Intelligent underwater robot docking device and docking method

Abstract

The present invention provides an intelligent underwater robot docking device and a docking method, wherein the docking device comprises a first underwater robot and a second underwater robot, wherein the first underwater robot and the second underwater robot are respectively provided with a first connecting rod and a second connecting rod, and the first connecting rod and the second connecting rod are disassembled and installed through a docking box. When the first underwater robot and the second underwater robot of the present invention are docked, the first connecting rod and the second connecting rod are conveniently initially clamped and fixed by a clamping and fixing mechanism; the pull block is pressed, and the rubber locking ball is disengaged from the locking groove, and the unlocking of the pull block is completed, and the reset spring is reset, so that the power column drives the limit clamping column to pass through the limit opening and be connected with a locking clamping rod, and the locking clamping rod is clamped and fixed with the locking clamping groove, thereby further fixing the first connecting rod and the second connecting rod, thereby improving the docking stability of the first underwater robot and the second underwater robot.

Description

Technical Field

[0001] The present invention relates to the technical field of underwater robots, and in particular to an intelligent underwater robot docking device and a docking method. Background Art

[0002] With the development of science and technology and the progress of the social era, underwater robots, also known as unmanned remote-controlled submersibles, are extreme operation robots that work underwater. The underwater environment is harsh and dangerous, and the diving depth of humans is limited, so underwater robots have become an important tool for developing the ocean. The underwater environment is complex and changeable. In good conditions and with large spaces, we can use manned submarines for detection; however, in some waters with violent undercurrents, manned submarines are not competent for these detection tasks due to space or environmental conditions. Therefore, underwater robots designed for various specific situations came into being.

[0003] Before the existing underwater robots work underwater, two robots need to be docked, so as to improve the underwater robot surveying effect. Therefore, how to quickly and conveniently dock the underwater robots is a technical difficulty of the present invention. Summary of the invention

[0004] The purpose of the present invention is to provide an intelligent underwater robot docking device and a docking method to solve the problems raised in the above background technology.

[0005] To achieve the above object, the present invention provides the following technical solutions:

[0006] An intelligent underwater robot docking device comprises a first underwater robot and a second underwater robot, wherein the first underwater robot and the second underwater robot are respectively provided with a first connecting rod and a second connecting rod, the first connecting rod and the second connecting rod are disassembled and installed through a docking box, a fixed vertical column is provided in the docking box, rectangular blocks are symmetrically provided on both sides of the fixed vertical column, and a mounting port is provided on the rectangular block, the first connecting rod and the second connecting rod pass through the docking box and are connected with a clamping block, and the clamping block is clamped with a positioning groove provided on the mounting port;

[0007] A clamping and fixing mechanism is provided in the cavity of the rectangular block, and the clamping and fixing mechanism is used to clamp and fix the first connecting rod and the second connecting rod. The inner side wall of the docking box is symmetrically provided with sliding grooves, and a slide plate is slidably provided in the two sliding grooves. A power column is provided on the top of the slide plate, and the power column passes through the docking box and is connected with a pulling mechanism provided on the outer top wall of the docking box. Limiting clamping columns are symmetrically provided at the bottom of the slide plate, and limiting openings are provided on the first connecting rod and the second connecting rod.

[0008] Preferably, the clamping and fixing mechanism includes a forward and reverse motor, the output shaft of the forward and reverse motor is connected to a first bevel gear, the first bevel gear is meshed with a second bevel gear, the second bevel gear is connected to a driving shaft, both ends of the driving shaft are rotatably connected to the inner wall of the cavity of the rectangular block through a bearing seat, a first threaded area and a second threaded area are provided on the driving shaft, the threads of the first threaded area and the second threaded area are opposite, the first threaded area and the second threaded area are threadedly connected with a screw block, which is threadedly connected with a clamping and fixing column, a clamping block is provided at the bottom of the clamping and fixing column, the clamping block is arranged through the cavity of the rectangular block, and the two clamping blocks jointly clamp and fix the first connecting rod and the second connecting rod.

[0009] Preferably, the screw block is connected with a positioning limit rod, and the positioning limit rod is slidably arranged in a limiting groove provided on the inner wall of the rectangular block cavity.

[0010] Preferably, stabilizing columns are symmetrically arranged in the cavity of the rectangular block, stabilizing through grooves are opened on the stabilizing columns, and the clamping and fixing columns are slidably arranged in the stabilizing through grooves.

[0011] Preferably, a return spring is sleeved on the power column, one end of the return spring is connected to the top wall inside the docking box, and the other end is connected to the slide plate.

