Tool table suitable for underwater robot module replacement

Abstract

The invention relates to the technical field of underwater operation equipment, in particular to a tool table suitable for underwater robot module replacement. An opening and closing device, a push-pull device and a guide device are mounted above the frame; wherein the opening and closing device is used for clamping a module, the push-pull device is used for unlocking an enclasping mechanism of the module, the guide device is used for guiding a socket of the underwater robot so that the socket and the enclasping mechanism can be located on a coaxial connection position, the tool table improves the underwater operation efficiency and flexibility of the underwater robot, and the tool table is convenient to use. The underwater operation interruption time is shortened, the situation that the whole robot is recycled to the water surface for maintenance or operation tool module replacement is avoided, and the operation efficiency is improved; secondly, damaged or inapplicable operation tool modules can be rapidly replaced by replacing the modules underwater, it is ensured that the robot can continue to execute tasks, and therefore the reliability of the whole system is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of underwater operation equipment, and particularly to a tool table suitable for replacing modules of an underwater robot. Background Art

[0002] Underwater robots play a crucial role in deep-sea scientific research, resource exploration, and development. However, due to the complexity of the underwater environment, these robots need to be equipped with a variety of operation tool modules to complete tasks, such as sample collection and equipment maintenance. These tasks may require fine operations or configurations of different tool modules. However, due to the limited load capacity of underwater robots, they usually cannot carry all the required operation tool modules. Therefore, when it is necessary to replace the operation tool modules, the entire robot must be recovered to the water surface for repair or replacement.

[0003] However, the method of replacing modules on the water surface increases the task interruption time, thereby reducing the operation efficiency; secondly, the frequent recovery and redeployment of underwater robots increase the operation risk, especially when operating in deep sea or dangerous areas, and each time the underwater robot is recovered to the water surface for maintenance or replacement will increase the operation cost.

[0004] Therefore, it is necessary to optimize the convenience of replacing modules of underwater robots, and we propose a tool table suitable for replacing modules of underwater robots. Summary of the Invention

[0005] The purpose of the present invention is to solve the disadvantages that the method of replacing modules on the water surface in the prior art increases the task interruption time, thereby reducing the operation efficiency, etc., and to propose a tool table suitable for replacing modules of an underwater robot.

[0006] In order to achieve the above purpose, the present invention adopts the following technical solutions:

[0007] Design a tool table suitable for replacing modules of an underwater robot, including a frame as a bearing foundation;

[0008] An opening and closing device, a pushing and pulling device, and a guiding device are installed above the frame;

[0009] Wherein the opening and closing device is used for clamping the module, the pushing and pulling device is used for unlocking the clamping mechanism of the module, and the guiding device is used for guiding the socket of the underwater robot so that it is in a coaxial connection position with the clamping mechanism.

[0010] Further, the opening and closing device includes a support seat installed on the frame, and a first groove adapted to the module is arranged at the upper end of the support seat;

[0011] On both sides of the top of the support base, there are hoop fasteners pinned. The two hoop fasteners can be closed above the first groove. Above the frame, there is a opening and closing driving part pinned. The action end of the opening and closing driving part is pinned to the hoop fastener.

[0012] Further, the clamping mechanism includes a sliding sleeve slidably connected to the outside of the module. A spring is fixedly connected between the sliding sleeve and the outer wall of the module.

[0013] On the outside of the module, there are a number of positioning beads movably connected. The inner side of the sliding sleeve has a ring step part that abuts against the positioning beads.

[0014] Further, the socket is placed in the guiding device. There is a ring groove on the outside of the socket. A number of the positioning beads are snap-fitted in the ring groove.

[0015] Further, the pushing and pulling device includes two sliding seats sliding on the frame. A pushing and pulling frame is arranged between the two sliding seats. The upper end of the pushing and pulling frame is provided with a second groove adapted to the sliding sleeve.

[0016] Above the frame, there is also a pushing and pulling driving part installed. The action end of the pushing and pulling driving part is connected to the pushing and pulling frame.

[0017] Further, two guide rods are fixedly installed at the bottom of the pushing and pulling frame. The two guide rods are inserted into the two sliding seats.

[0018] At the bottom of the pushing and pulling frame, there is also a connecting plate fixedly installed. On the end face of the frame, there is a groove for the connecting plate to pass through and slide. On the end face of the connecting plate, there is a longitudinal groove. The shaft end of the pushing and pulling driving part is installed with a shaft rod sliding in the longitudinal groove.

