A clamping self-locking mechanism for docking deep-sea working tools

Abstract

The present invention belongs to the field of underwater robots, and specifically is a clamping self-locking mechanism for docking deep-sea working tools. There are multiple hydraulic linear cylinders distributed along the circumference of a fixing member; one end of a push-pull connecting rod is hinged to the piston rod of the hydraulic linear cylinder, and the other end is hinged to a long axis A, and the long axis A slides in the strip groove of the locking member and the strip groove of the connecting rod fixing member at the same time; the locking member is hinged to the connecting rod fixing member, one end of a clamping hook is hinged to the locking member, and the other end is hook-shaped; the long axis C is hinged to the connecting rod fixing member and slides in the strip groove of the clamping hook; when the piston rod is extended, the clamping hook is extended and opened, and after the working tool docking interface is inserted into the docking position of the fixing member, the piston rod is retracted to drive the clamping hook to be retracted and clamped with the stepped surface of the docking interface of the working tool, thereby achieving docking with the working tool docking interface; the long axis A hinged to the push-pull connecting rod moves to the end of the horizontal section of the strip groove of the connecting rod fixing member to achieve locking, and further achieves that the hydraulic linear cylinder will not loosen the hook when it is under pressure loss.

Description

Technical Field

[0001] The invention belongs to the field of underwater robots, in particular to a clamping self-locking mechanism for docking deep-sea working tools, which can be used for underwater replacement of working tools at the end of a manipulator. Background Art

[0002] With the rapid development of underwater robot technology, the forms of underwater operations have gradually diversified, and the types and styles of working tools have gradually increased. Therefore, it is particularly important for manipulator equipment to realize the replacement of underwater working tools, and it is particularly important to develop a clamping self-locking mechanism for the docking of deep-sea working tools. Summary of the invention

[0003] In order to meet the diverse operational task requirements in deep-sea environments, the purpose of the present invention is to provide a clamping self-locking mechanism for docking deep-sea operating tools.

[0004] The objective of the present invention is achieved through the following technical solutions:

[0005] The present invention comprises a fixing part and a plurality of clamping self-locking components arranged along the circumference of the fixing part, wherein the clamping self-locking components comprise a hydraulic linear cylinder, a connecting rod fixing part, a push-pull connecting rod, a locking part and a clamping hook, wherein the connecting rod fixing part is fixedly connected to the fixing part, wherein the push-pull connecting rod, the locking part and the clamping hook are all located inside the connecting rod fixing part, wherein the locking part is hinged to the connecting rod fixing part, wherein the hydraulic linear cylinder is installed on the fixing part, wherein the piston rod of the hydraulic linear cylinder is hinged to one end of the push-pull connecting rod, wherein the other end of the push-pull connecting rod is hinged to a long axis A, wherein the long axis A is inserted into a strip groove B opened on the locking part and a strip groove B opened on the connecting rod fixing part. The pressing hook is provided with a strip groove C, in which a slidable long axis C is inserted, and the pressing hook is hinged to the connecting rod fixing piece through the long axis C, one end of the pressing hook is hinged to the locking piece, and the other end is hook-shaped; when the piston rod of the hydraulic linear cylinder is extended, the pressing hook extends and opens, and after the working tool docking interface is docked with the fixing piece, when the piston rod of the hydraulic linear cylinder is retracted, the other end of the pressing hook presses the working tool docking interface, and the long axis A slides to the end of the horizontal section of the strip groove A to realize the self-locking of the locking piece.

[0006] Wherein: the strip groove A has an inclined section and a horizontal section, the horizontal section is parallel to the extension and retraction direction of the piston rod of the hydraulic linear cylinder, and the inclined section is inclined to the extension and retraction direction of the piston rod of the hydraulic linear cylinder.

[0007] One end of the push-pull connecting rod is hinged to the piston rod of the hydraulic linear cylinder through the short axis B, and the locking piece is hinged to the connecting rod fixing piece through the long axis B; when the clamping hook locks the working tool docking interface, the centers of the projections of the short axis B, long axis A, and long axis B on the vertical plane are collinear, and the straight line is parallel to the extension and retraction direction of the piston rod of the hydraulic linear cylinder, the strip groove B on the locking piece coincides with the projection of the horizontal section of the strip groove A on the vertical plane, and is parallel to the strip groove C on the clamping hook.

