An automatic switching tool library for underwater operations

Abstract

An automatic switching tool library for underwater operations belongs to the field of underwater robot operations. Two parallel first and second guide rails are installed on the outer frame of the present invention, and a mobile platform is installed on the first and second guide rails. A hydraulic cylinder is installed between the first and second guide rails of the outer frame, and the driving rod of the hydraulic cylinder is connected to the mobile platform. A central axis is installed at the center of the mobile platform, and an upper tool turntable and a lower tool turntable are arranged on the central axis. A worm reducer is installed between the upper tool turntable and the lower tool turntable, and a plurality of universal tool brackets are installed on the circumferential edges of the upper tool turntable and the lower tool turntable. The present invention can carry a variety of underwater working tools, which are carried and dived by an underwater working robot, and cooperate with the underwater working robot to complete the switching of working tools underwater, thereby improving the working efficiency of the underwater working robot when facing complex tasks, saving time, and improving overall performance.

Description

Technical Field

[0001] The invention belongs to the field of underwater robot operation, and in particular relates to an automatic switching tool library for underwater operation. Background Art

[0002] Deepwater underwater operations are mainly completed by manipulating underwater working tools with the manipulator of underwater working robots. Generally, underwater working robots can only carry one working tool in one dive and can only complete limited working tasks. When faced with more complex underwater working tasks, underwater working robots need to frequently surface and return to the mother ship to replace working tools, which restricts the working efficiency. Summary of the invention

[0003] In view of the above problems, the present invention provides an automatic switching tool library for underwater operations.

[0004] In order to achieve the above-mentioned purpose, an automatic switching tool library for underwater operations is provided, which structure includes an outer frame 1, a first guide rail 2, a second guide rail 14, a hydraulic cylinder 3, a mobile platform 4, a central axis 5, an upper tool turntable 6, a lower tool turntable 7, a universal tool bracket 8, a lifting lug 9, a worm reducer 10, an underwater operation tool 11, and a tool-specific fixture 13, wherein: two parallel first guide rails 2 and second guide rails 14 are installed on the outer frame 1, and the mobile platform 4 is installed on the first guide rails 2 and the second guide rails 14. 4, a hydraulic cylinder 3 is installed between the first guide rail 2 and the second guide rail 14 of the outer frame, the driving rod of the hydraulic cylinder 3 is connected to the mobile platform 4, a central axis 5 is installed in the center of the mobile platform 4, an upper tool turntable 6 and a lower tool turntable 7 are arranged on the central axis, a worm reducer 10 is installed between the upper tool turntable 6 and the lower tool turntable 7, a plurality of universal tool brackets 8 are installed on the circumferential edges of the upper tool turntable 6 and the lower tool turntable 7, and lifting ears 9 connected to the underwater working robot are installed at the four corners of the outer frame 1.

[0005] The radius of the upper tool turntable 6 is greater than that of the lower tool turntable 7 . The upper tool turntable 6 has a gap, and the size of the gap is sufficient to prevent interference when the lower tool turntable 7 switches the underwater working tool 11 .

[0006] The upper tool turntable 6 and the lower tool turntable 7 are driven by a worm reducer 10 , and the upper tool turntable 6 and the lower tool turntable 7 rotate independently of each other.

[0007] The universal tool bracket 8 is provided with a first set of grooves 801 and a second set of grooves 802 . The handle 12 of the underwater working tool 11 is placed on the first set of grooves 801 , or the underwater working tool 11 is placed in a tool-specific fixture 13 , and the tool-specific fixture 13 is placed on the second set of grooves 802 .

[0008] The tool-specific fixture 13 consists of a ring 1301 with a threaded hole and a cylinder 1302 with an external thread. The cylinder 1302 is installed on the side of the ring 1301 through threads.

[0009] The driving rod of the hydraulic cylinder 3 is extended and retracted parallel to the first guide rail 2 and the second guide rail 14, and the worm reducer 10 is a worm reducer with a hydraulic motor.

[0010] The beneficial effects of the present invention are:

[0011] The present invention provides an automatic switching tool library for underwater operations, which can carry a variety of underwater operation tools, is carried underwater by an underwater operation robot, and cooperates with the underwater operation robot to complete the switching of operation tools underwater, thereby improving the work efficiency of the underwater operation robot when facing complex tasks, saving time, and improving overall performance. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1 It is a structural schematic diagram of the present invention.

[0013] Figure 2 It is a schematic diagram of the universal tool support structure of the present invention.

[0014] Figure 3 This is a schematic diagram of the first group of slots of the universal tool bracket of the present invention for storing underwater working tools.