[0019] Further, the guiding device includes a fixing frame fixed on the frame. The upper end of the fixing frame is provided with a third groove adapted to the socket. At the lower side of the front end of the fixing frame, a fixing cover is fixedly installed. On both sides of the upper end of the fixing frame, there are movable covers pinned. The two movable covers can be closed above the third groove.

[0020] Above the frame, there is also a guiding driving part pinned. The action end of the guiding driving part is pinned to the movable cover.

[0021] Further, two mounting seats are slidably connected to the upper part of the frame through a linear slide groove. At the bottom of the mounting seat, a plurality of guide rods sliding in the linear slide groove are fixedly installed. A driving seat is fixedly connected between the plurality of guide rods. A compression spring is fixedly connected between the driving seat and the side of the frame.

[0022] Among them, a sliding rod is slidably connected to the bottom of the connecting plate, and connecting rods are pin-connected to the end faces of the two driving seats, and the connecting rods on both sides are respectively pin-connected to both sides of the sliding rod.

[0023] Furthermore, a synchronous gear is rotatably connected to the bottom of the frame, racks are fixedly installed on the sides of the driving seats, and the two racks are engaged on both sides of the synchronous gear.

[0024] Furthermore, a hydraulic pump station is fixedly installed inside the frame, and a plurality of lifting lugs and shock pads are respectively installed on the top and side of the frame.

[0025] A tool table applicable to underwater robot module replacement proposed by the present invention has the beneficial effects that: the tool table in the present invention improves the underwater operation efficiency and flexibility of the underwater robot, reduces the underwater operation interruption time, avoids recovering the entire robot to the water surface for maintenance or replacing the operation tool module, and improves the operation efficiency; secondly, by replacing the module underwater, the damaged or inapplicable operation tool module can be quickly replaced to ensure that the robot can continue to execute tasks, thereby improving the reliability of the entire system; it can also reduce the number of recoveries and redeployments, thereby reducing the maintenance cost, especially when operating in deep sea or dangerous areas, the operation risks brought by frequent recovery and redeployment of the robot can be avoided. Description of the Drawings

[0026] Figure 1 It is a state diagram when the frame of the present invention assembles the module;

[0027] Figure 2 It is a state diagram when the module is removed from the frame of the present invention;

[0028] Figure 3 It is a schematic structural diagram of the opening and closing device of the present invention;

[0029] Figure 4 It is a schematic structural diagram of the pushing and pulling device of the present invention;

[0030] Figure 5 It is a schematic structural diagram of the guiding device of the present invention;

[0031] Figure 6 It is a schematic structural diagram of the module of the present invention;

[0032] Figure 7 It is a sectional view of the module of the present invention;

[0033] Figure 8 It is a schematic diagram of the action when the module of the present invention is put back;

[0034] Figure 9 It is a schematic structural diagram of the pushing and pulling device and the guiding device of the present invention;

[0035] Figure 10 Cross-sectional view of the frame of the present invention;

[0036] Figure 11 Schematic structural diagram of the drive seat of the present invention.

[0037] In the figure: 1. Frame; 11. Channel; 12. One-way chute; 13. Synchronous gear; 14. Lifting lug; 15. Shock pad; 2. Opening and closing device; 21. Support seat; 22. First groove; 23. Hoop; 24. Opening and closing drive member; 3. Pushing and pulling device; 31. Slide seat; 32. Pushing and pulling frame; 33. Second groove; 34. Pushing and pulling drive member; 341. Shaft rod; 35. Guide rod; 36. Connecting plate; 361. Longitudinal groove; 37. Slide rod; 4. Guiding device; 41. Fixed frame; 42. Third groove; 43. Fixed cover; 44. Movable cover; 45. Guiding drive member; 46. Mounting seat; 461. Guide rod; 462. Drive seat; 463. Compression spring; 464. Connecting rod; 465. Rack; 5. Module; 51. Positioning bead; 6. Clamping mechanism; 61. Sliding sleeve; 611. Stopping ring platform; 62. Spring; 63. Ring step part; 7. Socket; 71. Ring groove; 8. Hydraulic pump station. Specific embodiments

[0038] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments.