[0008] The docking surface of the working tool docking interface is a guide cone surface A, and the docking surface of the docking interface on the fixing member is a guide cone surface B corresponding to the guide cone surface A.

[0009] A positioning boss is provided on the docking surface of the working tool docking interface, and the outer surface of the positioning boss is a conical surface along the axial direction; a positioning groove corresponding to the positioning boss is provided on the fixing member, and the outer surface of the positioning groove is a conical surface along the axial direction.

[0010] The working tool docking interface is provided with a stepped surface, and the other end of the clamping hook acts on the stepped surface after docking to clamp the working tool.

[0011] The connecting rod fixing piece is U-shaped, and the strip grooves A are symmetrically opened on both sides of the U-shaped shape. The push-pull connecting rod, locking piece and clamping hook are all located in the U-shaped opening end, and the bottom surfaces on both sides of the U-shaped opening end are inclined surfaces.

[0012] There are two push-pull connecting rods, which are symmetrically arranged on the left and right sides of the locking member. One end of the two push-pull connecting rods is hinged to the piston rod of the hydraulic linear cylinder through a short axis B, and the other end of the two push-pull connecting rods is connected through a long axis A that passes through the locking member.

[0013] The locking member is hinged to the connecting rod fixing member through the long axis B. The locking member has the freedom to rotate around the long axis B. One end of the clamping hook is hinged to the locking member through the short axis A.

[0014] The fixing member is provided with chambers in the circumferential direction, the number of which is the same as that of the hydraulic linear cylinders and which correspond to each other one by one. Each of the chambers is provided with a corresponding hydraulic linear cylinder. The cylinder body of the hydraulic linear cylinder and the fixing member are an integral structure, and the end of each chamber is sealed by a sealing bolt.

[0015] The advantages and positive effects of the present invention are:

[0016] The present invention has the advantages of stable performance, compact structure, safety and reliability, etc. It can not only achieve accurate docking when deep-sea working tools are being replaced, but also achieve the clamping and mechanical locking of the working tools. Specifically:

[0017] 1. Stable performance: The present invention adopts hydraulic linear cylinder as the power source and has reliable deep-sea operation capability.

[0018] 2. Compact structure: The cylinder bodies of the three hydraulic linear cylinders of the present invention are directly processed on the fixing parts and are evenly distributed in the circumference of the fixing parts, so the structure is compact.

[0019] 3. Safe and reliable: The present invention adopts a connecting rod mechanism and a strip groove. The strip groove on the connecting rod fixing part is divided into a horizontal section and an inclined section, which can realize mechanical locking and is safer. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 This is a front view of the structure of the present invention in a locked state after docking in place;

[0021] Figure 2 It is a cross-sectional view of the internal structure of the present invention in a locked state after docking in place;

[0022] Figure 3 It is a schematic diagram of the three-dimensional structure of the present invention in a locked state after being docked in place;

[0023] Figure 4 It is a schematic diagram of the three-dimensional structure of the clamping hook in the open state before docking of the present invention;

[0024] Figure 5 This is a structural front view of the present invention in which the pressing hook is in an open state before docking;

[0025] Among them: 1 is a fixing part, 2 is a sealing bolt, 3 is a hydraulic linear cylinder, 4 is a connecting rod fixing part, 41 is a strip groove A, 5 is a push-pull connecting rod, 6 is a long axis A, 7 is a locking part, 71 is a strip groove B, 8 is a short axis A, 9 is a long axis B, 10 is a long axis C, 11 is a clamping hook, 111 is a strip groove C, 12 is a working tool docking port, 121 is a guide cone surface A, 122 is a positioning boss, 123 is a stepped surface, 13 is a fixing screw, 14 is a short axis B, 15 is a guide cone surface B, and 16 is a positioning groove. DETAILED DESCRIPTION

[0026] The present invention will be further described below in conjunction with the accompanying drawings.