[0012] Preferably, the pulling mechanism comprises a pulling sleeve box, a pulling block is slidably provided inside the pulling sleeve box, a pulling column is provided on the top of the pulling block, the top end of the pulling column is connected to the pulling block, and the bottom end is connected to the power column.

[0013] Preferably, the inner top wall of the pulling sleeve box is provided with locking grooves on both sides of the pulling column, and the upper part of the pulling block is provided with a rubber locking ball, which is matched with the locking groove.

[0014] Preferably, the limit clamping column passes through the limit opening and is connected with a locking clamping rod, and the locking clamping rod is clamped with a locking clamping groove provided on the inner bottom wall of the docking box.

[0015] A method for docking an intelligent underwater robot, using the docking device as described above.

[0016] Compared with the prior art, the present invention has the following beneficial effects:

[0017] When the first underwater robot and the second underwater robot of the present invention are docked, the first connecting rod and the second connecting rod are inserted into the docking box, and the first connecting rod and the second connecting rod are initially positioned by engaging the clamping block with the positioning groove provided on the installation port, and the first connecting rod and the second connecting rod are conveniently initially clamped and fixed by the clamping and fixing mechanism; the pulling block is pressed, and the rubber locking ball is disengaged from the locking groove, and the pulling block is unlocked, and the reset spring is reset, so that the power column drives the limiting clamping column to pass through the limiting port and is connected to the locking clamping rod, and the locking clamping rod is clamped and fixed with the locking clamping groove, thereby further fixing the first connecting rod and the second connecting rod, thereby improving the docking stability of the first underwater robot and the second underwater robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying creative work.

[0019] Figure 1 It is a structural schematic diagram of the present invention;

[0020] Figure 2 This is a schematic diagram of the principle structure of the docking of the first underwater robot and the second underwater robot of the present invention;

[0021] Figure 3 For the present invention Figure 2 The enlarged structural diagram at A in the middle;

[0022] Figure 4 It is a structural schematic diagram of the clamping and fixing mechanism of the present invention;

[0023] Figure 5 It is a structural schematic diagram of the pulling mechanism of the present invention. DETAILED DESCRIPTION

[0024] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0025] See also Figure 1-3 In an embodiment of the present invention, an intelligent underwater robot docking device includes a first underwater robot 1 and a second underwater robot 2. The first underwater robot 1 and the second underwater robot 2 are respectively provided with a first connecting rod 3 and a second connecting rod 4. The first connecting rod 3 and the second connecting rod 4 are disassembled and installed through a docking box 5. A fixed vertical column 6 is provided in the docking box 5. Rectangular blocks 7 are symmetrically provided on both sides of the fixed vertical column 6. An installation port 8 is provided on the rectangular block 7. The first connecting rod 3 and the second connecting rod 4 pass through the docking box 5 and are connected with a clamping block 9. The clamping block 9 is clamped with a positioning groove 10 provided on the installation port 8;

[0026] A clamping and fixing mechanism 12 is provided in the cavity 11 of the rectangular block 7, and the clamping and fixing mechanism 12 is used to clamp and fix the first connecting rod 3 and the second connecting rod 4. The inner side wall of the docking box 5 is symmetrically provided with sliding grooves 15, and a slide plate 16 is slidably provided in the two sliding grooves 15. A power column 17 is provided on the top of the slide plate 16, and the power column 17 passes through the docking box 5 and is connected to a pulling mechanism 18 provided on the outer top wall of the docking box 5. A limiting clamping column 19 is symmetrically provided at the bottom of the slide plate 16, and the first connecting rod 3 and the second connecting rod 4 are both provided with a limiting opening 20.

[0027] The first connecting rod 3 and the second connecting rod 4 are positioned by engaging the clamping block 9 with the positioning groove 10 provided on the mounting opening 8;

[0028] See also Figure 4 The clamping and fixing mechanism 12 of the present embodiment includes a forward and reverse motor 121, the output shaft of the forward and reverse motor 121 is connected to a first bevel gear 122, the first bevel gear 122 is meshed with a second bevel gear 123, the second bevel gear 123 is connected to a driving shaft 124, both ends of the driving shaft 124 are rotatably connected to the inner wall of the cavity 11 of the rectangular block 7 through a bearing seat 125, a first threaded area 126 and a second threaded area 127 are provided on the driving shaft 124, the threads of the first threaded area 126 and the second threaded area 127 are opposite, the first threaded area 126 and the second threaded area 127 are threadedly connected with a screw block 128, the thread 128 is connected with a clamping and fixing column 129, and a clamping block 1210 is provided at the bottom of the clamping and fixing column 129 of the present embodiment, the clamping block 1210 is arranged through the cavity 11 of the rectangular block 7, and the two clamping blocks 1210 clamp and fix the first connecting rod 3 and the second connecting rod 4 together;

