Self-compensating linear electric slip ring for underwater robot

Abstract

A wire inlet sliding sleeve assembly comprises a sliding guide column, a wire inlet electric sliding rail and a wire inlet outer sleeve, a wire inlet cable comprises a plurality of wire inlet wires, and each wire inlet wire is connected with the corresponding wire inlet electric sliding rail. The wire outlet sliding sleeve assembly comprises a wire outlet inner sleeve and a wire outlet outer sleeve, the wire outlet inner sleeve and the wire outlet outer sleeve are both arranged between the sliding guide column and the wire inlet electric sliding rail, a plurality of wire containing cavities are formed between the wire outlet inner sleeve and the wire outlet outer sleeve in the circumferential direction, and the wire outlet cable comprises a plurality of wire outlet wires. And each outgoing wire is arranged in the corresponding wire accommodating cavity, a contact opening is formed at the inner end of each wire accommodating cavity, and the outgoing wires extend out of the contact openings and then are in contact with the incoming wire electric slide rail. The device can be matched with robot deformation to perform self-adaptive telescoping, the problem of cable displacement during robot deformation can be effectively solved, and meanwhile, occupation of the internal space of the robot can be greatly reduced.

Description

Technical Field

[0001] The invention relates to the field of underwater robots, in particular to a self-compensating linear electric slip ring used for underwater robots. Background Art

[0002] Underwater robots are one of the key equipment for marine engineering construction and marine scientific research. With the continuous development of underwater robots, in order to adapt to more complex working environments and working requirements, deformable underwater robots have come into being. For example, the CN111137419B patent discloses a deformable autonomous underwater robot.

[0003] However, when deformable underwater robots are deformed, they usually move in a straight line, which will cause the watertight cable to move. The existing solution is to solve the problem of watertight cable limitation by setting up a drag chain, but setting up a drag chain will occupy a lot of internal space of the underwater robot. In addition, the watertight cable used by underwater robots usually includes multiple wires. For example, the CN205810441U patent discloses a watertight cable for underwater robots, which is provided with multiple wires such as twisted shielded cable, power line and signal line in the circumferential direction of the conductor. Therefore, the characteristics of the watertight cable also need to be considered during design. Summary of the invention

[0004] The purpose of the present invention is to provide a self-compensating linear electric slip ring for an underwater robot, which can adaptively extend and retract in coordination with the robot's deformation, can effectively solve the cable displacement problem when the robot is deformed, and can significantly reduce the space occupied by the robot's interior.

[0005] The objective of the present invention is achieved through the following technical solutions:

[0006] A self-compensating linear electric slip ring for an underwater robot comprises an incoming cable, an incoming cable sleeve assembly, an outgoing cable sleeve assembly and an outgoing cable connected in sequence, wherein the incoming cable sleeve assembly comprises a sliding guide column, an incoming cable electric slide rail and an incoming cable outer sleeve arranged in sequence from the inside to the outside, the incoming cable comprises a plurality of incoming cable conductors, and each incoming cable conductor is respectively connected to a corresponding incoming cable electric slide rail, the outgoing cable sleeve assembly comprises an outgoing cable inner sleeve and an outgoing cable outer sleeve arranged in sequence from the inside to the outside, and the outgoing cable inner sleeve and the outgoing cable outer sleeve are both arranged between the sliding guide column and the incoming cable electric slide rail, a plurality of wire accommodating cavities are arranged between the outgoing cable inner sleeve and the outgoing cable outer sleeve along the circumferential direction, the outgoing cable comprises a plurality of outgoing cable conductors, and each outgoing cable conductor is respectively arranged in a corresponding wire accommodating cavity, a contact opening is formed at the inner end of the wire accommodating cavity, and the outgoing cable conductor contacts the corresponding incoming cable electric slide rail after extending out of the contact opening.

[0007] A plurality of outlet wire grooves are arranged on the inner wall of the outlet outer sleeve along the circumferential direction, a plurality of inner sleeve protrusions are arranged on the outer wall of the outlet inner sleeve along the circumferential direction, and the inner sleeve protrusions are respectively embedded in the corresponding outlet wire grooves, and the wire accommodating cavity is formed between the inner sleeve protrusions and the bottom of the corresponding outlet wire grooves.

