CN106741758A - Possesses the underwater mating mechanism of large redundancy - Google Patents
Possesses the underwater mating mechanism of large redundancy Download PDFInfo
- Publication number
- CN106741758A CN106741758A CN201611242949.8A CN201611242949A CN106741758A CN 106741758 A CN106741758 A CN 106741758A CN 201611242949 A CN201611242949 A CN 201611242949A CN 106741758 A CN106741758 A CN 106741758A
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- CN
- China
- Prior art keywords
- female connector
- drive mechanism
- guide rail
- running
- handle
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Earth Drilling (AREA)
- Toys (AREA)
Abstract
The present invention relates to the underwater mating mechanism for possessing large redundancy, it is characterized in that：At least include：2 to female connector and drive mechanism, 2 are installed on underwater operation drive mechanism end to female connector, 2 are connected with drive mechanism to female connector by connecting rod, drive mechanism with moving body under water motion close to docking handle, drive mechanism drive 2 openings to female connector form it into close up attitude to docking handle capture；When docking is enclosed within drive mechanism drive to be issued to and dock handle relative position scope, two are involutory to female connector；When the running-on inwall to female connector is with the EDGE CONTACT of the shank body for docking handle, the arc edge of shank body will be slided on the circular arc inwall or inclined-plane inwall of running-on, and be directed in the notch of running-on bottom.The present invention reaches the purpose for overcoming relative position and attitude error.
Description
Technical field
The present invention relates to equipment interconnection technology, more particularly to a kind of underwater mating mechanism for possessing large redundancy.
Background technology
Underwater mating mechanism is two docking of equipment of completion under water, and the research of technique is also in a small number of fields
Interior, disclosed data is few, due to sub-aqua sport main body and target between relative position cannot accurately determine or keep,
Make docking that there is too many uncertainty relative to land.But for technical requirements, one will overcome under water with to binding
Structure can overcome the adverse effect of the relative position error in certain relative position and attitude error range, with larger redundancy
Degree completes docking action.
The content of the invention
It is an object of the invention to provide it is a kind of can overcome relative position and attitude error possess large redundancy under water
Docking mechanism.
The object of the present invention is achieved like this, the underwater mating mechanism for possessing large redundancy, it is characterized in that：At least wrap
Include：2 to female connector and drive mechanism, 2 are installed on underwater operation drive mechanism end to female connector, and 2 to female connector and driving machine
Structure is connected by connecting rod, and drive mechanism drives 2 and female connector is opened with the motion of moving body under water close to docking handle, drive mechanism
Mouth form it into close up attitude to docking handle capture；When docking is enclosed within drive mechanism drive handle is issued to and docked with respect to position
When putting scope, two are involutory to female connector；When the running-on inwall to female connector is with the EDGE CONTACT of the shank body for docking handle, shank body
Arc edge will be slided on the circular arc inwall or inclined-plane inwall of running-on, and be directed in the notch of running-on bottom.
Described at least includes to female connector：Running-on, block set, weep hole, running-on are oblate shape horn mouth form, and two ends carry
Smooth arc structure, the weep hole that upper lower inclined plane is distributed；Running-on is bolted with block set, there is parallel two in block set
Jack, two jacks that a set of support bar insertion block set of drive mechanism is parallel are fixedly connected, and make to female connector and driving machine
Configuration is integral.
Described docking handle includes：Handle seat, shank body, there is weep hole in shank body, shank body is socketed in one end of handle seat；Handle seat with
Underwater operation target is connected, and shank body edge is arc-shaped.
