A docking mechanism usable for reconfiguration of an underwater robot

Abstract

The application discloses a docking mechanism which can be used for underwater robot reconfiguration and relates to the technical field of underwater robot reconfiguration. The docking mechanism comprises a T-shaped screw copper nut mechanism, waterproof steering gears, a T-shaped screw and a copper nut. The copper nut is driven by the waterproof steering gears to move linearly along the T-shaped screw. A plurality of crank slider mechanisms are uniformly connected around the copper nut in a circle and swing simultaneously under the drive of the copper nut, so that the umbrella type contraction and opening are realized, and the docking is guided. A plurality of one-way clamping mechanisms are uniformly connected around the T-shaped screw copper nut mechanism in a circle, and the robots for docking are axially limited. The docking mechanism is easy to manufacture, stable and reliable, convenient to disassemble and assemble, can be remotely controlled, has the functions of guidance and one-way clamping, and has a high docking success rate.

Description

Technical Field

[0001] This invention belongs to the field of underwater robot reconfiguration technology, and more specifically, relates to a docking mechanism that can be used for underwater robot reconfiguration. Background Technology

[0002] Underwater robots, also known as remotely operated vehicles (ROVs), are robots designed for extreme underwater operations. Given the harsh and dangerous underwater environment and the limited diving depth of humans, underwater robots have become crucial tools for ocean exploration. Their applications are wide-ranging, including inspecting dams / bridge piers for explosives and structural integrity, remote-controlled reconnaissance and close-range inspection of hazardous materials, assisting in the installation / removal of underwater arrays, underwater target observation, search and rescue in rubble / collapsed mines, and maritime salvage / shore search and rescue operations.

[0003] With the widespread use of underwater robots, people are becoming increasingly reliant on them, leading to a growing and changing demand for them.

[0004] However, since underwater robots operate underwater, they sometimes require functional expansion and underwater docking, necessitating a simple, reliable, easy-to-assemble and disassemble, and robust and durable docking mechanism. Currently, various types of underwater robot docking mechanisms are available on the market. However, they all suffer from a series of problems, including inconvenient docking, high human intervention requirements, difficulty in control, susceptibility to errors, or even frequent docking failures requiring repeated attempts. Other issues include high manufacturing costs and poor water resistance. Summary of the Invention

[0005] The technical problem to be solved by the present invention is to provide a docking mechanism that can be used for underwater robot reconfiguration. It is easy to manufacture, stable and reliable, easy to assemble and disassemble, remotely controllable, has guiding and one-way locking functions, and has a high docking success rate.

[0006] To solve the above-mentioned technical problems, the technical solution adopted by the present invention is as follows:

[0007] A docking mechanism for underwater robot reconfiguration includes:

[0008] The T-screw and copper nut mechanism is equipped with a waterproof servo motor, a T-screw, and a copper nut. The copper nut moves linearly along the T-screw under the drive of the waterproof servo motor.

[0009] Several crank-slider mechanisms are evenly connected around the copper nut along the circumference, and swing simultaneously under the drive of the copper nut, so as to realize the umbrella-like contraction and opening of the whole, and guide the docking.

[0010] Several unidirectional locking mechanisms are evenly connected around the T-shaped screw and copper nut mechanism along the circumference, and provide axial positioning for the docking robot.

[0011] Preferably, the copper nut is fixedly connected to the copper nut adapter by the fourth bolt, and several crank-slider mechanisms are evenly hinged around the copper nut adapter along the circumference.

[0012] Preferably, the T-screw and copper nut mechanism further includes a servo adapter, a chassis, and a locking ring. The servo adapter is fixedly connected to the output shaft of the waterproof servo via a first bolt. The bottom end of the T-screw is fixedly connected to the servo adapter via a set screw. The top end of the T-screw is fixedly connected to the locking ring. The chassis is located between the servo adapter and the locking ring and is rotatably connected to the T-screw via a bearing. The copper nut is located between the chassis and the locking ring and is threaded onto the T-screw.