[0015] Figure 4 This is a schematic diagram of the second group of slots of the universal tool bracket of the present invention for storing underwater working tools.

[0016] Figure 5 It is a schematic diagram of the structure of the tool-specific clamp of the present invention. DETAILED DESCRIPTION

[0017] The present invention will be further described below in conjunction with the accompanying drawings:

[0018] Example 1

[0019] A tool library for underwater operation is provided. The structure comprises an outer frame 1, a first guide rail 2, a second guide rail 14, a hydraulic cylinder 3, a mobile platform 4, a central axis 5, an upper tool turntable 6, a lower tool turntable 7, a universal tool bracket 8, a lifting lug 9, a worm reducer 10, an underwater operation tool 11, and a tool-specific fixture 13. The outer frame 1 is provided with two parallel first guide rails 2 and a second guide rail 14. The mobile platform 4 is provided with the first guide rail 2 and the second guide rail 14. A hydraulic cylinder 3 is provided between the first guide rail 2 and the second guide rail 14 of the outer frame. A driving rod of the hydraulic cylinder 3 is connected to the mobile platform 4. A central axis 5 is provided at the center of the mobile platform 4. An upper tool turntable 6 and a lower tool turntable 7 are provided on the central axis. A worm reducer 10 is provided between the upper tool turntable 6 and the lower tool turntable 7. A plurality of universal tool brackets 8 are provided on the circumferential edges of the upper tool turntable 6 and the lower tool turntable 7. Lifting lugs 9 connected to an underwater operation robot are provided at the four corners of the outer frame 1.

[0020] The radius of the upper tool turntable 6 is greater than that of the lower tool turntable 7 . The upper tool turntable 6 has a gap, and the size of the gap is sufficient to prevent interference when the lower tool turntable 7 switches the underwater working tool 11 .

[0021] The upper tool turntable 6 and the lower tool turntable 7 are driven by a worm reducer 10 , and the upper tool turntable 6 and the lower tool turntable 7 rotate independently of each other.

[0022] The universal tool bracket 8 is provided with a first set of grooves 801 and a second set of grooves 802 . The handle 12 of the underwater working tool 11 is placed on the first set of grooves 801 , or the underwater working tool 11 is placed in a tool-specific fixture 13 , and the tool-specific fixture 13 is placed on the second set of grooves 802 .

[0023] The tool-specific fixture 13 consists of a ring 1301 with a threaded hole and a cylinder 1302 with an external thread. The cylinder 1302 is installed on the side of the ring 1301 through threads, and the underwater working tool 11 can be centered and locked by screwing in the threads.

[0024] The driving rod of the hydraulic cylinder 3 is extended and retracted parallel to the first guide rail 2 and the second guide rail 14, and the worm reducer 10 is a worm reducer with a hydraulic motor.

[0025] The oil circuit and circuit of the tool library are connected to the underwater working robot, which is carried to the working site by the underwater working robot during operation. The underwater working robot needs to use different underwater working tools during operation. At this time, the manipulator of the underwater working robot stores and retrieves the required underwater working tools from the tool library.

[0026] When the underwater working tool to be stored and accessed is located on the upper tool turntable 6, the underwater working robot hydraulically drives the worm reducer 10 with a hydraulic motor to drive the upper tool turntable 6 and the underwater working tool 11 to rotate to the switching angle, and then the underwater working robot drives the hydraulic cylinder 3 to make the mobile platform 4 move laterally as a whole, so that the underwater working tool 11 moves laterally to the manipulator switching position, and then the underwater working robot manipulates the manipulator to complete the storage or switching of the tool.

[0027] When the underwater working tool to be stored and accessed is located on the lower tool turntable 7, the underwater working robot hydraulically drives the worm reducer 10 with a hydraulic motor to drive the notch on the upper tool turntable 6 to rotate to the switching angle, and at the same time drives the lower tool turntable 7 and the underwater working tool 11 to rotate to the switching angle. At this time, the underwater working tool 11 on the lower tool turntable 7 should be located directly below the notch of the upper tool 6 turntable. Then the underwater working robot drives the hydraulic cylinder 3 to move the mobile platform 4 laterally as a whole, so that the underwater working tool 11 moves laterally to the manipulator switching position. The underwater working robot manipulates the manipulator to complete the storage or switching of the tool through the notch of the upper tool turntable 6.

[0028] Example 2

[0029] The invention relates to the field of underwater robot operation, and is a tool library which can be carried underwater by an underwater operation robot, can provide the underwater operation robot with a variety of different underwater operation tools, and cooperate with the underwater operation robot to complete tool exchange.

