阅读说明：本技术 一种水下电动伸缩四连杆 (Underwater electric telescopic four-connecting-rod ) 是由 刘冬 张金街 姚成林 杨玉波 武建国 王晓鸣 王万顺 邓中俊 张敏革 于 2020-05-23 设计创作，主要内容包括：本发明新型提供了一种水下电动伸缩四连杆,应用目标定位为水下机器人。主要功能为具备支撑伸缩功能,通过一个动力装置同时实现两个动作,短推杆收缩的时候实现电动伸缩四连杆展开,推杆伸长计程轮伸出支撑管壁,短推杆伸出时可以实现电动伸缩四连杆收起,推杆收缩减少长度计程轮收回离开管壁,便于运输。电动伸缩四连杆携带有摄像头可实现对水下环境的观测工作,计程轮的作用是可以计算出携带电动伸缩四连杆的水下机器人管内行走的路程,便于确定检测缺陷所处的位置。电动伸缩四连杆与机器人的接口为一可更换的圆环,结构简单,可配合大部分水下机器人搭配使用。(The invention provides an underwater electric telescopic four-bar linkage, which is an underwater robot with an application target positioned. The main function realizes two actions simultaneously through a power device for possessing the flexible function of support, realizes electronic flexible four-bar linkage expandes when short push rod contracts, and the push rod extension odometer wheel stretches out the support pipe wall, can realize when short push rod stretches out that electronic flexible four-bar linkage packs up, and the push rod contracts and reduces the length odometer wheel and withdraws and leave the pipe wall, the transportation of being convenient for. The electric telescopic four-connecting-rod carries a camera to realize observation work on an underwater environment, and the distance of walking in the underwater robot pipe carrying the electric telescopic four-connecting-rod can be calculated under the action of the odometer wheel, so that the position of a detected defect can be conveniently determined. The interface of the electric telescopic four-bar linkage and the robot is a replaceable ring, has simple structure and can be matched with most underwater robots for use.)

1. The underwater electric telescopic four-connecting-rod is characterized by comprising an odometer wheel (1), a hollow tube sealing element I (2), a push rod (3), a plug (4), an O-shaped ring (5), a connecting rod (6), a hollow tube sealing element II (7), an underwater 4K camera (8), a camera fixing frame (9), a camera fixing seat (10), a watertight cable (11), a welding part (12), a push rod sleeve (13), a linear bearing (14), a bearing compression nut (15), a short push rod (16), a short rod head sealing element (17), a pin shaft (18), a guiding dustproof sealing element (19), a sealing cylinder (20), a wedge block (21), a wedge block compression nut (22), a fixing seat (23), a supporting rod fixing sleeve ring II (24), a supporting rod connecting piece III (25), a vertical rod fixing seat (26), a fixing sleeve ring I (27), a supporting rod connecting piece I (28), The device comprises a support rod connecting piece (29), a thin support rod connecting piece (30), a dust ring (31), a U-shaped ring (32), a guide ring (33) and an electric push rod sleeve (34), wherein a hollow tube sealing piece I (2) arranged on a odometer wheel (1) is connected with a push rod (3) in a cylindrical sleeve pair mode, a plug (4) is arranged on the hollow tube sealing piece I (2), the plug (4) is connected with the hollow tube sealing piece I (2) in a threaded mode, an O-shaped ring (5) is arranged inside the plug, a cylindrical hole is formed inside the hollow tube sealing piece I (2) and communicated with a threaded hole formed in the hollow tube sealing piece I (2), the push rod (3) is of a hollow tube structure, and a connecting rod (6) is connected with a hollow tube sealing piece II (7); the push rod (3) is provided with two underwater 4K cameras (8), the underwater 4K cameras (8) are fixed with a camera fixing frame (9), the camera fixing frame (9) is fixed with a camera fixing seat (10), the two underwater 4K cameras (8) are arranged in bilateral symmetry, the two cameras form an included angle of 60 degrees in the direction, the tail parts of the two underwater 4K cameras (8) are respectively provided with a watertight cable (11), and the two watertight cables (11) are vulcanized into a watertight cable with double core number at a convergent point; the two ends of the hollow push rod (3) and the two ends of the connecting rod (6) are respectively provided with a welding part (12), the welding parts (12) are welded with the push rod (3) and the connecting rod (6) in a cylindrical sleeve pair mode, the push rod (3) and the push rod sleeve (13) are connected together in a cylindrical sleeve pair mode and can move up and down, a linear bearing (14) is arranged between the two parts, and the linear bearing (14) is guaranteed to be limited up and down through a bearing compression nut (15); the short push rod (16) and the short push rod head sealing piece (17) are installed in a matched mode in shaft holes, a pin shaft (18) is used for limiting, two sealing grooves are formed in the short push rod head sealing piece (17), the guide dustproof sealing piece (19) and the short push rod (16) are matched in a concentric mode, a plurality of sealing grooves and guide key grooves are formed in the guide dustproof sealing piece (19) in structure, the guide dustproof sealing piece (19) and the sealing cylinder (20) are fastened through threads, meanwhile, the sealing cylinder (20) is also matched with the shaft holes of the push rod sleeve (13), the upper end face of the wedge block (21) is attached to the tail end face of the sealing cylinder (20), the sealing cylinder (20) and the wedge block compression nut (22) are installed in a matched mode in a threaded mode, and the wedge block compression nut (22) is; the tail end of the push rod sleeve (13) is matched and fixed with the fixed seat (23) through a shaft hole, the position is limited by a pin shaft (18), the fixed seat (23) is matched and fixed with the outer sleeve through the shaft hole, and the outer sleeve is provided with a sealing groove, a threading groove and a limiting groove; fixing base (23) and the fixed lantern ring two (24) of bracing piece are articulated, branch connecting piece three (25) and the fixed lantern ring two (24) of bracing piece are articulated, pole setting fixing base (26) and fixed lantern ring one (27) are articulated, short-bar head sealing member (17) and bracing piece connecting piece (28) are articulated, branch connecting piece (29) and thin branch connecting piece (30) are articulated, push rod sleeve (13) and push rod (3) are sharp sliding contact.