[0027] like Figures 1 to 5As shown, the present invention includes a fixing member 1 and a plurality of compression self-locking components arranged along the circumference of the fixing member 1, the compression self-locking components include a hydraulic linear cylinder 3, a connecting rod fixing member 4, a push-pull connecting rod 5, a locking member 7 and a clamping hook 11, the connecting rod fixing member 4 is fixedly connected to the fixing member 1, the push-pull connecting rod 5, the locking member 7 and the clamping hook 11 are all located inside the connecting rod fixing member 4, the locking member 7 is hinged to the connecting rod fixing member 4, the hydraulic linear cylinder 3 is installed on the fixing member 1, the piston rod of the hydraulic linear cylinder 3 is hinged to one end of the push-pull connecting rod 5, the other end of the push-pull connecting rod 5 is hinged with a long axis A6, the long axis A6 is inserted into the strip groove B71 opened on the locking member 7 and the strip groove B71 opened on the connecting rod fixing member 4 The pressing hook 11 is provided with a strip groove C111, in which a slidable long axis C10 is inserted, and the pressing hook 11 is hinged to the connecting rod fixing member 4 through the long axis C10, one end of the pressing hook 11 is hinged to the locking member 7, and the other end is hook-shaped; when the piston rod of the hydraulic linear cylinder 3 is extended, the pressing hook 11 is extended and opened, and after the working tool docking interface 12 is docked with the fixing member 1, when the piston rod of the hydraulic linear cylinder 3 is retracted, the other end of the pressing hook 11 presses the working tool docking interface 12, and the long axis A6 slides to the end of the horizontal section of the strip groove A41 to realize the self-locking of the locking member 7.

[0028] In this embodiment, three clamping self-locking components are arranged on the fixing part along the circumferential direction. The fixing part 1 is provided with chambers in the circumferential direction, the same number as the hydraulic linear cylinders 3 and corresponding to each other. Each chamber is provided with a corresponding hydraulic linear cylinder 3. The cylinder body of the hydraulic linear cylinder 3 is an integral structure with the fixing part 1, and the end of each chamber is sealed by a sealing bolt 2.

[0029] The connecting rod fixing member 4 of this embodiment is U-shaped, and the opening direction of the U-shape is in the same direction as the extension direction of the piston rod of the hydraulic linear cylinder 3; the left and right sides of the bottom of the U-shape are fixed to the corresponding threaded holes of the fixing member 1 by two fixing screws 13. The two sides of the U-shape are symmetrically provided with strip grooves A41, and the push-pull connecting rod 5, the locking member 7 and the pressing hook 11 are all located in the opening end of the U-shape. The bottom surfaces on both sides of the opening end of the U-shape are inclined surfaces, corresponding to the guide cone surface A121 on the working tool docking interface 12, so as to avoid the connecting rod fixing member 4 from interfering with the working tool docking interface 12 during docking.

[0030] There are two push-pull connecting rods 5 in this embodiment, which are symmetrically arranged on the left and right sides of the locking member 7; the end of the piston rod of the hydraulic linear cylinder 3 is provided with a hinge hole, one end of the two push-pull connecting rods 5 is hinged to the piston rod of the hydraulic linear cylinder 3 through the short axis B14, and the other ends of the two push-pull connecting rods 5 are connected through the long axis A6, and the long axis A6 passes through the strip groove B71 on the locking member 7, and the two ends of the long axis A6 are respectively inserted into the strip grooves A41 on both sides of the connecting rod fixing member 4, and the strip grooves A41 on both sides play a limiting and guiding role through the long axis 6.

[0031] The strip groove A41 of this embodiment has an inclined section and a horizontal section. The horizontal section is parallel to the extension and retraction direction of the piston rod of the hydraulic linear cylinder 3 , and the inclined section is inclined to the extension and retraction direction of the piston rod of the hydraulic linear cylinder 3 .

[0032] The locking member 7 of this embodiment is hinged to the connecting rod fixing member 4 via the long axis B9, so that the locking member 7 can rotate around the long axis B9; one end of the pressing hook 11 is hinged to the locking member 7 via the short axis A8. The long axis 10C passes through the strip groove C111 on the pressing hook 11, and the two ends of the long axis C10 are hinged to the two sides of the U-shaped opening of the connecting rod fixing member 4, and the long axis C10 plays a limiting and guiding role for the pressing hook 11.