Described drive mechanism at least includes：Tooth bar, gear, leading screw, screw slider, support bar, guide rail, guide rail slide block,
Installation pedestal and guide supporting；Screw slider, support bar, guide rail slide block and guide supporting have two sets of left and right respectively；Left and right rail
Support is parallel to each other, and " U-shaped " support body is connected into vertical guide rail, and leading screw is connected with left and right rail support, and leading screw is parallel
With guide rail, two sets of left and right guide rail slide block is connected to guide rail two ends, and left and right sidesing post is connected respectively by the two sets of guide rail slide blocks in left and right,
By the parallel guide rail front side connection left and right of stretching to of two sets of left and right guide rail slide block to female connector, left and right sidesing post is located at and leads left and right sidesing post
The rear side of rail connects left and right screw slider respectively, and described leading screw passes through the upper via of left and right screw slider, left and right sidesing post to wear
Cross the lower via of left and right screw slider；Left and right sidesing post uses flat at one also cross two sets of the left and right lower via of guide rail slide block
On face；It is parallel that tooth bar is connected between left and right sidesing post in the centre of guide rail, be socketed with gear on leading screw, leading screw and
Gear carries out tooth connection；Left and right rail support tooth bar and left and right sidesing post have former and later two installation pedestals respectively, by installing base
Seat makes drive mechanism be integrally attached in the housing of sealing, and left and right stretches out the housing of sealing to female connector.
It is an advantage of the invention that：Because underwater operation main body and target are levitated object in water, when both dock, due to
The limitation of itself gesture stability ability, may not fully meet relative position and attitude precision, it is understood that there may be certain between the two
Relative position and attitude error, therefore, when the running-on inwall to female connector is with the EDGE CONTACT of the shank body for docking handle, the circular arc of shank body
Edge will be slided on the circular arc inwall or inclined-plane inwall of running-on, and be directed in the notch of running-on bottom, is reached and is led automatically
To correction relative position and attitude error, the purpose of final accurate docking.Reach the purpose for overcoming relative position and attitude error.
Brief description of the drawings
With reference to an accompanying drawing is implemented, the invention will be further described：
Fig. 1 is embodiment of the present invention structural representation；
Fig. 2 is docking nested structure schematic diagram；
Fig. 3 is docking handle structure schematic diagram；
Fig. 4 is driving mechanism structure schematic diagram.
In figure, 1, to female connector；2nd, handle is docked；3rd, drive mechanism.
Specific embodiment
As shown in figure 1, possessing the underwater mating mechanism of large redundancy, at least include：2 to female connector 1 and drive mechanism 3,2
Individual that female connector 1 is connected with drive mechanism 3 by connecting rod, drive mechanism 3 drives with the motion of moving body under water close to docking handle 2
Mechanism 3 drive 2 openings to female connector 1 form it into close up attitude to docking handle 2 capture.
As shown in Fig. 2 described at least includes to female connector 1：Running-on 11, block set 12, weep hole 13, running-on 11 are oblate shape
Horn mouth form, two ends carry smooth arc structure, the weep hole 13 that upper lower inclined plane is distributed（See Fig. 1）, weep hole 13 is easy to
Current pass through during water movements, reduce fluid resistance.Running-on 11 is bolted with block set 12, there is parallel two in block set 12
Individual jack, two jacks that the insertion of a set of support bar 35 block set 12 of drive mechanism 3 is parallel are fixedly connected, and make to female connector 1
One is formed with drive mechanism 3.
As shown in figure 3, docking handle 2 includes：Handle seat 21, shank body 22, there is weep hole 23 in shank body 22, shank body 22 is socketed in handle
One end of seat 21；Handle seat 21 is connected with underwater operation target, and the edge of shank body 22 is arc-shaped, beneficial to the running-on 11 to female connector 1
Cooperation, current pass through when weep hole 23 is easy to water movements, reduce fluid resistance.
