The mechanical lock is characterized in that a vertically-through containing cavity is formed in the middle of a fixing base, the left side and the right side of the containing cavity are each provided with a shifting piece, the shifting pieces are rotationally or slidably connected to the fixing base through rotating shafts, and the inner sides of the left shifting piece and the right shifting piece are arranged in the containing cavity during locking; the shifting piece is connected with the floating block through a transmission mechanism, the bearing head is fixed to underwater equipment, an umbilical cable connected with the underwater equipment penetrates through a through hole in the middle of the bearing head, an annular clamping groove is formed in the periphery of the bearing head, and when the floating block is on water, the bearing head enters the containing cavity to drive the shifting piece to move out of the containing cavity and then return to the original position, and the inner end of the shifting piece is clamped into the annular clamping groove. A mechanical lock is locked; when the floating block is placed underwater, the floating block floats upwards, the shifting piece moves out of the annular clamping groove, the mechanical lock is unlocked, and the bearing head moves out of the containing cavity. Locking recovery and unlocking laying of the mechanical lock and the underwater robot can be automatically achieved through the gravity and buoyancy of the floating block, and the control process is simplified.
本发明公开了一种用于水下机器人布放回收的机械锁,其固定座中部设有上下贯通的容纳腔,在容纳腔左右两侧均设置一拨片,拨片通过转轴转动或滑动连接在固定座上,锁紧时左右两拨片内侧置于容纳腔内,拨片通过传动机构与漂浮块连接,承重头固定在水下设备上,与水下设备相连的脐带缆穿过承重头中部的通孔,承重头外周设置一环形卡槽,漂浮块在水上时,承重头进入容纳腔带动拨片移出容纳腔,然后归位,拨片内端卡入环形卡槽,机械锁锁紧;漂浮块置于水下时,漂浮块上浮,拨片移出环形卡槽,机械锁解锁,承重头移出容纳腔。利用漂浮块自身重力和浮力即可自动化实现机械锁和水下机器人的锁定回收以及解锁布放,简化了控制过程。
Mechanical lock for laying and recovering underwater robot
一种用于水下机器人布放回收的机械锁
2025-01-03
Patent
Electronic Resource
Chinese
Laying, recovering and charging device for mobile cableless underwater robot
European Patent Office | 2020
|Unmanned underwater vehicle laying and recovering device
European Patent Office | 2024
|Method and device for laying and recovering underwater robot and mother ship
European Patent Office | 2024
|