Locking device

Abstract

The utility model relates to the field of underwater robots, in particular to a locking device capable of achieving rapid replacement of underwater tools. The locking device comprises a mounting platform, a connecting rod structure, a locking pin shaft, an inserting part and a first driving part, a matching part is arranged at the top end of the operation tool, the top end of the mounting platform is connected with the underwater robot, the bottom end of the mounting platform is connected with the inserting part, the inserting part can contain the matching part, and the inserting part and the matching part are respectively provided with aligned pin shaft holes. The output end of the connecting rod structure is connected with the locking pin shaft, and the connecting rod structure can be driven by the first driving part to insert or pull out the locking pin shaft from the pin shaft hole. An underwater operator only needs to align the connecting structure of the underwater robot to the to-be-replaced tool, the underwater robot and the to-be-replaced tool can be fixed through locking of the locking device, the robot does not need to be pulled back to the water, time and labor are saved, the working efficiency is high, the problem of repeated positioning of deep sea operation is avoided, and the working efficiency is improved. The construction period of deep-sea operation of the robot can be greatly shortened.

Description

Technical Field

[0001] This application relates to the field of underwater robots, and particularly to a locking device that can achieve rapid replacement of underwater tooling. Background Art

[0002] An underwater robot is a device that can move underwater, has a vision and perception system, and can complete underwater operation tasks by remote control or autonomous operation, using a robotic arm or other tools to replace or assist humans. It can be used in fields such as oil extraction, undersea mineral exploration, salvage operations, pipeline laying and inspection, cable laying and inspection, marine aquaculture, and dam inspection of rivers and reservoirs. With the technological upgrade and mature application of underwater robots, underwater robots can not only significantly reduce the risk of manual operations, but also improve operation efficiency and reduce corresponding expenditure costs.

[0003] Currently, corresponding tooling needs to be assembled on the underwater robot to complete specific underwater operations. Due to limited assembly positions, unexpected situations, completion of the tooling operation, etc., the tooling assembled on the underwater robot cannot complete subsequent underwater operations, and it is necessary to replace the tooling to meet the subsequent underwater operation requirements. The existing tooling replacement method is that the operation ship uses a deployment and recovery device to pull the underwater robot back to the surface operation ship for manual replacement, which has problems such as low efficiency, time-consuming, and laborious.

[0004] To solve the above problems, this application is committed to providing a locking device that can achieve rapid replacement of underwater tooling. Utility Model Content

[0005] The purpose of this application is to provide a locking device that can achieve rapid replacement of underwater tooling.

[0006] The embodiments of this application can be realized through the following technical solutions:

[0007] A locking device for realizing a lockable connection between an underwater robot and an operation tooling, comprising an installation platform, a connecting rod structure, a locking pin shaft, a plug-in part, and a first driving part. A matching part is provided at the top end of the operation tooling. The top end of the installation platform is connected to the underwater robot, and the bottom end is connected to the plug-in part. The plug-in part can accommodate the matching part, and the plug-in part and the matching part are respectively provided with aligned pin holes. The output end of the connecting rod structure is connected to the locking pin shaft, and the connecting rod structure can insert or pull out the locking pin shaft from the pin hole under the drive of the first driving part.

[0008] Further, the link structure is installed on the side of the insertion part, and includes a link, a support rod, and a fourth pin shaft. The support rod is connected to the side of the insertion part. One end of the link is connected to the locking pin shaft, the middle is rotatably connected to the support rod through the fourth pin shaft, and the other end is connected to the first driving part.

[0009] Further, the extending direction of the support rod is parallel to the extending direction of the locking pin shaft.

[0010] Further, a stopping structure is further included, and the stopping structure is arranged at least at one of the positions between the locking pin shaft and the pin hole, on the locking pin shaft, and in the pin hole to realize the relative stopping connection between the locking pin shaft and the pin hole.

[0011] Further, the first driving part is a hydraulic rod. The fixed end of the hydraulic rod is connected to the side of the insertion part, the movable end is connected to one end of the link, and the extending direction is parallel to the extending direction of the support rod.

[0012] Preferably, a cycloid motor is further included. The cycloid motor is installed between the insertion part and the installation platform, and the cycloid motor can drive the insertion part to rotate circumferentially relative to the installation platform.

