CN-122008287-A - Underwater collision triggering type mechanical escapement finger device and working method

CN122008287ACN 122008287 ACN122008287 ACN 122008287ACN-122008287-A

Abstract

According to the underwater collision triggering type mechanical escapement finger device and the working method, when the collision grabbing rod collides with the collision starting member, the collision starting member acts under the action of collision force and is separated from the clamping members of the two groups. Because the collision starting component does not limit the clamping components any more, the two groups of clamping components can move towards the collision position and clamp the collision grabbing rod positioned in the collision position, and the grabbing mechanism is stably connected with the target object, so that grabbing of the target object is completed. Through setting up the collision on the target object and grab the pole to set up collision starting member and both sides clamping member on grabbing the mechanism, make the collision grab the pole and can realize automatic triggering through the collision with collision starting member after getting into the collision position, need not to rely on complicated manual work accurate operation, can accomplish the centre gripping action, not only can shorten and snatch response time, be favorable to improving the snatch success rate under the underwater environment moreover.

Inventors

WANG ZHE
YE MENGXIONG
LIN MINGWEI
LIU KEQIN
HU WEI

Assignees

中国船舶集团有限公司第七一九研究所

Dates

Publication Date: 20260512
Application Date: 20260331

Claims (10)

1. An underwater bump trigger type mechanical escapement finger device, characterized in that it comprises: a collision grab bar arranged on the target object; snatch mechanism, snatch mechanism includes: a housing formed with a collision site; a collision starting member provided on the collision position; The two groups of clamping members are respectively arranged on two sides of the collision starting member, and the clamping members can be clamped with the collision starting member; the collision grabbing rods collide with the collision starting members so that the collision starting members are separated from the clamping members, and the two groups of clamping members move to clamp the collision grabbing rods on the collision positions.
2. An underwater collision triggered mechanical escapement finger device as defined in claim 1, wherein said housing has a mounting shell and a gripping shell, said gripping shell being disposed at one end of said mounting shell and forming said collision location with said mounting shell; one end of the clamping member is accommodated in the mounting shell, and the other end of the clamping member penetrates through the clamping shell and extends to the outside.
3. The underwater collision triggered mechanical escapement finger device of claim 2, wherein the gripping housing is provided with a sliding groove; The collision starting member includes: The collision piece is provided with a collision plate and a connecting plate, the connecting plate is in sliding connection with the sliding groove, and the collision plate is positioned at one side of the connecting plate away from the mounting shell; the clamping component is rotationally connected with the connecting plate at one end and can be clamped with the clamping member at the other end; And one end of the collision elastic piece is fixedly connected with the mounting shell, and the other end of the collision elastic piece is fixedly connected with one end, away from the collision plate, of the connecting plate.
4. An underwater impact trigger mechanical escapement finger device as in claim 3, wherein said two sets of engagement members are provided on either side of said impact member and are engageable with said two sets of gripping members, respectively.
5. An underwater collision triggered mechanical escapement finger device as defined in claim 4, wherein said engagement assembly comprises: The connecting piece is rotationally connected with the clamping shell, one end of the connecting piece is rotationally connected with the connecting plate, and the other end of the connecting piece is a poking end; The first clamping piece is rotationally connected to the clamping shell, one end of the first clamping piece is a first clamping end, the first clamping end can be clamped with the clamping member, and the other end of the first clamping piece is a moving end; One end of the elastic piece is fixedly connected with the mounting shell, and the other end of the elastic piece is fixedly connected with the moving end; the poking end can be abutted with the moving end to drive the moving end to rotate so that the first clamping end is separated from the clamping member.
6. An underwater collision triggered mechanical escapement finger device as claimed in claim 2, wherein the gripping member comprises: One end of the transmission component is arranged in the mounting shell, the other end of the transmission component penetrates through the clamping shell and extends to the outside, and the transmission component is provided with a first clamping position which can be clamped with the collision starting component; the pushing elastic piece is positioned in the mounting shell, one end of the pushing elastic piece is fixedly connected with the transmission assembly, and the other end of the pushing elastic piece is abutted to the inner wall of the mounting shell; The clamping claw is provided with a fixed end at one end, the fixed end is fixed at one end of the transmission assembly far away from the pushing elastic piece, and the other end is a clamping end; When the first clamping position is separated from the collision starting member, the pushing elastic piece forms elastic force to drive the transmission assembly to move so as to drive the fixed end to rotate, and the clamping end clamps the collision grabbing rod on the collision position.
7. An underwater collision triggered mechanical escapement finger device as defined in claim 6, wherein said transmission assembly comprises: The driving bar is characterized in that one end of the driving bar is a sliding end, the other end of the driving bar is a rack end, the sliding end is accommodated in the installation shell and fixedly connected with the pushing elastic piece, the sliding end penetrates through the installation shell and is in sliding connection with the installation shell, a first meshing tooth is arranged on one side of the rack end, and a first clamping position is arranged on the other side of the rack end; The transmission gear is arranged in the clamping shell, is rotationally connected with the clamping shell and is meshed with the first meshing teeth; The connecting gear is arranged in the clamping shell and is rotationally connected with the clamping shell, the connecting gear is meshed with the transmission gear, and the fixed end of the clamping claw is fixedly connected with the connecting gear.
8. An underwater collision triggered mechanical escapement finger device as defined in claim 7, the underwater collision triggering type mechanical escapement finger device is characterized by further comprising: And the resetting telescopic cylinder is arranged in the mounting shell, and one end of the resetting telescopic cylinder is fixedly connected with the sliding end.
9. An underwater collision triggering mechanical escapement finger device as in claim 3, wherein one side of the collision plate away from the connection plate is a concave surface, the other side of the collision plate is a reference surface, the radian of the concave surface is consistent with the bending radian of the collision grabbing rod, and the collision plate is provided with a groove and a connection hole communicated with the groove; The clamping member is provided with a second clamping position; The underwater collision triggering type mechanical escapement finger device further comprises: The anti-misoperation component is at least three groups, the three groups of anti-misoperation components are respectively arranged at the two opposite edge areas and the center positions of the concave surface, the anti-misoperation component comprises a touch rod, a second clamping piece and an abutting elastic piece, one end of the touch rod is contained in the groove and is in sliding connection with the collision plate, the other end of the touch rod protrudes out of the concave surface, one end of the second clamping piece is contained in the connecting hole, the other end of the second clamping piece penetrates through the reference surface and can abut against the clamping member to limit the movement of the clamping member, a wedge block is arranged at one end, close to the second clamping piece, of the touch rod, an arc-shaped end is arranged at one end, close to the touch rod, of the second clamping piece, and the abutting elastic piece is abutted between the touch rod and the inner wall of the groove; the contact rod moves along the length direction, the abutting elastic piece is compressed to be accommodated in the groove, the wedge block is separated from abutting with the arc-shaped end, so that the arc-shaped end can be accommodated in the groove from the connecting hole, and the second clamping piece is separated from abutting with the clamping member; The abutting elastic piece generates elastic force to drive the touch rod to reversely move along the length direction, so that the wedge block pushes the arc-shaped end to be accommodated in the connecting hole, and the second clamping piece is driven to abut against the clamping member.
10. A method of operation for an underwater collision triggered mechanical escapement finger device as claimed in any one of claims 1 to 9, comprising: the clamping method comprises the steps that when the collision grabbing rod and the collision starting member generate extrusion or collision, the collision starting member moves along the extrusion direction so as to enable the collision starting member and the clamping member to be separated from each other to release the clamping member, and the clamping member clamps the collision grabbing rod along a preset track; the resetting method is that when the clamping member moves reversely, the clamping member is clamped with the collision starting member to release the collision grabbing rod.