[0008] A stopper is provided at the lower end of the raised portion of the inner sleeve, and a contact opening for the outlet wire to pass through is formed between the outlet outer sleeve and the stopper.

[0009] The outlet cable comprises an outlet flange, and one end of the outlet outer sleeve is fixedly connected to the outlet flange, and an outlet opening for the outlet wire to pass through is formed between the outlet inner sleeve and the outlet flange.

[0010] The outlet flange includes an outlet sleeve and an outlet flange. An outlet hose is provided on the outside of the outlet cable, and the outlet hose is sleeved on the outlet sleeve. The outlet hose is filled with oil. The outlet outer sleeve is fixedly connected to the outlet flange.

[0011] The outlet inner sleeve is provided with a partition near one end of the outlet cable, and each outlet wire is distributed from the cavity between the partition and the outlet flange to the corresponding outlet wire trough.

[0012] A guide column flange is provided at the lower end of the sliding guide column, and the guide column flange is evenly distributed along the circumferential direction with wire entry holes for the incoming wires to pass through.

[0013] The incoming cable includes an incoming flange, and the incoming flange includes a first sleeve, a second sleeve and an incoming flange, wherein the first sleeve is arranged on one side of the incoming flange, and the second sleeve is arranged on the other side of the incoming flange, the lower end of the incoming outer sleeve is fixedly connected to the first sleeve, and the guide column flange is arranged in the first sleeve, and each incoming wire is distributed to a corresponding incoming hole inside the first sleeve, an incoming hose is provided on the outside of the incoming cable, and the incoming hose is sleeved on the second sleeve, and the incoming hose is filled with oil.

[0014] A sealing protrusion is provided at one end of the incoming cable outer sleeve close to the outgoing cable, and a sealing ring is provided between the sealing protrusion and the outgoing cable outer sleeve.

[0015] The contact end between the outgoing wire and the incoming electric slide rail is provided with an outgoing slide rail contact block.

[0016] The advantages and positive effects of the present invention are:

[0017] 1. When the present invention is working, when the underwater robot is deformed, the outgoing line sleeve assembly of the present invention can be adaptively telescopically moved along the cavity between the sliding guide column in the incoming line sleeve assembly and the incoming line electric slide rail, and the outgoing line conductor can always maintain contact with the corresponding incoming line electric slide rail, and then can maintain electrical connection with the corresponding incoming line conductor, thereby effectively solving the cable displacement problem when the robot is deformed.

[0018] 2. The present invention is an elongated columnar structure as a whole. Compared with the drag chain and other devices in the prior art, its overall structure is more compact and can greatly reduce the internal space occupied by the robot.

[0019] 3. The present invention takes into account the characteristics of watertight cables including multiple wires and designs multiple wire inlet holes and multiple wire outlet troughs, so that different wire inlets can pass through corresponding wire inlet holes and be connected to corresponding wire inlet electric rails, and different wire outlets can be placed in corresponding wire outlet troughs without affecting each other. At the same time, the related structural design of the wire inlet holes and wire outlet troughs can also ensure the compactness of the overall structure of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 The working state of the present invention is shown in FIG. Figure 1 ,

[0021] Figure 2 for Figure 1 A in the enlarged view,

[0022] Figure 3 for Figure 2 KK view in,

[0023] Figure 4 for Figure 1 The enlarged view of point B in the figure,

[0024] Figure 5 for Figure 1 The enlarged view of point C in the figure,

[0025] Figure 6 for Figure 5 HH view in,

[0026] Figure 7 The working state of the present invention is shown in FIG. Figure 2 ,

[0027] Figure 8 for Figure 7 The enlarged view of point E in the figure,

[0028] Fig. 9 for Figure 7 Enlarged view of point F in FIG.