[0013] Further, first and second elongated holes are respectively formed at both ends of the link. The output end of the first driving part is movably connected to the link through the first elongated hole, and the locking pin shaft is movably connected to the link through the second elongated hole. A first convex part matching the first elongated hole is arranged at the output end of the first driving part, and a second convex part matching the second elongated hole is arranged on the locking pin shaft. The first convex part and the second convex part can be respectively accommodated in the first elongated hole and the second elongated hole and are movably connected to the first elongated hole and the second elongated hole.

[0014] Further, limiting blocks are respectively arranged at one ends of the first convex part and the second convex part along their length directions.

[0015] The locking device provided by the embodiment of the present application has at least the following beneficial effects:

[0016] This application realizes the quick and lockable connection between the underwater robot and the working tooling through a locking device. When the underwater robot completes the underwater operation corresponding to the assembly tooling, the underwater operator only needs to align the connection structure of the underwater robot with the tooling to be replaced and lock it through the locking device to fix the underwater robot and the replacement tooling, without having to pull the robot back to the operation ship to complete the replacement of the tooling. On the one hand, it has the advantages of time-saving, labor-saving, high work efficiency and simple operation. On the other hand, it avoids the problem of multiple positioning in deep-sea operations and can greatly shorten the construction period of the robot's deep-sea operations;

[0017] A cycloidal motor is installed between the insertion part of the locking device and the installation platform in this application, which can drive the insertion part to rotate circumferentially relative to the installation platform, thereby driving the working tooling to rotate circumferentially synchronously, so that the working tooling can perform operations in different directions without the underwater robot moving, thus further improving the efficiency and flexibility of the operation;

[0018] At both ends of the connecting rod in this application, a first elongated hole and a second elongated hole are respectively opened. The output end of the first driving part is movably connected to the first elongated hole of the connecting rod through a first protrusion, and the locking pin shaft is movably connected to the second elongated hole of the connecting rod through a second protrusion, so that when the first driving part drives the connecting rod to rotate around the fourth pin shaft, a certain displacement space is given to the first protrusion and the second protrusion, avoiding the problem of part loss caused by pulling the first driving part and the locking pin shaft during the rotation of the connecting rod, and also ensuring the flexibility of the cooperation between the connection structure and the locking pin shaft. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is the overall structure diagram of the connection between the locking device and the working tooling in this application;

[0020] Figure 2 It is the overall structure diagram of the locking device in this application;

[0021] Figure 3 It is the side view of the working tooling close to the locking device and the locking device not being opened in this application;

[0022] Figure 4 It is the side view of the working tooling close to the locking device and the locking device being opened in this application;

[0023] Figure 5 It is the side view of the working tooling inserted into the locking device and the locking device not being locked in this application;

[0024] Figure 6 It is the side view of the working tooling inserted into the locking device and the locking device being locked in this application.

[0025] Reference numerals: 6, working tooling; 61, mating part; 7, locking device; 71, mounting platform; 72, connecting rod structure; 721, connecting rod; 722, support rod; 723, fourth pin shaft; 73, locking pin shaft; 74, insertion part; 75, hydraulic rod; 76, cycloidal motor. Detailed implementation manners

[0026] Hereinafter, the present application will be further described based on preferred implementation manners with reference to the drawings.

[0027] The terms used in this specification are for the purpose of describing the embodiments of the present application, but are not intended to limit the present application. Unless otherwise clearly defined and limited, if the terms "arranged", "connected", "coupled" are used, they should be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or an integral connection; it may be a mechanical connection, a direct connection, or an indirect connection through an intermediate medium, and it may be the communication inside two elements. For those skilled in the art, the specific meanings of the above terms in the present application can be specifically understood.

[0028] In addition, in the description of the embodiments of the present application, for the convenience of understanding, various components in the drawings are enlarged or reduced, but this approach is not intended to limit the protection scope of the present application.

[0029] The present application provides a locking device 7. The locking device 7 is located between an underwater robot and a working tooling 6. The top end of the locking device 7 is connected to the underwater robot, and the bottom end is lockably connected to the working tooling 6.

[0030] In some specific embodiments of the present application, the underwater robot can be connected to the locking device 7 through a robotic arm, a frame, or other structures. In actual use, a suitable connection part can be selected according to specific application scenarios and requirements, which will not be further limited herein.

[0031] In some specific embodiments of the present application, the underwater robot can be connected to the locking device 7 through connection methods such as fixed connection, rotational connection, and threaded connection. In actual use, a suitable connection method can be selected according to specific application scenarios and characteristics, which will not be further limited herein.

