives latching device and limit frustum (6) to realize under buoyancy and unclamps
Or locking action.
2. a kind of underwater robot according to claim 1 is automatically upper, unlock hang locker, it is characterised in that:
The outer end face of the fixing head pedestal (4) is fixed with the first connecting plate (2) of two pieces of parallel arrangements, first connecting plate (2)
On be machined with through-hole (1), the through-hole (1) and the lifting point of underwater robot are hinged and connected.
3. a kind of underwater robot according to claim 1 or 2 is automatically upper, unlock hang locker, feature exists
In: the center of the optical axis (5) is machined with the umbilical cables through hole (3) for passing through robot umbilical cables.
4. a kind of underwater robot according to claim 1 is automatically upper, unlock hang locker, it is characterised in that:
The activity header structure (7) includes the centre bore (19) being used for across optical axis (5) of processing in its center, in movable header structure
(7) one end outer rim is provided with hinged seat (8), and the upper section of the hinged seat (8) is the buoyant mass for sleeved floating block (17)
Mounting ring (20) is machined with sliding slot (16) on the buoyant mass mounting ring (20), the buoyant mass mounting ring along its axis direction
(20) end, which is machined with, hooks boss (18), and the hook boss (18) is connected with hanging ring (23) cooperation.
5. a kind of underwater robot according to claim 4 is automatically upper, unlock hang locker, it is characterised in that:
The hanging ring (23) is connected with the rope that hangs for lifting underwater robot.
6. a kind of underwater robot according to claim 1 is automatically upper, unlock hang locker, it is characterised in that:
The latching device includes movable lock tongue (15), and one end of the activity lock tongue (15) is hinged on activity by the first pin shaft (9)
On the hinged seat (8) of header structure (7), the other end of the activity lock tongue (15) passes through the sliding slot (16) on movable header structure (7),
And it is matched with the limit frustum (6) of fixed header structure (22)；It is machined with guide groove (14) on the activity lock tongue (15), it is described
Guide groove (14) and guide pin (10) composition of the second connecting plate (11) end are slidably matched, and drive activity lock tongue (15) turns
It is dynamic；Second connecting plate (11) is mounted on fixed bottom plate (12), and the fixed bottom plate (12) is fixed on by bolt (13)
On the end face of buoyant mass (17).
7. a kind of underwater robot according to claim 1 or 4 is automatically upper, unlock hang locker, feature exists
In: it is machined with and is vertically directed slot (21) on the inner wall of the centre bore (19) of the activity header structure (7), it is described to be vertically directed slot
(21) it constitutes and is slidably matched with fixing head pedestal (4).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920206700.4U CN209601920U (en) | 2019-02-18 | 2019-02-18 | A kind of underwater robot is automatically upper, unlock hang locker |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920206700.4U CN209601920U (en) | 2019-02-18 | 2019-02-18 | A kind of underwater robot is automatically upper, unlock hang locker |
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| Publication Number | Publication Date |
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| CN209601920U true CN209601920U (en) | 2019-11-08 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201920206700.4U Active CN209601920U (en) | 2019-02-18 | 2019-02-18 | A kind of underwater robot is automatically upper, unlock hang locker |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109733985A (en) * | 2019-02-18 | 2019-05-10 | 中国长江电力股份有限公司 | A kind of underwater robot is automatically upper, unlock hang locker and operating method |
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2019
- 2019-02-18 CN CN201920206700.4U patent/CN209601920U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109733985A (en) * | 2019-02-18 | 2019-05-10 | 中国长江电力股份有限公司 | A kind of underwater robot is automatically upper, unlock hang locker and operating method |
| CN109733985B (en) * | 2019-02-18 | 2023-11-17 | 中国长江电力股份有限公司 | Automatic lifting locking device for underwater robot to be automatically lifted and unlocked and operation method |
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