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CN-122000732-A - Universal modularized mounting interface of underwater robot

CN122000732ACN 122000732 ACN122000732 ACN 122000732ACN-122000732-A

Abstract

The invention discloses a universal modularized mounting interface of an underwater robot, which comprises an underwater butt joint seat, wherein a robot butt joint head is inserted into a cavity at the right end of the underwater butt joint seat, the underwater butt joint seat comprises a butt joint seat power-on unit and an automatic reset water retaining unit, and the cavity at the right end of the butt joint seat power-on unit is provided with the automatic reset water retaining unit for blocking water sources from entering. The locking mechanism is driven by the air cylinder, and the matching track caulking groove is matched with the main driving plunger rod precisely, so that the locking mechanism can be fast and firmly clamped with the butt joint seat locking groove, and is not easy to loosen due to the impact of underwater strong water flow. Meanwhile, the electric connection link adopts a delayed plug-in design driven by an electric push rod, and the electric connection plug is driven to be in butt joint with the underwater joint only after the cavity is dried and locked, so that electric spark and equipment damage possibly caused by electrifying in an in-place or water state are avoided. The whole action logic is clear, the control precision is high, and the automation and the safety of the butt joint process are ensured.

Inventors

  • LI QIXING
  • YI TAO

Assignees

  • 武汉海安智能科技有限公司

Dates

Publication Date
20260508
Application Date
20260317

Claims (10)