[0032] Specifically, Figures 1 - 6 Structural diagrams showing the respective states of the cooperation between the locking device 7 and the working tooling 6 in the present application are respectively shown, such as Figures 1 - 6As shown, the locking device 7 includes a mounting platform 71, a connecting rod structure 72, a locking pin 73, a plug-in portion 74, and a first driving portion. The top end of the working tooling 6 is provided with a mating portion 61. The top end of the mounting platform 71 can be connected to the connecting portion of the underwater robot through structures such as lifting lugs, and the bottom end is connected with the plug-in portion 74. The plug-in portion 74 can accommodate the mating portion 61, and the plug-in portion 74 and the mating portion 61 are respectively provided with aligned pin holes. The output end of the connecting rod structure 72 is connected to the locking pin 73. The connecting rod structure 72 can, under the drive of the first driving portion, insert or pull out the locking pin 73 from the pin hole, so as to realize the switching between the locked state and the unlocked state of the locking device 7 and the working tooling 6. Through the setting of the locking device 7 in this application, underwater operators only need to align the replacement tooling through the connecting structure of the underwater robot and lock it through the locking device 7 to fix the underwater robot and the replacement tooling. After the tooling is replaced, the operation can be directly carried out. As can be seen from the above, through the setting of the locking device 7 in this application, the robot can realize the rapid replacement of the tooling underwater without recovering the entire robot to the water surface for replacement, which has the advantages of time-saving, labor-saving, high work efficiency, and simple operation, and can greatly shorten the construction period of the robot's deep-sea operation.

[0033] Specifically, the connecting rod structure 72 is installed on the side of the plug-in portion 74. The connecting rod structure 72 includes a connecting rod 721, a support rod 722, and a fourth pin 723. The support rod 722 is connected to the side of the plug-in portion 74. One end of the connecting rod 721 is connected to the locking pin 73, and the middle is rotationally connected to the support rod 722 through the fourth pin 723, and the other end is connected to the driving mechanism. The driving mechanism can drive one end of the connecting rod 721 to move in a direction close to or away from the plug-in portion 74. Under the action of the fourth pin 723, the locking pin 73 will move in a direction away from or close to the plug-in portion 74, so as to realize the pulling out or insertion of the locking pin 73 from the pin hole.

[0034] Further, the extending direction of the support rod 722 is parallel to the extending direction of the locking pin 73.

[0035] In some specific embodiments of this application, the first driving portion is a hydraulic rod 75. The fixed end of the hydraulic rod 75 is connected to the side of the plug-in portion 74, the movable end is connected to one end of the connecting rod 721, and the extending direction is parallel to the extending direction of the support rod 722. The hydraulic rod 75 has the advantage of stable driving effect.

[0036] It can be imagined that the first driving portion can also be a driving device such as a motor, a pneumatic device, a manual device, etc. No matter what driving device is adopted, as long as it can make the end of the connecting rod 721 away from the locking pin 73 drive the locking pin 73 to rotate around the fourth pin 723.

[0037] Further, first and second elongated holes are respectively formed at both ends of the connecting rod 721 along its length. The output end of the hydraulic rod 75 is movably connected to the connecting rod 721 through the first elongated hole, and the locking pin shaft 73 is movably connected to the connecting rod 721 through the second elongated hole. The output end of the hydraulic rod 75 is provided with a first protrusion portion that cooperates with the first elongated hole, and the locking pin shaft 73 is provided with a second protrusion portion that cooperates with the second elongated hole. The first protrusion portion and the second protrusion portion can be respectively received in the first elongated hole and the second elongated hole and movably connected to the first elongated hole and the second elongated hole, so that when the hydraulic rod 75 drives the connecting rod 721 to rotate around the fourth pin shaft 723, a certain displacement space is given to the first protrusion portion and the second protrusion portion, avoiding the problem of component loss caused by the connecting rod 721 pulling the hydraulic rod 75 and the locking pin shaft 73 during the rotation process, and also ensuring the flexibility of the cooperation between the connecting rod structure 72 and the locking pin shaft 73.

[0038] Further, limit blocks are respectively provided at one ends of the first protrusion portion and the second protrusion portion along their length directions, which can prevent the first protrusion portion and the second protrusion portion from falling off from the first elongated hole and the second elongated hole.

[0039] In some preferred embodiments of the present application, to ensure the locking effect of the locking pin shaft 73, the locking device further includes a stopping structure, and the stopping structure is disposed at at least one position among the locking pin shaft 73 and the pin hole, between the locking pin shaft 73 and the pin hole, to achieve the relative stopping connection between the locking pin shaft 73 and the pin hole, so that the locking pin shaft 73 does not rotate circumferentially along its own axis after being locked, thereby ensuring the stability of the locking.

