CN104608894B - mechanical locking mechanism - Google Patents
mechanical locking mechanism Download PDFInfo
- Publication number
- CN104608894B CN104608894B CN201510027912.2A CN201510027912A CN104608894B CN 104608894 B CN104608894 B CN 104608894B CN 201510027912 A CN201510027912 A CN 201510027912A CN 104608894 B CN104608894 B CN 104608894B
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- China
- Prior art keywords
- pulling claw
- head
- calvus
- access
- prism
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- Snaps, Bayonet Connections, Set Pins, And Snap Rings (AREA)
Abstract
The present invention provides a kind of mechanical locking mechanism, including access head, pulling claw mounting rod and pulling claw；The access head is the round and smooth prism in front end, and pulling claw is made up of some calvus matched with prism size, is hingedly connected in the middle part of each calvus on pulling claw mounting rod, and each calvus afterbody is drawn in by ring spring and closed；After accessing head and entering pulling claw, pulling claw is shunk, and the power correction tightened up by pulling claw accesses the direction of head, and promptly accesses head, realizes locked, and the rotation for accessing head is limited using prismatic surface, utilizes pulling claw to shrink the movement of limitation access head；Access head and pulling claw shape, which reach, can complete the locked function without relative rotation between the different parts of underwater robot under water.
Description
Technical field
The invention belongs to mechanical field, it is related to a kind of mechanical locking mechanism.
Background technology
In navigational field, in order to be able to preferably adapt to operating environment under water, the research of underwater robot is increasingly burning hot, water
Lower robot will complete complicated operation task, such as the salvaging to equipment is captured, and single underwater robot may nothing for another example
Method completes complicated underwater operation, can be related to multirobot and connect common operational.In order that two must connected
/ locked, without relative motion.Therefore, it is necessary to which providing a kind of mechanical locking mechanism causes two parts after connection
Will not relatively move will not also relatively rotate.
The content of the invention
Present invention aims at a kind of purely mechanic mechanical locking mechanism is provided, underwater robot is set to complete and target
Locking function.
To reach above-mentioned purpose, the present invention uses following technical scheme：
Mechanical locking mechanism, including access head, pulling claw mounting rod and pulling claw；The access head is the round and smooth rib in front end
Post, pulling claw is made up of some calvus matched with prism size, is hingedly connected in the middle part of each calvus on pulling claw mounting rod, each calvus
Afterbody is drawn in by ring spring and closed；Pulling claw is driven to move along a straight line by pulling claw mounting rod, each calvus head passes through outside
Part shape face, which is gathered, is tightened up, and eight prism bars access head clamping is completed into locked.
Further, the access head is eight prism structures, and pulling claw is made up of four calvus matched with eight prism sizes.
Further, the access head front end is provided with round and smooth inclined-plane, and each calvus head is provided with inclined-plane.
Further, each calvus of the pulling claw is connected by bearing pin with pulling claw mounting rod.
The present invention mechanical locking mechanism, including front end it is round and smooth prism access head, pulling claw by with prism size
Some calvus matched somebody with somebody are constituted, and after head is accessed into pulling claw, pulling claw shrinks, and the power correction tightened up by pulling claw accesses the side of head
To and promptly accessing head, realize locked, the rotation for accessing head is limited using prismatic surface, utilizes pulling claw to shrink limitation access head
It is mobile；Access head and pulling claw shape reach can complete between the different part of underwater robot without the locked of relative rotation under water
Function.
Further, access head front end is provided with round and smooth inclined-plane, while sheet head is provided with inclined-plane, convenient access is right
Standard, can rapidly enter pulling claw locked by inclined-plane.
Brief description of the drawings
Fig. 1 is the decomposing schematic representation of the present invention；
Fig. 2 is locking mechanism locking state schematic diagram of the present invention；
Fig. 3 is the correcting process schematic diagram of locking mechanism of the present invention；
Fig. 3 a access head prismatic surface and the not corresponding schematic diagram of calvus, Fig. 3 b access head prismatic surfaces and calvus slightly deviation
Schematic diagram, the schematic diagram that Fig. 3 c access head prismatic surface and calvus are aligned；
In figure：1- accesses head pulling claw, 2- pulling claws, 3- ring springs, 4- pulling claw mounting rods.
Embodiment
Below in conjunction with accompanying drawing, the present invention will be described in detail：
Fig. 1 is refer to, locking mechanism of the invention includes access first 1, pulling claw mounting rod 4 and pulling claw 2；Before access first 1 is
The round and smooth prism bar in end, pulling claw 2 is made up of some calvus matched with prism size；Ring spring 3 is used to control closing for pulling claw
Close；Pulling claw mounting rod 4 is used for driving pulling claw to move along a straight line, and is hingedly connected in the middle part of each calvus on pulling claw mounting rod 4, each calvus
Afterbody is drawn in by ring spring 3 and closed；
As shown in Fig. 2 pulling claw 2 of the access first 1 close to open configuration, drives pulling claw 2 to do straight line fortune by pulling claw mounting rod 4
Dynamic, each calvus head is gathered by external component shape face is tightened up, and eight prism bars access first 1 is clamped and completes locked.