[0039] Refer to Figures 1-11 One embodiment of the present invention discloses a tool table applicable to the replacement of underwater robot modules, which is used to solve the deficiency that when replacing the operation tool module of the current underwater robot, the robot needs to be recovered to the water surface. By placing the tool table carrying the module 5 underwater, the underwater robot can directly replace the operation tool module underwater, thereby effectively improving the efficiency of the operation.

[0040] Specifically, the tool table includes a frame 1 as a bearing foundation, and the module 5 is installed above the frame 1. Of course, in the actual operation process, multiple frames 1 carrying different modules 5 can be put into the water, and the underwater robot can adaptively connect to the corresponding frame 1 according to the module 5 to be replaced;

[0041] Refer to Figure 1 、 Figure 2, It should be noted that a hydraulic pump station 8 is fixedly installed inside the frame 1 in this embodiment. A number of lifting lugs 14 and shock pads 15 are respectively installed at the top and sides of the frame 1. The hydraulic pump station 8 is used to supply energy to each hydraulic actuator. Of course, the hydraulic pump station 8 should include an oil tank, an oil pump, a control host, etc. The control host can be wirelessly connected to the ship terminal, so as to facilitate the control of the underwater hydraulic actuators on the ship;

[0042] Refer to Figure 2 , In addition, the frame 1 is integrally composed of square steel pipes welded together. The lifting lugs 14 at the top are used for lifting operations to facilitate the placement of the frame 1 into the water wash. The shock pads 15 are mainly distributed at the bottom and sides of the frame 1 to provide shock protection for the frame 1 during the placement process. Specifically, the shock pads 15 can be made of rubber pads. As an option, a lighting lamp and a camera can also be installed on the upper end surface of the frame 1 for monitoring the underwater operation conditions.

[0043] Furthermore, an opening and closing device 2, a pushing and pulling device 3, and a guiding device 4 are installed above the frame 1; among them, the opening and closing device 2 is used to clamp the module 5, the pushing and pulling device 3 is used to unlock the clamping mechanism 6 of the module 5, and the guiding device 4 is used to guide the socket 7 of the underwater robot so that it is in the coaxial connection position with the clamping mechanism 6.

[0044] Refer to Figure 3 , In some embodiments, the opening and closing device 2 in the present invention includes a support seat 21 installed on the frame 1. A first groove 22 adapted to the module 5 is provided at the upper end of the support seat 21. The first groove 22 is a semi-circular groove;

[0045] Two hoop clamps 23 are pin-connected to both sides of the top of the support seat 21. The two hoop clamps 23 can be closed above the first groove 22. An opening and closing driving member 24 is pin-connected above the frame 1. The action end of the opening and closing driving member 24 is pin-connected to the hoop clamp 23. Specifically, the opening and closing driving member 24 in this embodiment is a hydraulic cylinder. The bottom of the hydraulic cylinder is connected to the frame 1 through a pin connection seat, and its shaft end is pin-connected to the back end of the hoop clamp 23.

[0046] That is to say, in this embodiment, two opening and closing driving members 24 are used to drive the two hoop clamps 23 to rotate synchronously. When the module 5 is placed inside the first groove 22, the two hoop clamps 23 can rotate and clamp the outside of the module 5 to realize the clamping and fixing of the module 5 and keep it in a horizontal state. The opening and closing of the hoop clamps 23 are controlled by the extension and retraction of the hydraulic cylinder. When the hydraulic cylinder extends, the hoop clamps 23 close to realize the clamping action on the module 5, so that the module 5 is fixed and other operations can be carried out; when the hydraulic cylinder retracts, the hoop clamps 23 open, and the underwater robot can carry the module 5 and move upward to leave the tool table;

[0047] Of course, in order to ensure the surface protection of the module 5, a rubber pad can also be fixedly installed on the inner side of the hoop 23 in this embodiment. The rubber pad can avoid the hard contact between the hoop 23 and the module 5, so as to achieve the purpose of protecting the surface of the module 5.