  1. 1. A universal modular mounting interface for an underwater robot, comprising: The underwater butt joint seat (1), a robot butt joint head (2) is inserted into a cavity at the right end of the underwater butt joint seat (1); the underwater butt joint seat (1) comprises a butt joint seat power-on unit and an automatic reset water retaining unit, wherein an inner cavity at the right end of the butt joint seat power-on unit is provided with the automatic reset water retaining unit for blocking water sources from entering; The robot butt joint (2) comprises an automatic locking unit, a butt joint power-on unit, a linkage water retaining unit, a drainage unit and an external wiring unit, wherein the left end of the automatic locking unit enters into a right end cavity of a underwater butt joint seat (1) to be automatically locked, the right end of the automatic locking unit is connected with the butt joint power-on unit with a telescopic function, the cavity at the left end of the automatic locking unit is provided with the linkage water retaining unit for driving the automatic reset water retaining unit to synchronously move, the drainage unit is arranged on the bottom surface of an inner cavity at the left end of the automatic locking unit, and the right side surface of the butt joint power-on unit is provided with the external wiring unit.
  2. 2. The universal modular mounting interface of an underwater robot according to claim 1, wherein the docking station energizing unit comprises a base (101), four waterproof screw sleeves (102) are circumferentially arranged on the right side surface of a circular plate on the left side of the base (101), and a sealing cap (103) for sealing a mounting bolt is connected to the outer surface of the right end of each waterproof screw sleeve (102) in a threaded manner.
  3. 3. The universal modularized mounting interface of the underwater robot according to claim 2, wherein an inner cavity of the left end of the base (101) is inserted with a connector mounting block (104) sliding with the inner wall of the base, four underwater connectors (105) are embedded in a mounting groove of the right end of the connector mounting block (104), a positioning groove (106) is formed in four surfaces of the right end of the connector mounting block (104), an alignment hole (107) corresponding to the position of the positioning groove (106) is formed in four surfaces of the left end of the rectangular column of the base (101), a lock rod (108) is connected with the inner portion of each positioning groove (106) and the alignment hole (107) communicated with a cavity of the lock rod in a threaded mode, a waterproof second sleeve (109) connected with the outer surface of the base (101) is arranged outside of one end of each lock rod (108) far away from the connector mounting block, and a sealing cap (110) is connected with the outer surface of each waterproof second sleeve (109) in a threaded mode.
  4. 4. A universal modularized mounting interface of an underwater robot according to claim 3, wherein, a left mounting groove (111) is provided on the front of the right end of the base (101), a left sealing plate (112) sliding with the inner wall of the left mounting groove (111) is inserted in the left mounting groove (111), a joint box (113) connected with the surface of the base (101) is provided right in front of the left mounting groove (111), a plurality of supporting springs (114) are fixedly connected with the inner wall of the front end of the joint box (113) and the front of the left sealing plate (112), and two driven connecting pipes (115) are fixedly connected with the right side face of the rear end of the left sealing plate (112).
  5. 5. The universal modular mounting interface for an underwater robot according to claim 4, wherein two docking slots (116) are provided in front and rear inner walls of the right end of the base (101).
  6. 6. The universal modularized mounting interface of an underwater robot according to claim 5, wherein the automatic locking unit comprises a mating connector (201), the left end of the mating connector (201) is movably inserted into an inner cavity of the right end of the base (101), guide inclined planes (202) are respectively arranged at four corners of the insertion end of the left side of the mating connector (201), two pressure sensors (203) are embedded in the upper and lower sides of one face, which is attached to the end face of the base (101), of the mating connector (201), two miniature cameras (204) are embedded in the front and rear sides of the mating connector, two cylinder boxes (205) are embedded in the front and rear surfaces of the insertion end of the mating connector (201), and locking cylinders (206) with two output ends in opposite directions are respectively installed in the two cylinder boxes (205).
  7. 7. The universal modularized mounting interface of an underwater robot according to claim 6, wherein the electrical connection unit of the butt joint comprises an outer sealing plate (207), the mounting grooves at four corners of the outer sealing plate (207) are fixedly connected with the butt joint (201) through bolts, two limit sliding grooves (208) are formed in the front inner wall and the rear inner wall of the right end of the butt joint (201), plug mounting blocks (209) are clamped in the two limit sliding grooves (208), four electrical connection plugs (210) corresponding to the positions of the underwater connectors (105) are embedded in the mounting grooves of the plug mounting blocks (209), four gap mounting columns (211) are fixedly connected to four corners of the right side surface of the plug mounting blocks (209), heat dissipation plates (212) are fixedly mounted at the right end of each gap mounting column through bolts, a circuit board (213) is fixedly mounted at the left side surface of each heat dissipation plate (212), the electrical connection points on the left side surface of the circuit board (213) are respectively connected with the right end of each electrical connection plug (210), and the heat dissipation plates (214) are fixedly mounted at the middle part of the left side surface of each electrical connection plate (207) and the output push rod (214) is fixedly mounted at the right side surface of each electrical connection rod.
  8. 8. The universal modularized mounting interface of an underwater robot according to claim 7, wherein the linkage water blocking unit comprises a right mounting groove (215), the right mounting groove (215) is formed in the front of the left end of the mating connector (201), a right sealing plate (216) sliding with the inner wall of the right mounting groove (215) is inserted into the right mounting groove, an outer packaging box (217) is fixedly connected to the front of the left end of the mating connector (201), a positioning screw (218) is connected to the inner wall of the middle position of the right sealing plate (216) in a threaded manner, a micro motor (219) is fixedly arranged on the inner wall of the front end of the outer packaging box (217), an output shaft of the rear end of the micro motor (219) is fixedly connected with the front end of the positioning screw (218), two track caulking grooves (220) are formed in the front and rear inner walls of the insertion end of the mating connector (201), and a main inserting rod (221) connected with the left side surface of the right sealing plate (216) is arranged in the track caulking groove (220).
  9. 9. The universal modularized mounting interface of an underwater robot according to claim 8, wherein the water draining unit comprises a micro water pump (222), the lower end of the micro water pump (222) is embedded in the bottom surface of the inner cavity of the insertion end of the mating connector (201), the left end of the micro water pump (222) is provided with a water draining port (223) with the inner wall at the same level with the bottom surface of the inner cavity of the insertion end of the mating connector (201), the right side of the micro water pump (222) is embedded with a water draining pipe (224) at the bottom surface of the inner cavity of the mating connector (201), the upper end of the water draining pipe (224) is communicated with the water draining port at the right end of the micro water pump (222), a lower installing ring (225) connected with the bottom surface of the mating connector (201) is arranged under the water draining pipe (224), and the outer surface of the lower installing ring (225) is in threaded connection with an isolating filter cylinder (226).
  10. 10. The universal modular mounting interface of an underwater robot according to claim 9, wherein the external wiring unit comprises four auxiliary through holes (227), the four auxiliary through holes (227) are formed at four corners of the right side surface of the plug mounting block (209), the right side surface of the external sealing plate (207) is fixedly connected with robot connecting arms (228) connected with the main body of the underwater robot, and wiring holes (229) with the same number as the chambers of the robot connecting arms (228) are formed on the right side surface of the external sealing plate (207).