As shown in figure 4, drive mechanism 3 at least includes：Tooth bar 31, gear 32, leading screw 33, screw slider 34, support bar 35,
Guide rail 36, guide rail slide block 37, installation pedestal 38 and guide supporting 39；Screw slider 34, support bar 35, guide rail slide block 37 and guide rail
Support 39 has two sets of left and right respectively；Left and right rail support 39 is parallel to each other, and " U-shaped " support body is connected into vertical guide rail 36,
Leading screw 33 is connected with left and right rail support 39, leading screw 33 is parallel with guide rail 36, two sets of left and right guide rail slide block 37 is connected to guide rail
36 two ends, left and right sidesing post 35 is connected by the two sets of guide rail slide blocks 37 in left and right respectively, and left and right sidesing post 35 is led for two sets by left and right
Rail sliding block 37 is parallel to stretch to the front side of guide rail 36 connection or so to female connector 1,（Connection left and right is defined as front side to a side of female connector 1）,
The rear side that left and right sidesing post 35 is located at guide rail 36 connects left and right screw slider 34 respectively, and described leading screw 33 passes through left and right leading screw
The upper via of sliding block 34, lower via of the left and right sidesing post 35 through left and right screw slider 34；Left and right sidesing post 35 is also cross a left side
The lower via of right two sets of guide rail slide blocks 37 is using in one plane；It is parallel between left and right sidesing post 35 in the centre of guide rail 36
Between be connected with tooth bar 31, gear 32 is socketed with leading screw 33, leading screw 33 and gear 32 carry out tooth connection；Left and right rail is supported
39 tooth bars 31 and left and right sidesing post 35 have former and later two installation pedestals 38 respectively, and drive mechanism 3 is carried out by installation pedestal 38
It is integrally attached in the housing of sealing, left and right stretches out the housing of sealing to female connector 1.
During work, motor drives tooth bar 31, and the gear 32 connected by tooth drives support bar 35 to move forward and backward, so as to drive
Female connector 1 is completed to carry out elastic motion.Meanwhile, when leading screw 33 is rotated, 2 screw sliders 34 drive the relative fortune of support bar
It is dynamic, make 2 to be involutory to female connector or separate, to increase overall structure stable degree, the front end of drive mechanism 3 uses guide rail 36 and 2
Individual guide rail slide block 37 carries out Auxiliary support, and drive mechanism 3 is overall to be fixedly connected by 6 installation pedestals with underwater operation main body, is made
Installation and positioning datum for drive mechanism.
2 are installed on underwater operation drive mechanism end to female connector 1, and docking handle is installed in target.Driven when to female connector 1
Motivation structure 3 is driven when being issued to and dock the 2-in-1 suitable relative position scope of handle, and two to female connector 1 with respect to closing up.Due to making under water
Owner's body is levitated object in water with target, when both dock, due to the limitation of itself gesture stability ability, between the two may not
Relative position and attitude precision can be fully met, it is understood that there may be certain relative position and attitude error, therefore, when to female connector 1
When the inwall of running-on 11 is with the EDGE CONTACT of shank body 22 for docking handle 2, the arc edge of shank body 22 is by the circular arc inwall of running-on 11
Or slided on inclined-plane inwall, and be directed in the notch of running-on bottom, reach automatic guide and correct relative position and attitude error,
The purpose of final accurate docking.
Claims (4)
1. the underwater mating mechanism of large redundancy is possessed, it is characterized in that：At least include：2 to female connector（1）And drive mechanism（3）,
2 to female connector（1）It is installed on underwater operation drive mechanism（3）End, 2 to female connector（1）With drive mechanism（3）By connecting rod
Connection, drive mechanism（3）With the motion of moving body under water close to docking handle（2）, drive mechanism（3）2 are driven to female connector（1）Open
Mouth is formed it into and closes up attitude to docking handle（2）Captured；When to female connector（1）In drive mechanism（3）Drive is issued to and right
Connect handle（2）During relative position scope, two to female connector（1）It is relative to close up；When to female connector（1）Running-on（11）Inwall with dock handle
（2）Shank body（22）EDGE CONTACT when, shank body（22）Arc edge will be in running-on（11）Circular arc inwall or inclined-plane inwall
Upper slip, and be directed in the notch of running-on bottom.
2. the underwater mating mechanism for possessing large redundancy according to claim 1, it is characterized in that：It is described to female connector（1）
At least include：Running-on（11）, block set（12）, weep hole（13）, running-on（11）It is oblate shape horn mouth form, two ends are with smooth
Arc structure, the weep hole that upper lower inclined plane is distributed（13）；Running-on（11）With block set（12）It is bolted, block set（12）On
There are two parallel jacks, drive mechanism（3）A set of support bar（35）Insertion block set（12）Two parallel jacks are consolidated
Fixed connection, makes to female connector（1）With drive mechanism（3）Form one.