[0048] Referring to Figure 6 、 Figure 7 Furthermore, in the present invention, the clamping mechanism 6 includes a sliding sleeve 61 slidably connected to the outside of the module 5, and a spring 62 is fixedly connected between the sliding sleeve 61 and the outer wall of the module 5;

[0049] A number of positioning beads 51 are movably connected to the outside of the module 5. Of course, a number of hole positions should be provided on the outside of the module 5, and the diameter of the hole positions is smaller than the outer diameter of the positioning beads 51, so as to prevent the positioning beads 51 from falling off. The inner side of the sliding sleeve 61 has a ring step portion 63 that abuts against a number of the positioning beads 51. The ring step portion 63 is a ring-shaped convex structure. When it abuts against the outside of a number of positioning beads 51, it can abut against the positioning beads 51 and move them in the direction of the axis of the module 5. In addition, a hole position should be provided at the tail end of the module 5 for connecting the socket 7, and the positioning beads 51 are arranged at the hole positions.

[0050] It should be noted that in each different underwater operation module 5, the structure of the clamping mechanism 6 at its rear end is the same, and the difference lies in the structure designed at its front end. In this embodiment, the clamping structure module is taken as an example, that is, when the underwater robot is connected to this module 5, the corresponding clamping operation can be carried out by means of this module 5.

[0051] Referring to Figure 7 On the basis of the above embodiment, in this embodiment, the socket 7 is placed in the guiding device 4. A ring groove 71 is provided on the outside of the socket 7, and a number of the positioning beads 51 are clamped in the ring groove 71. That is, when the socket 7 of the underwater robot enters the guiding device 4, it can be inserted into the hole position of the above-mentioned module 5. When the positioning beads 51 move inward and are clamped in the ring groove 71 of the socket 7, the locking of the module 5 and the socket 7 can be completed, that is, the connection between the underwater robot and the current module 5 is completed.

[0052] Referring to Figure 4 In some embodiments, the pushing and pulling device 3 in the present invention includes two sliding seats 31 slidably arranged on the frame 1. Preferably, in this embodiment, the sliding seats 31 slide on the frame 1 through guide rails. A pushing and pulling frame 32 is arranged between the two sliding seats 31. The upper end of the pushing and pulling frame 32 is provided with a second groove 33 adapted to the sliding sleeve 61. Of course, the second groove 33 in this embodiment is also arranged as a semi-circular groove;

[0053] Above the frame 1, a push-pull driving member 34 is further installed. Of course, in this embodiment, the push-pull driving member 34 is also set as a hydraulic cylinder, and the action end of the push-pull driving member 34 is connected to the push-pull frame 32.

[0054] Refer to Figure 7 , that is, in this embodiment, the push-pull driving member 34 is used to drive the push-pull frame 32 to move back and forth. Specifically, one end of the sliding sleeve 61 in this embodiment has a stop ring platform 611. When the push-pull frame 32 moves backward, it will contact the sliding sleeve 61 and move backward synchronously. At this time, the annular step portion 63 inside the sliding sleeve 61 is separated from the positioning bead 51, and the positioning bead 51 is in a free state. Therefore, the socket 7 can be freely inserted and matched with the hole position of the module 5;

[0055] After the socket 7 is inserted into the module 5, the push-pull frame 32 can be controlled to move forward to separate the stop ring platform 611 of the sliding sleeve 61. Under the push of the spring 62, the sliding sleeve 61 is reset, and the annular step portion 63 contacts the positioning bead 51 again to move inward and be clamped in the annular groove 71 of the socket 7 to achieve locking. In this way, the connection between the socket 7 and the module 5 can be completed. After that, the opening and closing device 2 and the guiding device 4 are opened, and the underwater robot can drive the module 5 away from the frame 1.

[0056] Refer to Figure 4 , Figure 10 , further, in this embodiment, two guide rods 35 are fixedly installed at the bottom of the push-pull frame 32, and the two guide rods 35 are inserted into the two sliding seats 31. That is, in this embodiment, the push-pull frame 32 can move up and down along the height direction of the sliding seat 31;

[0057] Refer to Figure 4 A connecting plate 36 is further fixedly installed at the bottom of the push-pull frame 32. A channel 11 for the connecting plate 36 to pass through and slide is opened on the end face of the frame 1. The channel 11 is a straight slot. A longitudinal slot 361 is opened on the end face of the connecting plate 36, and a shaft rod 341 sliding in the longitudinal slot 361 is installed at the shaft end of the push-pull driving member 34.