The access first 1 is eight prism structures, and pulling claw 2 is made up of four calvus matched with eight prism sizes, access first 1
Front end is provided with round and smooth inclined-plane, and each calvus of pulling claw 2 is connected by bearing pin with pulling claw mounting rod 4, each calvus head relative set
There is inclined-plane, convenient access first 1 is aligned with pulling claw 2, smoothly can be entered by inclined-plane access first 1 in pulling claw 2.
Ring spring 3 is fixed on pulling claw in use, pulling claw 2 is fixed in the rotating shaft of pulling claw mounting rod 4 by the present embodiment
In the groove of 2 afterbodys.Moved with first 1 triggering pulling claw 2 is accessed, pulling claw 2 is closed, the relative position of correction access first 1, so as to complete
It is locked.
The first 1 aligning process of access during pulling claw contact prism as shown in figure 3, when access head has just enter into pulling claw, clamp
Part may not be prismatic surface but the rib of prism, and access head prismatic surface is not corresponding as shown in Figure 3 a with calvus；With pulling claw
Contraction, prism slowly rotates under the active force of the calvus of pulling claw 2, access head prismatic surface and calvus slightly deviation such as Fig. 3 b
Shown, access head prism continues rotation, access head prismatic surface after pulling claw is tightened up and calvus align it is locked as shown in Figure 3 c, connect
Entering head and pulling claw will not relatively rotate, and will not move.
Described above is only the preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For member, under the premise without departing from the principles of the invention, some improvements and modifications can also be made, these improvements and modifications also should
It is considered as protection scope of the present invention.
Claims (1)
1. mechanical locking mechanism, it is characterised in that：Including access head (1), pulling claw mounting rod (4) and pulling claw (2)；The access
Head (1) is the round and smooth prism in front end, and pulling claw (2) is made up of some calvus matched with prism size, the company of being hinged in the middle part of each calvus
It is connected on pulling claw mounting rod (4), each calvus afterbody is drawn in by ring spring (3) and closed；Driven and drawn by pulling claw mounting rod (4)
Pawl (2) is moved along a straight line, and each calvus head is gathered by external component shape face tightens up, and access head (1) is clamped and completes locked；
The access head (1) is eight prism structures, and pulling claw (2) is made up of four calvus matched with eight prism sizes；
Described access head (1) front end is provided with round and smooth inclined-plane, and each calvus head is provided with inclined-plane；
Each calvus of the pulling claw (2) is connected by bearing pin with pulling claw mounting rod (4)；
Access head (1) and pulling claw (2) shape complete under water underwater robot difference part between without the locked of relative rotation
Function.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510027912.2A CN104608894B (en) | 2015-01-20 | 2015-01-20 | mechanical locking mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510027912.2A CN104608894B (en) | 2015-01-20 | 2015-01-20 | mechanical locking mechanism |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104608894A CN104608894A (en) | 2015-05-13 |
| CN104608894B true CN104608894B (en) | 2017-10-24 |
Family
ID=53143607
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510027912.2A Active CN104608894B (en) | 2015-01-20 | 2015-01-20 | mechanical locking mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104608894B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108001648B (en) * | 2017-12-20 | 2019-07-05 | 西北工业大学 | A kind of submarine navigation device docking facilities |
| CN109292058B (en) * | 2018-11-08 | 2024-04-26 | 深之蓝海洋科技股份有限公司 | Ram locking mechanism and underwater robot cloth recycling system |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0969948B1 (en) * | 1997-03-26 | 2003-08-06 | SFS intec Holding AG | Screwing element |
| CN103158844A (en) * | 2011-12-12 | 2013-06-19 | 中国科学院沈阳自动化研究所 | Automatic locking bolt device for underwater robot |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100509549C (en) * | 2006-05-26 | 2009-07-08 | 中国科学院沈阳自动化研究所 | Water surface automatic butt-joint interlocking device |
| GB0719946D0 (en) * | 2007-10-12 | 2007-11-21 | Subsea 7 Ltd | Apparatus and method |
| CN101537879B (en) * | 2009-04-29 | 2011-03-16 | 天津大学 | Lock-opening style underwater load rejection mechanism |
| CN203921173U (en) * | 2014-05-07 | 2014-11-05 | 西北工业大学 | A kind of underwater |
-
2015
- 2015-01-20 CN CN201510027912.2A patent/CN104608894B/en active Active
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0969948B1 (en) * | 1997-03-26 | 2003-08-06 | SFS intec Holding AG | Screwing element |
| CN103158844A (en) * | 2011-12-12 | 2013-06-19 | 中国科学院沈阳自动化研究所 | Automatic locking bolt device for underwater robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN104608894A (en) | 2015-05-13 |
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