3. the underwater mating mechanism for possessing large redundancy according to claim 1, it is characterized in that：Described docking handle（2）
Including：Handle seat（21）, shank body（22）, shank body（22）On have weep hole（23）, shank body（22）It is socketed in handle seat（21）One end；Handle
Seat（21）It is connected with underwater operation target, shank body（22）Edge is arc-shaped.
4. the underwater mating mechanism for possessing large redundancy according to claim 1, it is characterized in that：Described drive mechanism
（3）At least include：Tooth bar（31）, gear（32）, leading screw（33）, screw slider（34）, support bar（35）, guide rail（36）, guide rail
Sliding block（37）, installation pedestal（38）And guide supporting（39）；Screw slider（34）, support bar（35）, guide rail slide block（37）With lead
Rail is supported（39）There is two sets of left and right respectively；Left and right rail is supported（39）It is parallel to each other, with vertical guide rail（36）Connect into " U-shaped "
Support body, in left and right rail support（39）On be connected with leading screw（33）, leading screw（33）Parallel and guide rail（36）, two sets of left and right guide rail cunning
Block（37）It is connected to guide rail（36）Two ends, by the two sets of guide rail slide blocks in left and right（37）Left and right sidesing post is connected respectively（35）, left and right
Support bar（35）By the two sets of guide rail slide blocks in left and right（37）It is parallel to stretch to guide rail（36）Front side connection left and right is to female connector（1）, left and right
Support bar（35）Positioned at guide rail（36）Rear side connect left and right screw slider respectively（34）, described leading screw（33）Through left and right silk
Thick stick sliding block（34）Upper via, left and right sidesing post（35）Through left and right screw slider（34）Lower via；Left and right sidesing post（35）
Also cross the two sets of guide rail slide blocks in left and right（37）Lower via using in one plane；In guide rail（36）Centre, parallel Jie
In left and right sidesing post（35）Between be connected with tooth bar（31）, in leading screw（33）On be socketed with gear（32）, leading screw（33）And gear
（32）Carry out tooth connection；Left and right rail is supported（39）Tooth bar（31）And left and right sidesing post（35）There are former and later two installation pedestals respectively
（38）, by installation pedestal（38）Make drive mechanism（3）Be integrally attached in the housing of sealing, left and right is to female connector（1）Stretch
Go out the housing of sealing.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611242949.8A CN106741758B (en) | 2016-12-29 | 2016-12-29 | Possesses the underwater mating mechanism of large redundancy |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611242949.8A CN106741758B (en) | 2016-12-29 | 2016-12-29 | Possesses the underwater mating mechanism of large redundancy |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106741758A true CN106741758A (en) | 2017-05-31 |
| CN106741758B CN106741758B (en) | 2018-05-22 |
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ID=58923731
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611242949.8A Active CN106741758B (en) | 2016-12-29 | 2016-12-29 | Possesses the underwater mating mechanism of large redundancy |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114394215A (en) * | 2022-03-04 | 2022-04-26 | 上海交通大学 | Docking mechanism for active capture underwater vehicle and working method thereof |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105480398B (en) * | 2015-10-27 | 2017-10-31 | 哈尔滨工程大学 | The static seal Wedge-type butt joint locking mechanism of subsea control modules |
| CN205707249U (en) * | 2016-03-17 | 2016-11-23 | 山东琴海船舶设备有限公司 | A kind of UAV navigation docking release device |
| CN205632979U (en) * | 2016-05-12 | 2016-10-12 | 中国海洋大学 | Underwater robot interfacing apparatus |
| CN206351769U (en) * | 2016-12-29 | 2017-07-25 | 中船重工西安东仪科工集团有限公司 | Possesses the underwater mating mechanism of large redundancy |
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2016
- 2016-12-29 CN CN201611242949.8A patent/CN106741758B/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114394215A (en) * | 2022-03-04 | 2022-04-26 | 上海交通大学 | Docking mechanism for active capture underwater vehicle and working method thereof |
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| Publication number | Publication date |
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| CN106741758B (en) | 2018-05-22 |
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