[0058] That is, the push-pull frame 32 in this embodiment can move up and down. During the connection process of the socket 7 and the module 5, the push-pull frame 32 is supported below the sliding sleeve 61. When the operation is completed and the module 5 needs to be put back, the push-pull frame 32 can be moved downward to avoid the stop ring platform 611 on the sliding sleeve 61. Such a design method is to make the stop ring platform 611 and the push-pull frame 32 vertically misaligned when the underwater robot puts back the module 5, so that the underwater robot can smoothly push the entire module 5 inward for positioning, and avoid the problem that the stop ring platform 611 is placed on the other side of the push-pull frame 32, resulting in the push-pull frame 32 being unable to pull the sliding sleeve 61 backward. For details, refer to Figure 8As shown by the actions, the specific operating principle will be described in detail later and will not be elaborated here.

[0059] Referring to Figure 5 , in some embodiments, the guiding device 4 in the present invention includes a fixing frame 41 fixed to the frame 1. The upper end of the fixing frame 41 is provided with a third groove 42 adapted to the socket 7. Of course, the third groove 42 is also set as a semi-circular groove. A fixing cover 43 is fixedly installed on the lower side of the front end of the fixing frame 41. The two sides of the upper end of the fixing frame 41 are pin-connected with movable covers 44. The two movable covers 44 can be closed above the third groove 42. Specifically, the two movable covers 44 can approach each other and form a spherical structure the same as that of the fixing cover 43. The spherical structure is an inward concave spherical surface, so as to guide the socket 7 when the underwater robot is connected, so that the socket 7 can smoothly penetrate into the inside of the third groove 42. At the same time, when the movable cover 44 rotates downward to open, its lower side can abut against the upper side of the fixing cover 43;

[0060] Wherein, a guiding driving member 45 is also pin-connected to the upper end of the frame 1. The action end of the guiding driving member 45 is pin-connected to the movable cover 44. Of course, in this embodiment, the guiding driving member 45 is also set as a hydraulic cylinder. Each hydraulic cylinder is connected to the above-mentioned hydraulic pump station. The opening and closing of the two movable covers 44 are controlled by the extension and retraction of the hydraulic cylinder. When the hydraulic cylinder extends, the two movable covers 44 are closed to guide and position the underwater robot carrying the socket 7 and perform the locking process of the module 5; when the hydraulic cylinder retracts, the two movable covers 44 are opened, and the underwater robot carrying the operation tool module can move upward and leave the tool table.

[0061] Referring to Figure 9 , Figure 10 , Figure 11 , on the basis of the above embodiment, two mounting seats 46 are slidably connected to the upper part of the frame 1 in the present invention through a linear chute 12. A plurality of guiding rods 461 slidable in the linear chute 12 are fixedly installed at the bottom of the mounting seat 46. A driving seat 462 is fixedly connected between the plurality of guiding rods 461. A compression spring 463 is fixedly connected between the driving seat 462 and the side of the frame 1;

[0062] Wherein, a sliding rod 37 is slidably connected to the bottom of the connecting plate 36. Connecting rods 464 are respectively pin-connected to the end faces of the two driving seats 462. The two side connecting rods 464 are respectively pin-connected to both sides of the sliding rod 37.

[0063] Before use, control the opening and closing device 2, the pushing and pulling device 3, and the guiding device 4 to be in the open state. Place the operation tool module 5 on the frame 1 and control the opening and closing device 2 to close, then the operation tool module 5 can be clamped;

[0064] When the underwater robot connection operation tool module 5 is operating underwater, the push-pull driving member 34 controls the push-pull frame 32 to move backward, so as to push against the sliding sleeve 61 on the module 5 to move, keeping the inner positioning beads 51 in the unlocked state. At the same time, the two movable covers 44 are closed, guiding the underwater robot carrying the socket 7 to be on the same axis as the operation tool module 5 and docking;

[0065] After the underwater robot is docked with the operation tool module 5, control the push-pull frame 32 to extend, and the sliding sleeve 61 resets to drive the positioning beads 51 to be stuck in the annular groove 71 of the socket 7 for locking. The operation tool module 5 and the underwater robot are connected. At this time, control the opening and closing device 2 and the guiding device 4 to open, and the underwater robot carrying the module 5 can move upward and leave the frame 1;

[0066] When the underwater robot removes the operation tool module 5 underwater, the underwater robot carrying the module 5 moves downward from the upper part of the frame 1. Control the opening and closing device 2 and the guiding device 4 to close. When the module 5 is placed on the opening and closing device 2, the push-pull driving member 34 controls the push-pull frame 32 to move backward, so as to push against the sliding sleeve 61 on the module 5 to move, keeping the inner positioning beads 51 in the unlocked state. At this time, the underwater robot can move backward and exit the tool table, completing the removal of the operation tool module 5;