[0033] In this embodiment, the docking surface of the working tool docking interface 12 is a guide cone surface A121, and the docking surface of the docking interface on the fixing member 1 is a guide cone surface B15 corresponding to the guide cone surface A121; the guide cone surface A121 on the working tool docking interface 12 cooperates with the guide cone surface B15 on the fixing member 1 to guide the docking of the working tool. A positioning boss 122 is provided on the guiding cone surface A121 of the working tool docking interface 12, and the outer surface of the positioning boss 122 is a cone surface along the axial direction; a positioning groove 16 corresponding to the positioning boss 122 is provided on the fixing member 1, and the outer surface of the positioning groove 16 is a cone surface along the axial direction; the positioning boss 122 and the positioning groove 16 play a guiding and circumferential positioning role during the docking process of the working tool interface 12.

[0034] The working tool docking port 12 of this embodiment is further provided with a stepped surface 123. After the working tool is docked, the other end of the clamping hook 11 acts on the stepped surface 123 of the working tool docking port 12 to clamp the working tool.

[0035] The working principle of the present invention is:

[0036] Before the working tool is docked, the piston rod of the hydraulic linear cylinder 3 extends, driving the locking piece 7, and then driving the clamping hook 11 to move, so that the other end of the clamping hook 11 extends in the axial direction and rises in the radial direction, and is in an open state, waiting for the working tool to dock with the docking interface 12.

[0037] The working tool is inserted into the same axis as the fixing member 1 through the guide cone surface A121 and the guide cone surface B15 and the positioning boss 122 and the positioning groove 16, and then moves to the position as shown in FIG. Figure 3 After the working tool moves to the specified position, the piston rod of the hydraulic linear cylinder 3 retracts, thereby driving the clamping hook 11 to move, causing the clamping hook 11 to contract in the axial direction and retract in the radial direction, acting on the stepped surface 123 of the working tool interface 12, thereby achieving axial tightening of the stepped surface 123 on the working tool interface 12.

[0038] At the same time, the horizontal section of the strip groove A41 on the connecting rod fixing member 4 locks the locking member 7 through the major axis A6, so that the locking member 7 cannot rotate around the major axis B9, thereby achieving the self-locking effect of the locking member 7. At this time, the center of the projection of the minor axis B14, the major axis A6, and the major axis B9 on the vertical plane is collinear, and the line is parallel to the extension and contraction direction of the piston rod of the hydraulic linear cylinder 3. The strip groove B71 on the locking member 7 overlaps with the projection of the horizontal section of the strip groove A41 on the vertical plane, and is parallel to the strip groove C111 on the clamping hook 11. When the hydraulic linear cylinder 3 loses pressure, the clamping hook 11 can still be locked.

Claims

1. A clamping self-locking mechanism for docking deep-sea working tools, characterized in that: The invention comprises a fixing member (1) and a plurality of clamping self-locking components arranged along the circumference of the fixing member (1), wherein the clamping self-locking components comprise a hydraulic linear cylinder (3), a connecting rod fixing member (4), a push-pull connecting rod (5), a locking member (7) and a clamping hook (11), wherein the connecting rod fixing member (4) is fixedly connected to the fixing member (1), the push-pull connecting rod (5), the locking member (7) and the clamping hook (11) are all located inside the connecting rod fixing member (4), the locking member (7) is hinged to the connecting rod fixing member (4), the hydraulic linear cylinder (3) is mounted on the fixing member (1), the piston rod of the hydraulic linear cylinder (3) is hinged to one end of the push-pull connecting rod (5), the other end of the push-pull connecting rod (5) is hinged to a long axis A (6), and the long axis A (6) is inserted into a strip groove B (71) provided on the locking member (7) and a strip groove A provided on the connecting rod fixing member (4). (41), and simultaneously slides in the strip groove A (41) and the strip groove B (71); a strip groove C (111) is provided on the clamping hook (11), a slidable long axis C (10) is inserted in the strip groove C (111), the clamping hook (11) is hinged to the connecting rod fixing member (4) through the long axis C (10), one end of the clamping hook (11) is hinged to the locking member (7), and the other end is hook-shaped; when the piston rod of the hydraulic linear cylinder (3) is extended outward, the clamping hook (11) is extended and opened, and after the working tool docking interface (12) is docked with the fixing member (1), when the piston rod of the hydraulic linear cylinder (3) is retracted, the other end of the clamping hook (11) clamps the working tool docking interface (12), and the long axis A (6) slides to the end of the horizontal section of the strip groove A (41) to realize the self-locking of the locking member (7).