Description

Underwater collision triggering type mechanical escapement finger device and working method Technical Field The invention relates to the technical field of underwater machines, in particular to an underwater collision triggering type mechanical escapement finger device and a working method thereof. Background The underwater robot is widely applied to ocean research activities as special equipment below the water surface. The existing underwater robot not only needs to detect, sample, analyze and the like below the water surface, but also needs to finish grabbing or fixing the target object, for example, grabbing or fixing the submersible vehicle or the base station below the water surface, so as to finish the connection of the target object and the underwater robot, and facilitate the subsequent movement or installation. The existing grabbing or fixing is performed in a manual mode, such as grabbing or fixing by manually controlling an underwater robot, but in the ocean, due to the fact that the deep sea environment is complex, the problems of low response speed, high safety risk, errors in positioning and the like exist, the time of a capturing window is short, and therefore the capturing success rate is low. Secondly, based on the deep sea environment, there are some electromagnetic complex areas, if a magnetic field or an electric field is generated in the grabbing process, interference or influence can be generated on some devices, and how to recover the target object based on the environment without generating the magnetic field or the electric field is a problem which needs to be solved at present. Disclosure of Invention The invention provides an underwater collision triggering type mechanical escapement finger device and a working method thereof, which aim to solve the technical problems. To achieve the above object, the present invention provides an underwater collision triggering type mechanical escapement finger device including: a collision grab bar arranged on the target object; snatch mechanism, snatch mechanism includes: a housing formed with a collision site; a collision starting member provided on the collision position; The two groups of clamping members are respectively arranged on two sides of the collision starting member, and the clamping members can be clamped with the collision starting member; the collision grabbing rods collide with the collision starting members so that the collision starting members are separated from the clamping members, and the two groups of clamping members move to clamp the collision grabbing rods on the collision positions. Preferably, the shell is provided with a mounting shell and a clamping shell, wherein the clamping shell is arranged at one end of the mounting shell and forms the collision position with the mounting shell; one end of the clamping member is accommodated in the mounting shell, and the other end of the clamping member penetrates through the clamping shell and extends to the outside. Preferably, the clamping shell is provided with a sliding groove; The collision starting member includes: The collision piece is provided with a collision plate and a connecting plate, the connecting plate is in sliding connection with the sliding groove, and the collision plate is positioned at one side of the connecting plate away from the mounting shell; the clamping component is rotationally connected with the connecting plate at one end and can be clamped with the clamping member at the other end; And one end of the collision elastic piece is fixedly connected with the mounting shell, and the other end of the collision elastic piece is fixedly connected with one end, away from the collision plate, of the connecting plate. Preferably, the two sets of clamping assemblies are arranged on two sides of the collision piece and can be respectively clamped with the two sets of clamping members. Preferably, the engagement assembly includes: The connecting piece is rotationally connected with the clamping shell, one end of the connecting piece is rotationally connected with the connecting plate, and the other end of the connecting piece is a poking end; The first clamping piece is rotationally connected to the clamping shell, one end of the first clamping piece is a first clamping end, the first clamping end can be clamped with the clamping member, and the other end of the first clamping piece is a moving end; One end of the elastic piece is fixedly connected with the mounting shell, and the other end of the elastic piece is fixedly connected with the moving end; the poking end can be abutted with the moving end to drive the moving end to rotate so that the first clamping end is separated from the clamping member. Preferably, the clamping member comprises: One end of the transmission component is arranged in the mounting shell, the other end of the transmission component penetrates through the clamping shell and extends to the outside, and the transmission componen