[0029] Start the forward and reverse motor 121, the first bevel gear 122 rotates, the first bevel gear 122 is meshed with the second bevel gear 123, the second bevel gear 123 rotates, driving the active shaft 124 to rotate, the first threaded area 126 and the second threaded area 127 are threadedly connected with the screw block 128, and at the same time, the threads of the first threaded area 126 and the second threaded area 127 are opposite, so that the two screw blocks 128 move toward each other, thereby driving the clamping and fixing columns 129 to move toward each other, and then the two clamping blocks 1210 clamp and fix the first connecting rod 3 and the second connecting rod 4 together, so as to achieve preliminary clamping and fixing of the first connecting rod 3 and the second connecting rod 4;

[0030] The screw block 128 of this embodiment is connected to a positioning limit rod 1211, which is slidably arranged in a limiting groove 1212 provided on the inner wall of the cavity 11 of the rectangular block 7. The screw block 128 is limited by the positioning limit rod 1211 and the limiting groove 1212, thereby improving the movement stability of the screw block 128.

[0031] In the present embodiment, stabilizing columns 1213 are symmetrically arranged in the cavity 11 of the rectangular block 7. Stabilizing columns 1213 are provided with stabilizing grooves 1214. The clamping and fixing columns 129 are slidably arranged in the stabilizing grooves 1214. This arrangement can improve the movement stability of the clamping and fixing columns 129.

[0032] In this embodiment, a return spring 23 is sleeved on the power column 17 , one end of the return spring 23 is connected to the inner top wall of the docking 5 , and the other end is connected to the slide plate 16 .

[0033] See also Figure 5 The pulling mechanism 18 of this embodiment includes a pulling sleeve 181, a pulling block 182 is slidably provided inside the pulling sleeve 181, a pulling column 183 is provided on the top of the pulling block 182, a pulling block 184 is connected to the top of the pulling column 183, and the bottom end is connected to the power column 17;

[0034] Pull the pull block 184 to drive the pull column 183 to move, and then the pull block 182 moves upward, the power column 17 moves upward, and the return spring 23 is compressed, so that the slide plate 16 slides in the sliding groove 15, and then drives the limit clamping column 19 to move upward, and the locking clamping rod 21 moves upward, disengaging from the locking clamping groove 22, and then completing the limit fixation of the first connecting rod 3 and the second connecting rod 4; the pull block 182 is positioned by the rubber locking ball 186 and the locking groove 185, which is convenient for fixing the position of the locking clamping rod 21, so that the first connecting rod 3 and the second connecting rod 4 are conveniently taken out from the docking box 5;

[0035] By pressing the pull block 184, the rubber locking ball 186 disengages from the locking groove 185, completing the unlocking of the pull block 182. Through the reset of the reset spring 23, the power column 17 drives the limit clamping column 19 to pass through the limit opening 20 and is connected to the locking clamping rod 21. The locking clamping rod 21 is clamped and fixed with the locking clamping groove 22, thereby further fixing the first connecting rod 3 and the second connecting rod 4, thereby improving the docking stability of the first underwater robot 1 and the second underwater robot 2.

[0036] The inner top wall of the pulling sleeve 181 of this embodiment is provided with locking grooves 185 on both sides of the pulling column 183, and a rubber locking ball 186 is provided on the upper part of the pulling block 182, and the rubber locking ball 186 is matched with the locking groove 185; the pulling block 182 is positioned by the rubber locking ball 186 and the locking groove 185, so as to realize the positioning and fixation of the limit clamping column 19 and the locking clamping rod 21.

[0037] The limit clamping column 19 of this embodiment passes through the limit opening 20 and is connected with a locking clamping rod 21. The locking clamping rod 21 is clamped with a locking clamping groove 22 provided on the inner bottom wall of the docking box 5. The locking clamping groove 22 can complete the clamping and fixing of the locking clamping rod 21, thereby facilitating the limit fixing of the first connecting rod 3 and the second connecting rod 4.