[0030] At present, deep-water underwater operations are mainly completed by manipulating underwater working tools with the manipulator of an underwater working robot. A general underwater working robot can only carry one working tool in one diving operation and can only complete limited working tasks. When faced with more complex underwater working tasks, the underwater working robot needs to frequently surface and return to the mother ship to replace the working tools, which restricts the working efficiency. Therefore, the present invention designs an automatic switching tool library for underwater operations, so that the underwater working robot can carry multiple underwater working tools to dive at one time, and can replace tools underwater, avoiding wasting time on frequent trips back and forth to the mother ship to replace working tools, saving time. Thereby improving the working efficiency of the underwater working robot when facing complex tasks and improving the overall performance.

[0031] An automatic switching tool library for underwater operations can carry a variety of underwater operating tools, is carried underwater by an underwater operating robot, and cooperates with the underwater operating robot to complete the switching of operating tools underwater, thereby improving the efficiency of underwater operations. The tool library includes a tool storage system for carrying tools and a transmission system for rotating the tool library and feeding the mobile platform.

[0032] The technical solution adopted by the present invention is as follows:

[0033] An automatic switching tool library for underwater operations comprises an outer frame, on which a guide rail is installed; on which a mobile platform is installed, and the mobile platform is driven by a hydraulic cylinder; on which a central axis is installed; and on which a lifting lug for connecting with an underwater operation robot is installed.

[0034] An upper tool turntable and a lower tool turntable which can rotate independently of each other are installed on the central axis; the upper tool turntable and the lower tool turntable are driven by a worm reducer with a hydraulic motor; a universal tool bracket for placing underwater working tools is installed on the upper tool turntable and the lower tool turntable; the radius of the upper tool turntable is larger than the radius of the lower tool turntable; a notch is provided on the upper tool turntable; the size of the notch can accommodate an underwater working robot without interference when switching tools located on the lower tool turntable.

[0035] The universal tool bracket is provided with a first group of grooves and a second group of grooves; the first group of grooves cooperates with the handle of the underwater working tool to store the underwater working tool; the second group of grooves cooperates with the tool-specific clamp to store the underwater working tool.

[0036] The tool-specific fixture consists of a ring with a threaded hole and a cylinder with an external thread; the cylinder is installed on the side of the ring through threads, and the underwater working tool can be centered and locked by screwing in the threads.

[0037] The working mode of the present invention is described below in conjunction with the accompanying drawings:

[0038] like Figure 1-Figure 5 As shown, the structure of the present invention includes an outer frame 1, a guide rail 2 is installed on the outer frame 1, a mobile platform 4 is installed on the guide rail 2, the mobile platform 4 is driven by a hydraulic cylinder 3, and a central shaft 5 is installed on the mobile platform 4;

[0039] An upper tool turntable 6 and a lower tool turntable 7 which can rotate independently of each other are mounted on the central shaft 5;

[0040] The upper tool turntable 6 and the lower tool turntable 7 are driven by a worm reducer 10 with a hydraulic motor. A universal bracket 8 for placing a tool 11 of an underwater working tool is installed on the upper tool turntable 6 and the lower tool turntable 7. The radius of the upper tool turntable 6 is greater than the radius of the lower tool turntable 7.

[0041] The upper tool turntable 6 is provided with a gap, the size of which can accommodate the underwater working robot to switch the tools on the lower tool turntable 7 without interference;

[0042] The universal tool bracket 8 is provided with a first group of grooves 801 and a second group of grooves 802; the first group of grooves 801 cooperates with the handle 12 of the underwater working tool 11 to store the underwater working tool 11; the second group of grooves 802 cooperates with the tool-specific fixture 13 to store the underwater working tool;

[0043] The tool-specific fixture 13 is composed of a ring 1301 with a threaded hole and a cylinder 1302 with an external thread; the cylinder 1302 is installed on the side of the ring 1301 through a thread, and the underwater working tool 11 can be centered and locked by screwing into the thread;

[0044] The oil circuit and circuit of the tool library are connected to the underwater working robot, which is carried to the working site by the underwater working robot during operation. The underwater working robot needs to use different underwater working tools during operation. At this time, the manipulator of the underwater working robot stores and retrieves the required underwater working tools from the tool library.

[0045] When the underwater working tool to be stored and accessed is located on the upper tool turntable 6, the underwater working robot hydraulically drives the worm reducer 10 with a hydraulic motor to drive the upper tool turntable 6 and the underwater working tool 11 to rotate to the switching angle, and then the underwater working robot drives the hydraulic cylinder 3 to make the mobile platform 4 move laterally as a whole, so that the underwater working tool 11 moves laterally to the manipulator switching position, and then the underwater working robot manipulates the manipulator to complete the storage or switching of the tool.