2. The underwater electric telescopic four-bar linkage according to claim 1, wherein the hollow tube sealing element I (2) and the push rod (3) are fixed together in a welding mode after being matched, the thread of the plug (4) is M6, the thread hole of the hollow tube sealing element I (2) is M6, and a groove is formed in the interior of the plug (4) and used for placing an O-ring (5).

3. The underwater electric telescopic four-bar linkage according to claim 1, wherein the included angle of the two underwater 4K cameras (8) is 60 degrees, the open angle of the lens is 110 degrees, the combination of the two can provide a visual range of 120-150 degrees, and the underwater pressure resistance is about 300 meters.

4. The underwater electric telescopic four-bar linkage according to claim 1, wherein the push rod (3) and the connecting rod (6) are both of a sealing structure, and the sealing performance can be tested by taking out the plug (4).

5. The underwater electric telescopic four-bar linkage as claimed in claim 1, wherein the groove in the guide dust seal (19) is used for installing a dust ring (31), a U-shaped ring (32), a guide ring (33) and an O-shaped ring (5), the wedge block (21) is shaped like a conical surface, three openings are distributed on the conical surface at equal intervals along the axial direction, the wedge block gland nut (22) structurally has inclined surfaces with the same inclination angle, and the conical surface is overlapped with the inclined surfaces.

6. The underwater electric telescopic four-bar linkage according to claim 1, wherein the push rod (3) and the push rod sleeve (13) are in a sliding mode, the thin strut connecting piece (30) and the push rod (3) are fixed, and the push rod (16) and the push rod sleeve (13) slide simultaneously when the short push rod (16) and the electric push rod sleeve (34) slide.

Technical Field

The invention relates to an underwater execution mechanism, in particular to an underwater execution mechanism for assisting an underwater robot in climbing walls and walking.

Background

In rough seas in the Wanyan, the underwater robot cannot accurately control the self attitude in water like on land, and particularly, the difficulty is increased by several times when tasks such as accurate detection, repair, welding and the like are dealt with. In vast oceans, a wide variety of water pipes are paved. Such pipes are subject to certain corrosion over decades of use, and the detection of the pipes becomes particularly important. Most pipelines are of metal structures, and many detection devices cannot work stably after entering the pipelines. Therefore, a tool which can be attached to the pipe wall and can stabilize the underwater robot is needed, and the difficulty of underwater operation of the underwater robot is reduced.

Disclosure of the invention

The invention relates to an underwater electric telescopic four-connecting rod, an electric push rod adopts a special sealing means to prevent water and meet the requirements of underwater work, and the rotation of the four-connecting rod and the extension of a odometer wheel can be realized in the process of extending and retracting the electric push rod. Possess two 4K cameras and be used for observing underwater pipeline in real time. The odometer wheel on the electric telescopic four-bar linkage is tightly attached to the wall surface due to the support of the push rod, the walking path is recorded along with the walking time of the robot, and the electric telescopic four-bar linkage is provided with a special interface and can be installed on the underwater robot as an independent module.

