A detachable connection mechanism for the upper manipulator of an underwater robot

Abstract

The invention discloses a detachable connecting mechanism of an underwater robot upper mechanical arm. By means of the detachable connecting mechanism, mechanical connection and electric connection can be ended at the same time; the detachable connecting mechanism comprises an installing sleeve barrel base arranged on an underwater robot body, a cable socket is arranged in the installing sleeve barrel base, a hollow mechanical arm connecting base is embedded in the installing sleeve barrel base movably, an installing groove is formed in the upper periphery of the part, arranged in the installing sleeve barrel base in a penetrating manner, of the mechanical arm connecting base, and two driving clamping blocks and at least two transmission clamping blocks are arranged in the installing groove; and balls are arranged at the positions, between the driving clamping blocks and the transmission clamping blocks and between every two adjacent transmission clamping blocks, in the installing groove, a driving piece which is inserted into the position between the two driving clamping blocks so as to enable all balls to be partially extruded into locking grooves to connect the mechanical arm connecting base with the installing sleeve barrel base is arranged on the installing sleeve barrel base, a power device for driving the driving piece is further arranged on the installing sleeve barrel base, and a cable plug matched with the cable socket is arranged in the mechanical arm connecting base.

Description

technical field [0001] The invention relates to a detachable connection mechanism of a manipulator on an underwater robot. Background technique [0002] For underwater robots equipped with underwater manipulators, during operation, the underwater manipulators may be entangled by aquatic plants, fishing nets, cables or stuck by underwater stones, which will cause the underwater robots to fail to float. At this time, quickly release the manipulators To ensure that the underwater robot body can float is the only way for the underwater robot to save itself. Patent No. 201210404590.5 The release device designed in the patent document titled "An Underwater Electromechanical Release Device" divides the release process of the manipulator into two parts: mechanical separation and cable pull-off, which takes up a lot of space. Patent No. 201210140056.8 The release device designed in the patent document titled "Detachable Connection Mechanism for Upper Manipulator of Pneumatically Dri...

AI Technical Summary

Problems solved by technology

Patent No. 201210140056.8 The release device designed in the patent document titled "Detachable Connection Mechanism for Upper Manipulator of Pneumatically Driven Underwater Robot" uses high-pressure gas in the gas cylinder as the power source to drive the release action. Due to the air pressure of the power source In addition to overcome the pressure of external seawater, the air pressure of the power source is greatly affected by the working depth, especially when the working depth is large, because the gas cylinder needs to be filled with higher pressure gas, so the process of installing the gas cylinder on the shore is increased. danger in

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