CN201432306Y - Locking device - Google Patents
Locking device Download PDFInfo
- Publication number
- CN201432306Y CN201432306Y CN2009200151580U CN200920015158U CN201432306Y CN 201432306 Y CN201432306 Y CN 201432306Y CN 2009200151580 U CN2009200151580 U CN 2009200151580U CN 200920015158 U CN200920015158 U CN 200920015158U CN 201432306 Y CN201432306 Y CN 201432306Y
- Authority
- CN
- China
- Prior art keywords
- locking
- interlocking
- locking bolt
- guide rails
- oil cylinder
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Lifetime
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- 241001125879 Gobio Species 0.000 claims description 6
- 235000001674 Agaricus brunnescens Nutrition 0.000 abstract description 16
- 230000009471 action Effects 0.000 abstract description 3
- 230000007246 mechanism Effects 0.000 abstract description 3
- 230000006872 improvement Effects 0.000 abstract description 2
- 239000003921 oil Substances 0.000 description 10
- 238000000034 method Methods 0.000 description 4
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 4
- 230000008569 process Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 239000010720 hydraulic oil Substances 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
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Abstract
The utility model relates to a locking device for underwater robot hangs puts system. The interlocking device comprises upper and lower connecting discs, limiting guide rails, lock bolts and interlocking oil cylinders, wherein a connecting support plate is arranged between the upper and lower connecting discs, the inner sides of the two support plates are symmetrically provided with the limiting guide rails, sliding lock bolts are symmetrically arranged between the two guide rails, the sliding directions of the lock bolts are parallel to the axes of the guide rails, the outer ends of the two lock bolts are respectively connected with the interlocking oil cylinders, and the upper and lower connecting discs are provided with round holes matched with pre-locking pieces. The utility model discloses an oil cylinder drive set bar slides along limit guide to locking underwater robot's mushroom head, changing the interlocking of set bar and the action of unblanking into sliding by usual upset, saved longitudinal dimension space, the structural dimension who makes interlocking device and whole system of putting that hangs can compress, alleviates dead weight and the corresponding improvement of stress state. The end face of the lock bolt is an inclined plane matched with the contact surface of the pre-locking piece, the contact area is increased, the self-locking mechanism has a self-locking function, the bearing capacity is improved, and the operation is more stable, safe and reliable.
Description
Technical field
The present invention relates to a kind of locking device, be applicable to that underwater robot hangs system.
Background technology
The main effect that has cable remote underwater robot (ROV) to hang system has two: in the process of dispensing ROV, ROV is hung to the water surface by the lash ship deck, ROV enters and carries out corresponding operation procedure in the water then; ROV fulfils assignment after the program, and the system that hangs is hung ROV to the lash ship deck again by the water surface, finishes the removal process to ROV.Wherein hang an important mechanism, i.e. locking bolt locking device are arranged in the system.The function of locking device is: in the dispensing and removal process of ROV, with ROV (comprising repeater) with hang system interlocking and become one.
Underwater robot hangs in the system at present, adopts the convertible locking device by the interlocking hydraulic oil cylinder driving mostly, and this form locking device vertical structure size on the one hand is bigger, and bearing capacity is less relatively; Because the vertical structure size is bigger, make to hang the corresponding increase of A shape shelf structure size in the system that this not only can make the whole system weight that hangs increase on the other hand, but also make the force-bearing situation variation of the system of hanging.
Summary of the invention
At the technical problem of above-mentioned existence, the object of the present invention is to provide a kind of locking device, it passes through two symmetrical locking bolts along track slide-and-lock robot.
The objective of the invention is to be achieved through the following technical solutions:
A kind of locking device, comprise terminal pad, limit guide rail, locking bolt and interlocking oil cylinder up and down, be provided with the connection support plate between terminal pad up and down, two support plate inboards are arranged with limit guide rail, be arranged with slide latches between two guide rails, the glide direction of described locking bolt is parallel with rail axis, is connected with the interlocking oil cylinder respectively in the outer end of two locking bolts, and terminal pad all has the circular hole that matches with pre-locking member up and down.
Described locking bolt one end is a hanger, the semi-circular hole of the other end for matching with pre-locking member, and its upper surface has the semicircle inclined-plane that matches with pre-locking member contact-making surface.The scope of angle α between described hanger inclined-plane, upper end and horizontal plane is: 10 °≤α≤20 °.Described locking bolt is connected by gudgeon between oil cylinder with interlocking, and gudgeon comprises bearing pin and connected framework, and bearing pin places in the locking bolt hanger, and framework is connected with the piston of the oil cylinder of interlocking.