[0067] Specifically, it can be referred to Figure 8 as shown in the actions. It should be noted that during the process of the underwater robot moving downward and placing the module 5, there may be a deviation in the left and right positions of the module 5. That is, when the module 5 touches the opening and closing device 2, the stop ring platform 611 on the sliding sleeve 61 may be on the front side of the push-pull frame 32. Therefore, in order to conveniently adjust the left and right positions of the entire module 5, in this embodiment, the push-pull frame 32 is adopted to be movable downward to avoid the push-pull frame 32 blocking the movement of the sliding sleeve 61 during the adjustment of the left and right positions of the module 5;

[0068] Specifically, when it is necessary to adjust the left and right positions of the module 5 after it is initially placed back, at this time, the guiding driving member 45 can be controlled to further contract. Since the movable cover 44 will touch the fixed cover 43 and cannot move when it rotates downward, the guiding driving member 45 will pull the mounting seat 46 to move linearly on the frame 1 through the contraction movement. The driving seat 462 at the bottom of the mounting seat 46 will generate a lateral displacement at the bottom of the frame 1, and the two driving seats 462 on both sides will push against the sliding rod 37 through the connecting rod 464 to move downward, so as to pull the push-pull frame 32 to move downward, making the upper end of the push-pull frame 32 and the bottom of the sliding sleeve 61 misaligned.

[0069] When the left and right positioning of the module 5 is completed, the guide drive member 45 is extended and reset, and the compression spring 463 drives the drive seat 462 to reset, and the mounting seat 46 at the bottom thereof slides to the far end and resets. At this time, the drive seats 462 on both sides can pull the entire slide rod 37 to move upward, and thus the entire push-pull frame 32 is controlled to move upward and reset through the connecting plate 36 until the push-pull frame 32 is on one side of the stop ring platform 611 of the sliding sleeve 61, and the purpose of resisting the movement of the sliding sleeve 61 can be achieved by moving the push-pull frame 32 back and forth.

[0070] Reference Figure 10 It should be noted that, in the initial state, the guide rod 461 at the bottom of the mounting seat 46 is in contact with the distal inner wall of the groove 11. Therefore, when the guide drive member 45 is extended and pushed, the guide rod 461 and the distal inner wall of the groove 11 are contacted and limited to ensure that the bottom of the guide drive member 45 is subjected to force, so as to ensure that the socket 7 can be stably guided. In addition, in the initial state, the multiple connecting rods 464 on both sides are distributed in a V-shaped structure, so that when the two driving seats 462 move relative to each other, the slide bar 37 can be stably driven to move downward.

[0071] Reference Figure 11 On the basis of the above embodiment, in order to ensure that the two driving seats 462 on both sides can move synchronously to ensure stable lifting and lowering control of the slide rod 37, a synchronous gear 13 is also rotatably connected at the bottom of the frame 1, and a rack 465 is fixedly installed on the side of the driving seat 462, and the two racks 465 are engaged on both sides of the synchronous gear 13.

[0072] That is, in this embodiment, two racks 465 on both sides of the meshing of the synchronous gear 13 are used to achieve synchronization of the movement of the two driving seats 462 , thereby improving the stability of the lifting and lowering control of the slide rod 37 .

[0073] In summary, the tool bench in the present invention improves the underwater operation efficiency and flexibility of the underwater robot, reduces the interruption time of underwater operations, avoids recovering the entire robot to the surface for repair or replacement of the operating tool module, and improves the operating efficiency; secondly, by replacing the module 5 underwater, the damaged or unsuitable operating tool module can be quickly replaced to ensure that the robot can continue to perform the task, thereby improving the reliability of the entire system; it can also reduce the number of recoveries and redeployments, thereby reducing maintenance costs, especially when operating in deep sea or dangerous areas, it can avoid the operational risks caused by frequent recovery and redeployment of robots.

[0074] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical scheme and inventive concept of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A tool bench suitable for replacing underwater robot modules, characterized in that: It includes a frame (1) serving as a load-bearing foundation; An opening and closing device (2), a push-pull device (3) and a guide device (4) are installed above the frame (1); The opening and closing device (2) is used to clamp the module (5), the pushing and pulling device (3) is used to unlock the clamping mechanism (6) of the module (5), and the guiding device (4) is used to guide the socket (7) of the underwater robot so that it is in a coaxial connection position with the clamping mechanism (6).