2. The clamping and self-locking mechanism for docking deep-sea working tools according to claim 1 is characterized in that: The strip groove A (41) has an inclined section and a horizontal section, the horizontal section is parallel to the extension and retraction direction of the piston rod of the hydraulic linear cylinder (3), and the inclined section is inclined to the extension and retraction direction of the piston rod of the hydraulic linear cylinder (3).

3. The clamping and self-locking mechanism for docking deep-sea working tools according to claim 2 is characterized in that: One end of the push-pull connecting rod (5) is hinged to the piston rod of the hydraulic linear cylinder (3) through the short axis B (14), and the locking member (7) is hinged to the connecting rod fixing member (4) through the long axis B (9); when the clamping hook (11) locks the working tool docking interface (12), the centers of the projections of the short axis B (14), the long axis A (6), and the long axis B (9) on the vertical plane are collinear, and the straight line is parallel to the extension and retraction direction of the piston rod of the hydraulic linear cylinder (3); the projections of the strip groove B (71) on the locking member (7) and the horizontal section of the strip groove A (41) on the vertical plane coincide with each other, and are parallel to the strip groove C (111) on the clamping hook (11).

4. The clamping and self-locking mechanism for docking deep-sea working tools according to claim 1 is characterized in that: The docking surface of the working tool docking interface (12) is a guide cone surface A (121), and the docking surface of the docking interface on the fixing member (1) is a guide cone surface B (15) corresponding to the guide cone surface A (121).

5. The clamping and self-locking mechanism for docking deep-sea working tools according to claim 1, characterized in that: A positioning boss (122) is provided on the docking surface of the working tool docking interface (12), and the outer surface of the positioning boss (122) is a conical surface along the axial direction; a positioning groove (16) corresponding to the positioning boss (122) is provided on the fixing member (1), and the outer surface of the positioning groove (16) is a conical surface along the axial direction.

6. The clamping and self-locking mechanism for docking deep-sea working tools according to claim 1, characterized in that: The working tool docking port (12) is provided with a stepped surface (123), and the other end of the clamping hook (11) acts on the stepped surface (123) after docking to clamp the working tool.

7. The clamping and self-locking mechanism for docking deep-sea working tools according to claim 1 is characterized in that: The connecting rod fixing member (4) is U-shaped, and the strip grooves A (41) are symmetrically opened on both sides of the U-shape. The push-pull connecting rod (5), the locking member (7) and the pressing hook (11) are all located in the U-shaped opening end, and the bottom surfaces on both sides of the U-shaped opening end are inclined surfaces.

8. The clamping and self-locking mechanism for docking deep-sea working tools according to claim 1, characterized in that: There are two push-pull connecting rods (5), which are symmetrically arranged on the left and right sides of the locking member (7). One end of the two push-pull connecting rods (5) is hinged to the piston rod of the hydraulic linear cylinder (3) through a short axis B (14), and the other end of the two push-pull connecting rods (5) is connected through a long axis A (6) that passes through the locking member (7).

9. The clamping and self-locking mechanism for docking deep-sea working tools according to claim 1, characterized in that: The locking member (7) is hinged to the connecting rod fixing member (4) via a long axis B (9), and the locking member (7) has the freedom to rotate around the long axis B (9). One end of the clamping hook (11) is hinged to the locking member (7) via a short axis A (8).

10. The clamping and self-locking mechanism for docking deep-sea working tools according to claim 1, characterized in that: The fixing member (1) is provided with chambers in the circumferential direction, the number of which is the same as that of the hydraulic linear cylinders (3) and which correspond one to one. Each of the chambers is provided with a corresponding hydraulic linear cylinder (3). The cylinder body of the hydraulic linear cylinder (3) and the fixing member (1) are an integral structure. The end of each chamber is sealed by a sealing bolt (2).

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