[0013] Preferably, the crank-slider mechanism includes a rocker arm, a connecting rod, and a bracket. The upper middle part of the rocker arm is hinged to the top of the connecting rod via a first rivet, and the bottom end of the rocker arm is hinged to the bracket via a third rivet. The bracket is fixedly connected to the chassis, and the bottom end of the connecting rod is hinged to a copper nut adapter via a second rivet.

[0014] Preferably, the one-way locking mechanism includes a locking piece, a locking piece post, a pin, and a torsion spring. The bottom end of the locking piece post is fixedly connected to the chassis by a fourth bolt, and the top end of the locking piece post is hinged to one end of the locking piece by the pin. The other end of the locking piece extends freely. The torsion spring is installed on the pin and keeps the locking piece perpendicular to the locking piece post 302.

[0015] Preferably, the free end of the clamp extends away from the center of the copper nut, and an upper limit position is provided on the clamp post, so that the clamp can only rotate downwards by 90° and cannot rotate upwards.

[0016] The beneficial effects of adopting the above technical solution are as follows:

[0017] 1. The present invention has an umbrella-shaped structure. After docking, it can shrink to a circumference size that is almost the same as that of the docked robot, which greatly reduces the running resistance.

[0018] 2. This invention employs three sets of mechanical mechanisms. The screw-nut mechanism and the crank-slider mechanism are linked, responsible for guidance. The one-way locking mechanism, powered by a torsion spring, is independent and responsible for locking and axially limiting the guided robot. After docking, the guiding crank-slider mechanism retracts to hold the docked robot, providing radial limitation. This ensures the docked underwater robot is limited in all directions, allowing it to move freely without being restricted by direction of travel, and enabling it to move forward, backward, and turn.

[0019] 3. The invention has a simple overall structure, is easy to assemble and disassemble, is easy to manufacture, has low cost, is stable and reliable, has low resistance underwater, can be applied to docking of various robots, and has strong versatility. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the overall structure of the docking mechanism;

[0021] Figure 2 This is a cross-sectional structural diagram of the T-type screw and copper nut mechanism;

[0022] Figure 3 This is a schematic diagram of the connection of the set screw to the T-screw and copper nut mechanism;

[0023] Figure 4 This is a schematic diagram of the crank-slider mechanism;

[0024] Figure 5 This is another structural schematic diagram of the crank-slider mechanism;

[0025] Figure 6 This is a schematic diagram of a one-way locking mechanism;

[0026] Figure 7 This is a diagram showing the connection between two underwater robots.

[0027] In the diagram: 100, T-screw and copper nut mechanism; 101, waterproof servo motor; 102, servo motor adapter; 103, T-screw; 104, first bolt; 105, chassis; 106, bearing; 107, pad; 108, copper nut; 109, locking ring; 110, set screw;

[0028] 200. Crank-slider mechanism; 201. Rocker arm; 202. Connecting rod; 203. Copper nut adapter; 204. First rivet; 205. Second rivet; 206. Third rivet; 207. Bracket; 208. Second bolt; 209. Third bolt;

[0029] 300. One-way locking mechanism; 301. Locking element; 302. Locking element post; 303. Pin; 304. Cotter pin; 305. Fourth bolt. Detailed Implementation

[0030] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0031] like Figure 1 As shown, in this invention, the entire docking mechanism is umbrella-shaped. There are five sets of crank-slider mechanism 200 and one-way locking mechanism 300, evenly distributed in a circle on the frame, with a T-shaped screw and copper nut mechanism 100 in the center. These three mechanisms work closely together to form the docking mechanism, serving as a guide and limiting mechanism.

[0032] The connecting piece between the T-type screw copper nut mechanism 100 and the crank slider mechanism 200 is the copper nut 108. The two work together to complete the retraction operation. The one-way guide mechanism 300 is mounted on the disc 105 and has independence.