[0046] When the underwater working tool to be stored and accessed is located on the lower tool turntable 7, the underwater working robot hydraulically drives the worm reducer 10 with a hydraulic motor to drive the notch on the upper tool turntable 6 to rotate to the switching angle, and at the same time drives the lower tool turntable 7 and the underwater working tool 11 to rotate to the switching angle. At this time, the underwater working tool 11 on the lower tool turntable 7 should be located directly below the notch of the upper tool 6 turntable. Then the underwater working robot drives the hydraulic cylinder 3 to move the mobile platform 4 laterally as a whole, so that the underwater working tool 11 moves laterally to the manipulator switching position. The underwater working robot manipulates the manipulator to complete the storage or switching of the tool through the notch of the upper tool turntable 6.

Claims

1. An automatic switching tool library for underwater operations, characterized in that: The invention comprises an outer frame (1), a first guide rail (2), a second guide rail (14), a hydraulic cylinder (3), a mobile platform (4), a central axis (5), an upper tool turntable (6), a lower tool turntable (7), a universal tool bracket (8), a lifting lug (9), a worm reducer (10), an underwater working tool (11), and a tool-specific fixture (13). Two parallel first guide rails (2) and second guide rails (14) are installed on the outer frame (1), and the mobile platform (4) is installed on the first guide rails (2) and the second guide rails (14). A hydraulic cylinder (3) is installed between the first guide rails (2) and the second guide rails (14) of the outer frame, and a driving rod of the hydraulic cylinder (3) is connected to the mobile platform (4). A central axis (5) is installed at the center of the mobile platform (4), and an upper tool turntable (6) and a lower tool turntable (7) are arranged on the central axis. The upper tool turntable (6) and the lower tool turntable (7) are arranged on the central axis. ), a worm reducer (10) is installed between the upper tool turntable (6) and the lower tool turntable (7), a plurality of universal tool brackets (8) are installed on the circumferential edges of the upper tool turntable (6) and the lower tool turntable (7), and four corners of the outer frame (1) are installed with lifting ears (9) connected to the underwater working robot; the worm reducer (10) is provided with a hydraulic motor; the radius of the upper tool turntable (6) is larger than the radius of the lower tool turntable (7), and the upper tool turntable (6) has a notch, the size of the notch is sufficient to prevent interference when the lower tool turntable (7) switches the underwater working tool (11); The upper tool turntable (6) and the lower tool turntable (7) are driven by a worm reducer (10), and the upper tool turntable (6) and the lower tool turntable (7) rotate independently of each other; a first group of grooves (801) and a second group of grooves (802) are provided on a universal tool bracket (8); a handle (12) of an underwater working tool (11) is placed on the first group of grooves (801), or the underwater working tool (11) is placed in a tool-specific fixture (13), and the tool-specific fixture (13) is placed on the second group of grooves (802); the tool-specific fixture (13) is composed of a circular ring (1301) with a threaded hole and a cylinder (1302) with an external thread, and the cylinder (1302) is installed on the side of the circular ring (1301) through a thread; a driving rod of a hydraulic cylinder (3) is extended and retracted parallel to the first guide rail (2) and the second guide rail (14); When the underwater working tool to be stored and retrieved is located on the upper tool turntable (6), the underwater working robot drives the worm reducer (10) with a hydraulic motor through hydraulic pressure to drive the upper tool turntable (6) and the underwater working tool (11) to rotate to the switching angle, and then the underwater working robot drives the hydraulic cylinder (3) to make the mobile platform (4) move horizontally as a whole, so that the underwater working tool (11) moves horizontally to the manipulator switching position, and then the underwater working robot manipulates the manipulator to complete the storage or switching of the tool; When the underwater working tool to be stored and retrieved is located on the lower tool turntable (7), the underwater working robot drives the worm reducer (10) with a hydraulic motor through hydraulic pressure to drive the notch on the upper tool turntable (6) to rotate to the switching angle, and at the same time drives the lower tool turntable (7) and the underwater working tool (11) to rotate to the switching angle. At this time, the underwater working tool (11) on the lower tool turntable (7) is located directly below the notch of the upper tool turntable (6). Then, the underwater working robot drives the hydraulic cylinder (3) to move the mobile platform (4) as a whole horizontally, so that the underwater working tool (11) moves horizontally to the manipulator switching position. The underwater working robot controls the manipulator to complete the storage or switching of the tool through the notch of the upper tool turntable (6).

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