[0029] Among them, 1 is the outgoing cable, 101 is the outgoing flange, 1011 is the outgoing sleeve, 1012 is the outgoing flange, 102 is the outgoing hose, 103 is the outgoing wire, 1031 is the outgoing slide rail contact block, 2 is the incoming cable, 201 is the incoming flange, 2011 is the first sleeve, 2012 is the incoming flange, 2013 is the second sleeve, 202 is the incoming hose, 203 is the incoming wire, 3 is the outgoing sliding sleeve assembly, 301 is the outgoing outer sleeve, 30 11 is an outlet wire trough, 302 is an outlet inner sleeve, 3021 is a partition, 3022 is an inner sleeve protrusion, 3023 is a stopper, 303 is a wire accommodating cavity, 3031 is an outlet opening, 3032 is a contact opening, 4 is an incoming wire sliding sleeve assembly, 401 is an incoming wire outer sleeve, 4011 is a sealing ring, 4012 is a sealing protrusion, 402 is an incoming wire electric slide rail, 403 is a sliding guide column, 4031 is an incoming wire hole, and 4032 is a guide column flange. DETAILED DESCRIPTION

[0030] The present invention will be further described below in conjunction with the accompanying drawings.

[0031] like Figures 1 to 9 As shown, the present invention includes an incoming cable 2, an incoming sleeve assembly 4, an outgoing sleeve assembly 3 and an outgoing cable 1 connected in sequence, wherein the incoming sleeve assembly 4 includes a sliding guide column 403, an incoming electric slide rail 402 and an incoming outer sleeve 401 arranged in sequence from the inside to the outside, the incoming cable 2 includes a plurality of incoming wires 203, and each incoming wire 203 is respectively connected to a corresponding incoming electric slide rail 402, the outgoing sleeve assembly 3 includes an outgoing inner sleeve 302 and an outgoing outer sleeve 301 arranged in sequence from the inside to the outside, and as shown Figure 4 and Figures 8-9 As shown, the outgoing line inner sleeve 302 and the outgoing line outer sleeve 301 are both arranged between the sliding guide column 403 and the incoming line electric slide rail 402. Figures 2-3 As shown, a plurality of wire accommodating cavities 303 are provided between the outlet inner sleeve 302 and the outlet outer sleeve 301 along the circumferential direction, and the outlet cable 1 includes a plurality of outlet wires 103, and each outlet wire 103 is respectively provided in a corresponding wire accommodating cavity 303, as shown in FIG. Figure 4As shown, the inner end of the wire accommodating cavity 303 forms a contact opening 3032, and the outgoing wire 103 extends from the contact opening 3032 and contacts the corresponding incoming electric slide rail 402. When the present invention is working, when the underwater robot undergoes a deformation action, the outgoing wire sliding sleeve assembly 3 can move adaptively along the cavity between the sliding guide column 403 and the incoming electric slide rail 402, and when moving, the outgoing wire 103 can maintain contact with the incoming electric slide rail 402, and then can maintain electrical connection with the incoming wire 203. At the same time, the present invention is an overall slender columnar structure. Compared with the drag chain and other devices in the prior art, its overall structure is also more compact, which can greatly reduce the occupation of the robot's internal space.

[0032] like Figures 2-3 As shown, in this embodiment, a plurality of outlet wire grooves 3011 are evenly distributed along the circumferential direction on the inner wall of the outlet outer sleeve 301, a plurality of inner sleeve protrusions 3022 are evenly distributed along the circumferential direction on the outer wall of the outlet inner sleeve 302, and the inner sleeve protrusions 3022 are respectively embedded in the corresponding outlet wire grooves 3011, and the wire accommodating cavity 303 is formed between the inner sleeve protrusions 3022 and the bottom of the corresponding outlet wire grooves 3011.

[0033] like Figure 4 As shown, in this embodiment, a stopper 3023 is provided at the inner end of the inner sleeve protrusion 3022 , and a contact opening 3032 for the outlet wire 103 to pass through is formed between the outlet outer sleeve 301 and the stopper 3023 .

[0034] like Figure 2 As shown, in this embodiment, the outlet cable 1 includes an outlet flange 101, and one end of the outlet outer sleeve 301 is fixedly connected to the outlet flange 101, and an outlet opening 3031 for the outlet wire 103 to pass through is formed between the outlet inner sleeve 302 and the outlet flange 101.

[0035] like Figure 2 As shown, in this embodiment, the outlet flange 101 includes an outlet sleeve 1011 and an outlet flange plate 1012, wherein an outlet hose 102 is provided on the outside of the outlet cable 1, and the outlet hose 102 is sleeved on the outlet sleeve 1011, the outlet hose 102 is filled with oil, and the outlet flange plate 1012 is used to be fixedly connected to the relevant internal structure of the robot.