[0038] A method for docking an intelligent underwater robot, using the docking device as described above, the working principle is: when the first underwater robot 1 and the second underwater robot 2 are docked, the first connecting rod 3 and the second connecting rod 4 are inserted into the docking box 5, and the first connecting rod 3 and the second connecting rod 4 are initially positioned by engaging the clamping block 9 with the positioning groove 10 provided on the installation port 8, and then the forward and reverse motor 121 is started, the first bevel gear 122 rotates, the first bevel gear 122 is meshed with the second bevel gear 123, the second bevel gear 123 rotates, and drives the active shaft 124 to rotate, the first threaded area 126 and the second threaded area 127 are threadedly connected with the screw block 128, and at the same time, the threads of the first threaded area 126 and the second threaded area 127 are On the contrary, the two screw blocks 128 move toward each other, thereby driving the clamping and fixing columns 129 to move toward each other, and then the two clamping blocks 1210 jointly clamp and fix the first connecting rod 3 and the second connecting rod 4, thereby achieving preliminary clamping and fixing of the first connecting rod 3 and the second connecting rod 4; pressing the pull block 184, the rubber locking ball 186 disengages from the locking groove 185, completing the unlocking of the pull block 182, and resetting the reset spring 23, so that the power column 17 drives the limiting clamp column 19 to pass through the limiting opening 20 and is connected to the locking clamp rod 21, and the locking clamp rod 21 is clamped and fixed with the locking clamp groove 22, thereby further fixing the first connecting rod 3 and the second connecting rod 4, thereby improving the docking stability of the first underwater robot 1 and the second underwater robot 2.

[0039] Of course, the above description is not a limitation of the present invention, and the present invention is not limited to the above examples. Changes, modifications, additions or substitutions made by technicians in this technical field within the essential scope of the present invention should also fall within the protection scope of the present invention.

Claims

1. An intelligent underwater robot docking device, comprising a first underwater robot and a second underwater robot, characterized in that: The first underwater robot and the second underwater robot are respectively provided with a first connecting rod and a second connecting rod, the first connecting rod and the second connecting rod are disassembled and installed through a docking box, a fixed vertical column is provided in the docking box, rectangular blocks are symmetrically provided on both sides of the fixed vertical column, and a mounting opening is provided on the rectangular block, the first connecting rod and the second connecting rod pass through the docking box and are connected with a clamping block, and the clamping block is clamped with a positioning groove provided on the mounting opening; A clamping and fixing mechanism is provided in the cavity of the rectangular block, and the clamping and fixing mechanism is used to clamp and fix the first connecting rod and the second connecting rod. The inner side wall of the docking box is symmetrically provided with sliding grooves, and slide plates are slidably provided in the two sliding grooves. A power column is provided on the top of the slide plate, and the power column passes through the docking box and is connected with the pulling mechanism provided on the outer top wall of the docking box. The bottom of the slide plate is symmetrically provided with limit clamping columns, and the first connecting rod and the second connecting rod are both provided with limit openings. The clamping and fixing mechanism includes a forward and reverse motor, the output shaft of the forward and reverse motor is connected to a first bevel gear, the first bevel gear is meshed with a second bevel gear, the second bevel gear is connected to a driving shaft, both ends of the driving shaft are rotatably connected to the inner wall of the cavity of the rectangular block through a bearing seat, a first threaded area and a second threaded area are provided on the driving shaft, the threads of the first threaded area and the second threaded area are opposite, the first threaded area and the second threaded area are threadedly connected with a screw block, which is threadedly connected with a clamping and fixing column, a clamping block is provided at the bottom of the clamping and fixing column, the clamping block is arranged through the cavity of the rectangular block, and the two clamping blocks clamp and fix the first connecting rod and the second connecting rod together; The pulling mechanism comprises a pulling sleeve box, a pulling block is slidably arranged inside the pulling sleeve box, a pulling column is arranged on the top of the pulling block, the top end of the pulling column is connected to the pulling block, and the bottom end is connected to the power column.

2. The intelligent underwater robot docking device according to claim 1, characterized in that: The screw block is connected with a positioning limit rod, and the positioning limit rod is slidably arranged in a limiting groove provided on the inner wall of the rectangular block cavity.

3. The intelligent underwater robot docking device according to claim 2, characterized in that: The cavity of the rectangular block is symmetrically provided with stabilizing columns, the stabilizing columns are provided with stabilizing through grooves, and the clamping and fixing columns are slidably arranged in the stabilizing through grooves.

4. The intelligent underwater robot docking device according to claim 3, characterized in that: A return spring is sleeved on the power column, one end of the return spring is connected to the top wall inside the docking box, and the other end is connected to the slide plate.

5. The intelligent underwater robot docking device according to claim 4, characterized in that: The inner top wall of the pulling sleeve box is provided with locking grooves on both sides of the pulling column, and a rubber locking ball is provided on the upper part of the pulling block, and the rubber locking ball is matched with the locking groove.

6. The intelligent underwater robot docking device according to claim 5, characterized in that: The limit clamping column passes through the limit opening and is connected with a locking clamping rod, and the locking clamping rod is clamped with a locking clamping groove provided on the inner bottom wall of the docking box.

7. A method for docking an intelligent underwater robot, characterized in that: A docking device as described in any one of claims 1 to 6 is used.

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