[0040] In a specific embodiment of the present application, a shaft anti-rotation structure is provided at the tail of the locking pin shaft 73 to achieve the stopping connection between the locking pin shaft 73 and the pin hole.

[0041] In some other embodiments of the present application, the locking pin shaft 73 can be set to various regular or irregular shapes such as an ellipse, a square, a triangle, a pentagram, etc., and the pin hole is set to a hole-shaped structure that matches the shape of the locking pin shaft, and a stable locking effect can also be achieved through the cooperation of a protrusion and a groove. No matter what kind of structure is used for limiting, as long as the stable locking between the locking pin shaft 73 and the pin hole can be achieved.

[0042] In some preferred embodiments of the present application, the locking device 7 further includes a cycloid motor 76. The cycloid motor 76 is installed between the plugging portion 74 and the installation platform 71. The cycloid motor 76 can drive the plugging portion 74 to rotate circumferentially relative to the installation platform 71, thereby driving the connecting rod structure 72, the locking pin shaft 73, the plugging portion 74, and the working tool 6 to rotate circumferentially synchronously, so that the working tool 6 can perform operations in different directions without the underwater robot moving, thereby further improving the operation efficiency and flexibility.

[0043] The specific embodiments of the present application have been described in detail above. For those skilled in the art of this technology, without departing from the principle of the present application, several improvements and modifications can still be made to the present application, and these improvements and modifications also fall within the protection scope of the claims of the present application.

Claims

1. A locking device, characterized in that: The invention is used to realize a lockable connection between an underwater robot and an operating tool (6), comprising a mounting platform (71), a connecting rod structure (72), a locking pin shaft (73), a plug-in portion (74) and a first driving portion. The top of the operating tool (6) is provided with a matching portion (61). The top of the mounting platform (71) is connected to the underwater robot, and the bottom is connected to the plug-in portion (74). The plug-in portion (74) can accommodate the matching portion (61), and the plug-in portion (74) and the matching portion (61) are respectively provided with aligned pin shaft holes. The output end of the connecting rod structure (72) is connected to the locking pin shaft (73). The connecting rod structure (72) can insert or remove the locking pin shaft (73) from the pin shaft hole under the drive of the first driving portion.

2. A locking device according to claim 1, characterized in that: The connecting rod structure (72) is installed on the side of the plug-in part (74), and includes a connecting rod (721), a support rod (722) and a fourth pin shaft (723). The support rod (722) is connected to the side of the plug-in part (74). One end of the connecting rod (721) is connected to the locking pin shaft (73), and the middle is rotationally connected to the support rod (722) through the fourth pin shaft (723), and the other end is connected to the first driving part.

3. A locking device according to claim 2, characterized in that: The extension direction of the support rod (722) is parallel to the extension direction of the locking pin shaft (73).

4. A locking device according to claim 1, characterized in that: It also includes a stopping structure, which is arranged between the locking pin (73) and the pin hole, or at least one position in the locking pin (73) and the pin hole, so as to achieve a relative stopping connection between the locking pin (73) and the pin hole.

5. A locking device according to claim 2, characterized in that: The first driving part is a hydraulic rod (75), the fixed end of the hydraulic rod (75) is connected to the side of the plug-in part (74), the movable end is connected to one end of the connecting rod (721), and the extension direction is parallel to the extension direction of the support rod (722).

6. A locking device according to claim 1, characterized in that: It also includes a cycloidal motor (76), which is installed between the plug-in portion (74) and the mounting platform (71), and the cycloidal motor (76) can drive the plug-in portion (74) to rotate circumferentially relative to the mounting platform (71).

7. A locking device according to claim 2, characterized in that: The connecting rod (721) is provided with a first strip hole and a second strip hole at both ends thereof, respectively; the output end of the first driving portion is movably connected to the connecting rod (721) via the first strip hole; the locking pin shaft (73) is movably connected to the connecting rod (721) via the second strip hole; the output end of the first driving portion is provided with a first protrusion matched with the first strip hole; the locking pin shaft (73) is provided with a second protrusion matched with the second strip hole; the first protrusion and the second protrusion can be respectively accommodated in the first strip hole and the second strip hole and movably connected with the first strip hole and the second strip hole.

8. A locking device according to claim 7, characterized in that: A limiting block is respectively provided at one end of the first protrusion and the second protrusion along the length direction thereof.

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