Description

Universal modularized mounting interface of underwater robot Technical Field The invention relates to the technical field of underwater robot interfaces, in particular to a universal modularized mounting interface of an underwater robot. Background With the wide application of underwater robots in the fields of ocean exploration, underwater engineering maintenance, deep sea operation and intelligent base station docking, the rapid and reliable docking between the robots and the underwater base and functional modules has become a key technology for limiting the underwater operation efficiency. The problems of low butting precision, poor fault tolerance, positioning dependence on mechanical limit, lack of vision auxiliary calibration and the like commonly exist in the traditional underwater butting interface, and butting deviation, clamping stagnation and even structural collision damage are very easy to occur in complex water flow and turbid water environments. Meanwhile, most of the existing butt joint devices are not integrated with in-place detection functions, whether the end faces are completely attached cannot be accurately judged, sealing failure and water infiltration are easily caused, and circuit short circuit is caused. In addition, most of the butt joint structures do not have the functions of automatic guiding, automatic locking, linkage water retaining and intracavity water pumping and drying, the butt joint process is complex, the automation degree is low, and the unmanned, modularized and universal operation requirements of the underwater robot are difficult to meet. Therefore, how to provide a universal modular mounting interface for an underwater robot is a problem to be solved by those skilled in the art. Disclosure of Invention The invention aims to provide a universal modularized mounting interface of an underwater robot. According to an embodiment of the invention, a universal modularized mounting interface of an underwater robot comprises: The underwater butt joint seat is characterized in that a robot butt joint is inserted into a cavity at the right end of the underwater butt joint seat; The underwater docking station comprises a docking station power-on unit and an automatic reset water blocking unit, wherein an inner cavity at the right end of the docking station power-on unit is provided with the automatic reset water blocking unit for blocking water sources from entering; The robot butt joint is including automatic locking unit, butt joint power connection unit, linkage manger plate unit, drainage unit and external line unit, the left end of automatic locking unit gets into under water and carries out automatic locking to the butt joint power connection unit that possesses the flexible function to the seat right-hand member cavity, the cavity of automatic locking unit left end is provided with the linkage manger plate unit that is used for driving automatic reset manger plate unit synchronous motion, the drainage unit is installed in the bottom surface of automatic locking unit left end inner chamber, the right flank of butt joint power connection unit is provided with external line unit. As a preferable technical scheme of the invention, the butt joint seat electrifying unit comprises a base, four waterproof screw sleeves I are circumferentially arranged on the right side surface of a circular plate on the left side of the base, and a sealing cap I for sealing a mounting bolt is connected to the outer surface of the right end of each waterproof screw sleeve in a threaded manner. As a preferable technical scheme of the invention, a joint mounting block sliding with the inner wall of the inner cavity of the left end of the base is inserted into the inner cavity of the left end of the base, four underwater joints are embedded in the mounting groove at the right end of the joint mounting block, positioning grooves are formed in the four surfaces of the right end of the joint mounting block, an alignment hole corresponding to the positioning groove is formed in the four surfaces of the left end of the rectangular column of the base, a lock rod is connected with the positioning grooves and the inner parts of the alignment holes communicated with the cavities of the positioning grooves in a threaded manner, a waterproof threaded sleeve II connected with the outer surface of the base is arranged outside one end of the lock rod far away from the joint mounting block, and a sealing cap II is connected with the outer surface of the waterproof threaded sleeve II in a threaded manner. As a preferable technical scheme of the invention, a left mounting groove is formed in the front of the right end of the base, a left sealing plate sliding with the inner wall of the left mounting groove is inserted into the left mounting groove, a joint box connected with the surface of the base is arranged right in front of the left mounting groove, a plurality of supporting springs are fixedly connected with