[0036] like Figure 2As shown, in this embodiment, the outlet inner sleeve 302 is provided with a partition 3021 near one end of the outlet cable 1, and each outlet wire 103 is distributed from the cavity between the partition 3021 and the outlet flange 101 to the corresponding outlet wire groove 3011, and the partition 3021 can also be abutted against the end of the sliding guide column 403 to limit the contraction displacement of the outlet sliding sleeve assembly 3.

[0037] like Figures 5-6 As shown, in this embodiment, a guide column flange 4032 is provided at the lower end of the sliding guide column 403, and the guide column flange 4032 is evenly distributed along the circumferential direction with inlet holes 4031 for the inlet wires 203 to pass through.

[0038] like Figure 5 As shown, in this embodiment, the incoming cable 2 includes an incoming flange 201, and the incoming flange 201 includes a first sleeve 2011, a second sleeve 2013 and an incoming flange 2012, wherein the first sleeve 2011 is arranged on one side of the incoming flange 2012, and the second sleeve 2013 is arranged on the other side of the incoming flange 2012, the lower end of the incoming outer sleeve 401 is fixedly connected to the first sleeve 2011, and the guide column flange 4032 is arranged in the first sleeve 2011, and each incoming wire 203 is distributed to the corresponding incoming hole 4031 inside the first sleeve 2011, an incoming hose 202 is provided on the outside of the incoming cable 2, and the incoming hose 202 is sleeved on the second sleeve 2013, the incoming hose 202 is filled with oil, and the incoming flange 2012 is used to be fixedly connected to the relevant internal structure of the robot.

[0039] like Figure 4 As shown, in this embodiment, a sealing protrusion 4012 is provided at one end of the incoming outer casing 401 close to the outgoing cable 1, and a sealing ring 4011 is provided between the sealing protrusion 4012 and the outgoing outer casing 301 to ensure sealing.

[0040] like Figure 4 As shown, in this embodiment, in order to ensure electrical connection contact, the contact end between the outgoing wire 103 and the incoming electric slide rail 402 is provided with an outgoing slide rail contact 1031 embedded in the incoming electric slide rail 402. The outgoing slide rail contact 1031 can be selected into a suitable shape according to actual needs. For example, a T-shaped contact and a T-shaped slide groove can be used to cooperate, so that the contact will not be detached no matter how it slides.

[0041] The working principle of the present invention is:

[0042] like Figure 1 and Figure 7As shown, when the present invention is working, when the underwater robot is deformed, the outgoing line sliding sleeve assembly 3 of the present invention can be adaptively telescopically moved along the cavity between the sliding guide column 403 and the incoming line electric slide rail 402. At this time, the sliding guide column 403 plays a moving guide role, and the outgoing line conductor 103 can always maintain contact with the corresponding incoming line electric slide rail 402, and then maintain electrical connection with the corresponding incoming line conductor 203. At the same time, the present invention is an overall slender columnar structure. Compared with the drag chain and other devices in the prior art, its overall structure is also more compact, which can greatly reduce the internal space occupied by the robot.

Claims

1. A self-compensating linear electric slip ring for an underwater robot, characterized in that: The invention comprises an incoming cable (2), an incoming sliding sleeve assembly (4), an outgoing sliding sleeve assembly (3) and an outgoing cable (1) which are connected in sequence, wherein the incoming sliding sleeve assembly (4) comprises a sliding guide column (403), an incoming electric slide rail (402) and an incoming outer sleeve (401) which are arranged in sequence from the inside to the outside, the incoming cable (2) comprises a plurality of incoming wires (203), and each incoming wire (203) is respectively connected to a corresponding incoming electric slide rail (402), the outgoing sliding sleeve assembly (3) comprises an outgoing inner sleeve (302) and an outgoing outer sleeve (301) which are arranged in sequence from the inside to the outside, and the outgoing inner sleeve (302) and The outgoing wire outer sleeve (301) is arranged between the sliding guide column (403) and the incoming wire electric slide rail (402), and a plurality of wire accommodating cavities (303) are arranged between the outgoing wire inner sleeve (302) and the outgoing wire outer sleeve (301) along the circumferential direction. The outgoing wire cable (1) comprises a plurality of outgoing wires (103), and each outgoing wire (103) is arranged in a corresponding wire accommodating cavity (303), and a contact opening (3032) is formed at the inner end of the wire accommodating cavity (303), and the outgoing wire (103) contacts the corresponding incoming wire electric slide rail (402) after extending from the contact opening (3032).