[0033] Specifically, such as Figure 2-3 As shown, the T-screw and copper nut mechanism 100 includes a waterproof servo motor 101, a servo motor adapter 102, a T-screw 103, a first bolt 104, a chassis 105, a bearing 106, a pad 107, a copper nut 108, a locking ring 109, and a set screw 110. The servo motor adapter 102 is fixedly connected to the output shaft of the waterproof servo motor 101 by the first bolt 104. One end of the T-screw 103 extends into the servo motor adapter 102 and is then fixedly connected to the servo motor adapter 102 by two set screws 110. The locking ring 109 is fixedly connected to the other end of the T-screw 103. The bearing 106 is installed between the pad 107 and the chassis 105. The T-screw 103 passes through the pad 107 and the chassis 105, and is rotatably connected to the pad 107 and the chassis 105 via the bearing 106. The chassis 105 is fixedly connected to the stern of the robot, and the docking mechanism is used to dock with another underwater robot, such as... Figure 7 As shown.

[0034] The output shaft of the waterproof servo motor 101 rotates, driving the servo motor adapter 102 to rotate. The servo motor adapter 102 then drives the T-screw 103 to rotate. The pad 107 and the chassis 105 are fixed together with bolts. The bearing 106 is installed between the pad 107 and the chassis 105, and the T-screw 103 passes through the bearing 106. When the T-screw 103 rotates, the pad 107 and the chassis 105 do not rotate due to the bearing 106. The copper nut 108 is threaded onto the T-screw 103 and is located between the pad 107 and the locking ring 109. When the T-screw 103 rotates, the copper nut 108 does not rotate and moves linearly along the T-screw 103.

[0035] like Figure 4-5As shown, the crank-slider mechanism 200 includes five rocker arms 201, five connecting rods 202, a copper nut adapter 203, a first rivet 204, a second rivet 205, a third rivet 206, a bracket 207, a third fixing bolt 208, and a fourth fixing bolt 209. The fourth fixing bolt 209 fixes the copper nut 108 to the copper nut adapter 203. One end of the connecting rod 202 is hinged to the rocker arm 201 via the first rivet 204, and the other end is hinged to the copper nut adapter 203 via the second rivet 205. The bottom end of the rocker arm 201 is hinged to the bracket 207, and the bracket 207 is fixedly connected to the chassis 105 via the third fixing bolt 208. When the T-screw 103 rotates forward and backward, it drives the copper nut 108 on it to perform reciprocating linear motion. The copper nut 108 is fixed to the copper nut adapter 203, and also drives the copper nut adapter 203 to perform reciprocating linear motion, which is equivalent to the slider in a crank-slider mechanism. The copper nut adapter 203 has 5 mounting positions, so 5 connecting rods 202 can be hinged. The 5 connecting rods 202 are then hinged to 5 rocker arms 201.

[0036] The entire motion process of the crank-slider mechanism 200 is as follows: when the copper nut adapter 203 reciprocates linearly, it drives the connecting rod 202 to move, and the connecting rod 202 in turn drives the rocker arm 201 to swing at a certain angle. When the copper nut adapter 203 moves upward, the angle between the connecting rod 202 and the rocker arm 201 increases, and the rocker arm 201 rotates outward; when the copper nut adapter 203 moves downward, the angle between the connecting rod 202 and the rocker arm 201 decreases, and the rocker arm 201 rotates inward. Therefore, the five sets of connecting rods 202 and rocker arms 201 simultaneously swing at a certain angle under the drive of the copper nut adapter 203, similar to the opening and closing of an umbrella, thus achieving the guiding function.