2. A tool bench suitable for replacing underwater robot modules according to claim 1, characterized in that: The opening and closing device (2) comprises a support base (21) mounted on the frame (1), and a first groove (22) adapted to fit the module (5) is arranged at the upper end of the support base (21); Both sides of the top of the support seat (21) are pin-connected with clamps (23), and the two clamps (23) can be closed above the first groove (22), wherein an opening and closing driving member (24) is pin-connected above the frame (1), and the action end of the opening and closing driving member (24) is pin-connected to the clamps (23).

3. A tool bench suitable for replacing underwater robot modules according to claim 1, characterized in that: The clamping mechanism (6) comprises a sliding sleeve (61) slidably connected to the outside of the module (5), and a spring (62) is fixedly connected between the sliding sleeve (61) and the outer wall of the module (5); The outer side of the module (5) is movably connected with a plurality of positioning beads (51), and the inner side of the sliding sleeve (61) has an annular step portion (63) that abuts against the plurality of positioning beads (51).

4. A tool bench suitable for replacing underwater robot modules according to claim 3, characterized in that: The socket (7) is placed in the guide device (4), and an annular groove (71) is provided on the outer side of the socket (7), and a plurality of positioning beads (51) are clamped in the annular groove (71).

5. The tool bench suitable for replacing underwater robot modules according to claim 3, characterized in that: The push-pull device (3) comprises two slide seats (31) sliding on the frame (1), a push-pull frame (32) is arranged between the two slide seats (31), and the upper end of the push-pull frame (32) is provided with a second groove (33) adapted to the sliding sleeve (61); A push-pull driving member (34) is also installed above the frame (1), and the action end of the push-pull driving member (34) is connected to the push-pull frame (32).

6. A tool bench suitable for replacing underwater robot modules according to claim 5, characterized in that: Two guide rods (35) are fixedly installed at the bottom of the push-pull frame (32), and the two guide rods (35) are plugged into the two slide seats (31); A connecting plate (36) is fixedly mounted on the bottom of the push-pull frame (32); a groove (11) for the connecting plate (36) to slide through is provided on the end surface of the frame (1); a longitudinal groove (361) is provided on the end surface of the connecting plate (36); and a shaft rod (341) sliding in the longitudinal groove (361) is mounted on the axial end of the push-pull driving member (34).

7. A tool bench suitable for replacing underwater robot modules according to claim 5, characterized in that: The guide device (4) comprises a fixed frame (41) fixed on the frame (1), the upper end of the fixed frame (41) is provided with a third slot (42) adapted to the socket (7), a fixed cover (43) is fixedly installed on the lower side of the front end of the fixed frame (41), and movable covers (44) are pin-connected on both sides of the upper end of the fixed frame (41), and the two movable covers (44) can be closed above the third slot (42); The upper end of the frame (1) is also pin-connected with a guide drive member (45), and the action end of the guide drive member (45) is pin-connected with the movable cover (44).

8. The tool bench suitable for replacing underwater robot modules according to claim 6, characterized in that: Two mounting seats (46) are slidably connected to the top of the frame (1) via a straight groove (12); a plurality of guide rods (461) sliding in the straight groove (12) are fixedly installed at the bottom of the mounting seats (46); a driving seat (462) is fixedly connected between the plurality of guide rods (461); a compression spring (463) is fixedly connected between the driving seat (462) and the side of the frame (1); The bottom of the connecting plate (36) is slidably connected to a slide rod (37), and the end surfaces of the two driving seats (462) are pin-connected with connecting rods (464), and the connecting rods (464) on both sides are pin-connected to the two sides of the slide rod (37) respectively.

9. A tool bench suitable for replacing underwater robot modules according to claim 8, characterized in that: A synchronous gear (13) is also rotatably connected to the bottom of the frame (1), and a rack (465) is fixedly installed on the side of the driving seat (462), and the two racks (465) are meshed on both sides of the synchronous gear (13).

10. A tool bench suitable for replacing underwater robot modules according to any one of claims 1 to 9, characterized in that: A hydraulic pump station (8) is also fixedly installed on the inner side of the frame (1), and a plurality of lifting ears (14) and shock-absorbing pads (15) are respectively installed on the top and side of the frame (1).

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