Beneficial effect of the present invention is:
1. the present invention slides along limit guide rail by the hydraulic oil cylinder driving locking bolt, mushroom head with the locking underwater robot, change the interlocking and the unlocking action of locking bolt into slip by common upset, saved the longitudinal size space, interlocking mechanism and the whole physical dimension that hangs system are compressed, alleviated deadweight and the corresponding improvement of stress.
2. have in the locking bolt upper surface and pre-locking member (robot mushroom head) the semicircle inclined-plane that contact-making surface matches, contact area increases, and its bearing capacity is improved, and it is more steady to work.
3. by the cooperation at 15 ° of angles, locking bolt upper surface, make the present invention have auto-lock function, it is safer, reliable to work.
Description of drawings
Fig. 1 is a structural representation of the present invention.
Fig. 2 removes the schematic top plan view that goes up terminal pad for Fig. 1.
Fig. 3 is the structural representation of locking bolt among Fig. 1.
Fig. 4 is the vertical view of Fig. 3.
Fig. 5 is the robot mushroom header structure schematic diagram that is connected with the present invention.
The specific embodiment
The invention will be further described below in conjunction with drawings and Examples.
Embodiment 1: as shown in Figure 1 and Figure 2, the present invention includes terminal pad 1, following terminal pad 2, limit guide rail 8, locking bolt 3 and interlocking oil cylinder 5, be provided with connection support plate 7 up and down between terminal pad, two support plates, 7 inboards are arranged with limit guide rail 8,8 on two guide rails are arranged with slide latches 3, the glide direction of described locking bolt 3 is parallel with guide rail 8 axis, is connected with interlocking oil cylinder 5 respectively in the outer end of two locking bolts 3, and terminal pad all has the circular hole that matches with pre-locking member up and down.
As shown in Figure 3, Figure 4, described locking bolt 3 one ends are hanger 9, the semi-circular hole 11 of the other end for matching with pre-locking member, and its upper surface has the semicircle inclined-plane 10 that matches with pre-locking member contact-making surface.The scope of angle α between this inclined-plane 10 and horizontal plane is 10 °≤α≤20 °, and this routine α is 15 ° of angles, and its pre-clamping element mushroom 14 top cone lower surfaces inwardly are processed into 15 ° of angles, match with inclined-plane, locking bolt 3 upper end during interlocking, play self-locking action.
As shown in Figure 1, described locking bolt 3 is connected by gudgeon 4 with 5 of oil cylinders of interlocking, and gudgeon 4 comprises bearing pin 12 and connected framework 13, and bearing pin 12 places the endoporus of locking bolt hanger 9, and framework 13 is connected with the piston of the oil cylinder 5 of interlocking.
The working morphology of this aspect has two kinds: promptly interlock and unblank.During interlocking, two locking bolts 3 are moved to locking bolt 3 centers by former lockset position of coupler (locking bolt position, Fig. 2 right side) under interlocking oil cylinder 5 drives simultaneously, to interlocking position (locking bolt position, Fig. 2 left side).Operate winch this moment, and the mushroom of robot 14 is landed on the locking bolt 3, finishes interlocking work.Behind the interlocking, winch is releasable just, and the weight of ROV and repeater is all born by locking bolt 3.
Fig. 5 is the robot mushroom header structure schematic diagram that is connected with the present invention.When unblanking, at first ROV (together with repeater) is mentioned by main push-towing rope by winch, mushroom 14 is upwards risen a bit of distance, and the weight of ROV and repeater is all born by winch, and this moment, locking bolt 3 did not stress.Under the effect of interlocking oil cylinder 5, locking bolt 3 outwards moves to lockset position of coupler by interlocking position, and mushroom 14 moves downward by terminal pad 2 central circular passages down, and ROV and repeater are discharged to water.
Embodiment 2: this routine overall structure is identical with embodiment 1, and different is: the scope of the angle α between this inclined-plane 10, routine locking bolt 3 upper end and horizontal plane is 10 °, and its pre-clamping element mushroom 14 top cone lower surfaces inwardly are processed into 10 ° of angles with matching.
Embodiment 3: this routine overall structure is identical with embodiment 1, and different is: the scope of the angle α between this inclined-plane 10, routine locking bolt 3 upper end and horizontal plane is 20 °, and its pre-clamping element mushroom 14 top cone lower surfaces inwardly are processed into 20 ° of angles with matching.