[0037] like Figure 6 As shown, the one-way locking mechanism 300 includes a locking piece 301, a locking post 302, a pin 303, a cotter pin 304, and a fourth fixing bolt 305. One end of the locking post 302 is fixedly connected to the chassis 105 by the fourth fixing bolt 305. The locking piece 301 is hinged to the other end of the locking post 302 by the pin 303. The cotter pin 304 is mounted on the pin 303 to axially fix the pin 303 to the locking post 302. A torsion spring is mounted on the pin 303 to keep the locking piece 301 and the locking post 302 perpendicular. Both the locking piece 301 and the locking post 302 have torsion spring support slots. The locking post 302 has an upper limit, so that the locking piece 301 can only rotate downwards by 90° and cannot rotate upwards. Five sets of such mechanisms are evenly distributed in a circle on the chassis 105, similar to barbs, so that the docking underwater robot can only enter but not exit. The bow fairing of the docking underwater robot also has matching protrusions, similar to a hemisphere. The front curved surface facilitates guidance and entry, while the rear plane is parallel to the plane of the card 301, which mutually restricts each other.

[0038] In summary, when the crank-slider mechanism 200 opens, the docking robot first enters the guide circle formed by the five rockers 201, then presses down on the clamp 301, which rotates until it clamps the bow fairing of the docking robot, thus axially limiting the docking robot. Then, the rockers 201 rotate inward to hold the docking robot, thus radially limiting the docking robot.

[0039] The above are merely preferred embodiments of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. A docking mechanism for underwater robot reconfiguration, characterized in that, include: The T-screw and copper nut mechanism (100) is equipped with a waterproof servo motor (101), a T-screw (103), and a copper nut (108). The copper nut (108) moves linearly along the T-screw (103) under the drive of the waterproof servo motor (101). Several crank-slider mechanisms (200) are evenly connected around the copper nut (108) along the circumference and swing simultaneously under the drive of the copper nut (108), so as to realize umbrella-like contraction and opening as a whole, and guide the docking. Several unidirectional locking mechanisms (300) are evenly connected around the T-shaped screw and copper nut mechanism (100) along the circumference, and axially limit the docking robot.

2. The docking mechanism for underwater robot reconfiguration according to claim 1, characterized in that, The copper nut (108) is fixedly connected to the copper nut adapter (203) by the fourth bolt (209), and several crank-slider mechanisms (200) are evenly hinged around the copper nut adapter (203) along the circumference.

3. A docking mechanism for underwater robot reconfiguration according to claim 2, characterized in that, The T-screw and copper nut mechanism (100) also includes a servo adapter (102), a chassis (105), and a locking ring (109). The servo adapter (102) is fixedly connected to the output shaft of the waterproof servo (101) by a first bolt (104). The bottom end of the T-screw (103) is fixedly connected to the servo adapter (102) by a set screw (110). The top end of the T-screw (103) is fixedly connected to the locking ring (109). The chassis (105) is located between the servo adapter (102) and the locking ring (109) and is rotatably connected to the T-screw (103) by a bearing (106). The copper nut (108) is located between the chassis (105) and the locking ring (109) and is threadedly connected to the T-screw (103).

4. A docking mechanism for underwater robot reconfiguration according to claim 3, characterized in that, The crank-slider mechanism (200) includes a rocker arm (201), a connecting rod (202), and a bracket (207). The upper middle part of the rocker arm (201) is hinged to the top of the connecting rod (202) through a first rivet (204). The bottom end of the rocker arm (201) is hinged to the bracket (207) through a third rivet (206). The bracket (207) is fixedly connected to the chassis (105). The bottom end of the connecting rod (202) is hinged to the copper nut adapter (203) through a second rivet (205).

5. A docking mechanism for underwater robot reconfiguration according to claim 3, characterized in that, The one-way locking mechanism (300) includes a locking piece (301), a locking post (302), a pin (303), and a torsion spring. The bottom end of the locking post (302) is fixedly connected to the chassis (105) by a fourth bolt (305). The top end of the locking post (302) is hinged to one end of the locking piece (301) by the pin (303). The other end of the locking piece (301) extends freely. The torsion spring is installed on the pin (303) and keeps the locking piece (301) and the locking post (302) perpendicular.

6. A docking mechanism for underwater robot reconfiguration according to claim 5, characterized in that, The free end of the clip (301) extends away from the center of the copper nut (108); the clip post (302) is provided with an upper limit position, so that the clip (301) can only rotate downward 90° and not upward.

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