2. The self-compensating linear electric slip ring for an underwater robot according to claim 1, characterized in that: A plurality of outlet wire grooves (3011) are provided on the inner wall of the outlet wire outer sleeve (301) along the circumferential direction, a plurality of inner sleeve protrusions (3022) are provided on the outer wall of the outlet wire inner sleeve (302) along the circumferential direction, and the inner sleeve protrusions (3022) are respectively embedded in the corresponding outlet wire grooves (3011), and the wire accommodating cavity (303) is formed between the inner sleeve protrusions (3022) and the groove bottom of the corresponding outlet wire groove (3011).

3. The self-compensating linear electric slip ring for an underwater robot according to claim 2, characterized in that: A stopper (3023) is provided at the lower end of the inner sleeve protrusion (3022), and a contact opening (3032) for the outlet wire (103) to pass through is formed between the outlet outer sleeve (301) and the stopper (3023).

4. The self-compensating linear electric slip ring for an underwater robot according to claim 1, characterized in that: The outlet cable (1) comprises an outlet flange (101), and one end of the outlet outer sleeve (301) is fixedly connected to the outlet flange (101), and an outlet opening (3031) for an outlet conductor (103) to pass through is formed between the outlet inner sleeve (302) and the outlet flange (101).

5. The self-compensating linear electric slip ring for an underwater robot according to claim 4, characterized in that: The outlet flange (101) comprises an outlet sleeve (1011) and an outlet flange (1012); an outlet hose (102) is arranged on the outside of the outlet cable (1), and the outlet hose (102) is sleeved on the outlet sleeve (1011); the outlet hose (102) is filled with oil; and the outlet outer sleeve (301) is fixedly connected to the outlet flange (1012).

6. The self-compensating linear electric slip ring for an underwater robot according to claim 1, characterized in that: The outlet inner sleeve (302) is provided with a partition (3021) near one end of the outlet cable (1), and each outlet conductor (103) is distributed from the cavity between the partition (3021) and the outlet flange (101) to the corresponding outlet wire groove (3011).

7. The self-compensating linear electric slip ring for an underwater robot according to claim 1, characterized in that: A guide column flange (4032) is provided at the lower end of the sliding guide column (403), and the guide column flange (4032) is evenly distributed along the circumferential direction with inlet holes (4031) for the inlet wires (203) to pass through.

8. The self-compensating linear electric slip ring for an underwater robot according to claim 7, characterized in that: The incoming cable (2) comprises an incoming flange (201), and the incoming flange (201) comprises a first sleeve (2011), a second sleeve (2013) and an incoming flange (2012), wherein the first sleeve (2011) is arranged on one side of the incoming flange (2012), and the second sleeve (2013) is arranged on the other side of the incoming flange (2012), and the lower end of the incoming outer sleeve (401) is connected to the first sleeve (2011). 11), and the guide column flange (4032) is arranged in the first sleeve (2011), and each incoming wire (203) is distributed to a corresponding incoming wire hole (4031) inside the first sleeve (2011), and an incoming wire hose (202) is arranged on the outside of the incoming cable (2), and the incoming wire hose (202) is sleeved on the second sleeve (2013), and the incoming wire hose (202) is filled with oil.

9. The self-compensating linear electric slip ring for an underwater robot according to claim 1, characterized in that: The incoming outer sleeve (401) is provided with a sealing protrusion (4012) at one end close to the outgoing cable (1), and a sealing ring (4011) is provided between the sealing protrusion (4012) and the outgoing outer sleeve (301).

10. The self-compensating linear electric slip ring for an underwater robot according to claim 1, characterized in that: The contact end between the outgoing wire (103) and the incoming electric slide rail (402) is provided with an outgoing slide rail contact block (1031).

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