Embodiment 4: this routine overall structure is identical with embodiment 1, and different is: the scope of the angle α between this inclined-plane 10, routine locking bolt 3 upper end and horizontal plane is 18 °, and its pre-clamping element mushroom 14 top cone lower surfaces inwardly are processed into 18 ° of angles with matching.
Embodiment 5: this routine overall structure is identical with embodiment 1, and different is: the scope of the angle α between this inclined-plane 10, routine locking bolt 3 upper end and horizontal plane is 16 °, and its pre-clamping element mushroom 14 top cone lower surfaces inwardly are processed into 16 ° of angles with matching.
Embodiment 6: this routine overall structure is identical with embodiment 1, and different is: the scope of the angle α between this inclined-plane 10, routine locking bolt 3 upper end and horizontal plane is 14 °, and its pre-clamping element mushroom 14 top cone lower surfaces inwardly are processed into 14 ° of angles with matching.
Embodiment 7: this routine overall structure is identical with embodiment 1, and different is: the scope of the angle α between this inclined-plane 10, routine locking bolt 3 upper end and horizontal plane is 13 °, and its pre-clamping element mushroom 14 top cone lower surfaces inwardly are processed into 13 ° of angles with matching.
Embodiment 8: this routine overall structure is identical with embodiment 1, and different is: the scope of the angle α between this inclined-plane 10, routine locking bolt 3 upper end and horizontal plane is 17 °, and its pre-clamping element mushroom 14 top cone lower surfaces inwardly are processed into 17 ° of angles with matching.
Claims (4)
1. locking device, it is characterized in that: comprise terminal pad, limit guide rail, locking bolt and interlocking oil cylinder up and down, be provided with the connection support plate between terminal pad up and down, two support plate inboards are arranged with limit guide rail, be arranged with slide latches between two guide rails, the glide direction of described locking bolt is parallel with rail axis, is connected with the interlocking oil cylinder respectively in the outer end of two locking bolts, and terminal pad all has the circular hole that matches with pre-locking member up and down.
2. locking device according to claim 1 is characterized in that: described locking bolt one end is a hanger, the semi-circular hole of the other end for matching with pre-locking member, and its upper surface has the semicircle inclined-plane that matches with pre-locking member contact-making surface.
3. locking device according to claim 2 is characterized in that: the scope of the angle α between described hanger inclined-plane, upper end and horizontal plane is: 10 °≤α≤20 °.
4. locking device according to claim 1 is characterized in that: described locking bolt is connected by gudgeon between oil cylinder with interlocking, and gudgeon comprises bearing pin and connected framework, and bearing pin places in the locking bolt hanger, and framework is connected with the piston of the oil cylinder of interlocking.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009200151580U CN201432306Y (en) | 2009-07-08 | 2009-07-08 | Locking device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009200151580U CN201432306Y (en) | 2009-07-08 | 2009-07-08 | Locking device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN201432306Y true CN201432306Y (en) | 2010-03-31 |
Family
ID=42051120
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2009200151580U Expired - Lifetime CN201432306Y (en) | 2009-07-08 | 2009-07-08 | Locking device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN201432306Y (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102423882A (en) * | 2011-10-14 | 2012-04-25 | 江苏科技大学 | Manipulator arm locking device for planetary exploration |
| CN101941515B (en) * | 2009-07-08 | 2012-11-07 | 中国科学院沈阳自动化研究所 | Locking mechanism |
| CN112091936A (en) * | 2020-09-25 | 2020-12-18 | 深圳市博铭维智能科技有限公司 | Portable guide rail robot |
-
2009
- 2009-07-08 CN CN2009200151580U patent/CN201432306Y/en not_active Expired - Lifetime
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101941515B (en) * | 2009-07-08 | 2012-11-07 | 中国科学院沈阳自动化研究所 | Locking mechanism |
| CN102423882A (en) * | 2011-10-14 | 2012-04-25 | 江苏科技大学 | Manipulator arm locking device for planetary exploration |
| CN102423882B (en) * | 2011-10-14 | 2013-12-04 | 江苏科技大学 | Manipulator arm locking device for planetary exploration |
| CN112091936A (en) * | 2020-09-25 | 2020-12-18 | 深圳市博铭维智能科技有限公司 | Portable guide rail robot |
| CN112091936B (en) * | 2020-09-25 | 2024-01-16 | 深圳市博铭维智能科技有限公司 | Portable guide rail robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20100331 Effective date of abandoning: 20090708 |
|
| AV01 | Patent right actively abandoned |
Granted publication date: 20100331 Effective date of abandoning: 20090708 |
|
| RGAV | Abandon patent right to avoid regrant |