In order to solve the technical problem, the embodiment of the application provides an underwater electric telescopic four-bar linkage, which is characterized by comprising a odometer wheel, a first hollow tube sealing element, a push rod, a plug, an O-shaped ring, a connecting rod, a second hollow tube sealing element, an underwater 4K camera, a camera fixing frame, a camera fixing seat, a watertight cable, a welding part, a push rod sleeve, a linear bearing, a bearing gland nut, a short push rod, a short rod head sealing element, a pin shaft, a guide dustproof sealing element, a sealing cylinder, a wedge gland nut, a fixing seat, a second supporting rod fixing sleeve ring, a third supporting rod connecting element, a vertical rod fixing seat, a first fixing sleeve ring, a first supporting rod connecting element, a thin supporting rod connecting element, a dustproof ring, a U-shaped ring, a guide ring and an electric push rod sleeve, wherein the first hollow tube sealing element and the push, a plug is arranged on the first hollow tube sealing element, the plug is connected with the first hollow tube sealing element through threads, an O-shaped ring is arranged inside the plug, a cylindrical hole is formed inside the first hollow tube sealing element and is communicated with a threaded hole formed in the first hollow tube sealing element, the push rod is of a hollow tube structure, and the connecting rod is connected with the second hollow tube sealing element in a shaft hole matching mode; the push rod is provided with two underwater 4K cameras, the underwater 4K cameras are fixed with a camera fixing frame, the camera fixing frame is fixed with a camera fixing seat, the two underwater 4K cameras are symmetrically arranged in a left-right mode, the two underwater 4K cameras form an included angle of 60 degrees in the direction of the included angle, the tail parts of the two underwater 4K cameras are respectively provided with a watertight cable, and the two watertight cables are vulcanized into a watertight cable with double core number at a convergence point; welding parts are respectively arranged at two ends of the hollow push rod and the connecting rod, the welding parts are welded with the push rod and the connecting rod in a cylindrical sleeve pair mode, the push rod and the push rod sleeve are connected together in a cylindrical sleeve pair mode and can move up and down, a linear bearing is arranged between the push rod and the push rod sleeve, and the linear bearing is guaranteed to be limited up and down through a bearing compression nut; the short push rod and the short rod head sealing piece are installed in a matched mode in a shaft hole mode, the short rod head sealing piece is limited through a pin shaft, two sealing grooves are formed in the short rod head sealing piece, the guide dustproof sealing piece and the short push rod are matched in a concentric mode, a plurality of sealing grooves and guide key grooves are formed in the guide dustproof sealing piece structure, the guide dustproof sealing piece and the sealing cylinder are fastened through threads, the sealing cylinder is matched with the shaft hole of the push rod sleeve, the upper end face of the wedge block is tightly attached to the tail end face of the sealing cylinder, the sealing cylinder and the wedge block compression nut are installed in a threaded matched mode, and the wedge; the tail end of the push rod sleeve is matched and fixed with the fixing seat through a shaft hole, the fixing seat and the outer sleeve are matched and fixed together through the shaft hole by adopting a pin shaft for limiting, and the outer sleeve is provided with a sealing groove, a threading groove and a limiting groove; the fixing base is hinged with the supporting rod fixing sleeve ring II, the supporting rod connecting piece III is hinged with the supporting rod fixing sleeve ring II, the vertical rod fixing base is hinged with the fixing sleeve ring I, the short rod head sealing piece is hinged with the supporting rod connecting piece I, the supporting rod connecting piece is hinged with the thin supporting rod connecting piece, and the push rod sleeve is in linear sliding contact with the push rod.

As a preferred embodiment of the scheme, the underwater electric telescopic four-bar linkage is characterized in that a first hollow tube sealing element and a push rod are fixed together in a welding mode after being matched, the plug thread is M6, a threaded hole of the hollow tube sealing element is M6, and a groove formed in the plug is used for placing an O-shaped ring and is replaceable.

As a preferred embodiment of the scheme, the underwater electric telescopic four-bar linkage is characterized in that the included angle of the two underwater 4K cameras is 60 degrees, the open angle of the lens is 110 degrees, and the combination of the two can provide a visual range of 120-150 degrees, so that the underwater pressure resistance is about 300 meters.

As a preferred embodiment of the scheme, the underwater electric telescopic four-bar linkage is characterized in that the push rod and the connecting rod are both sealing structures, and the sealing performance can be tested by taking out the plug;

as a preferred embodiment of the present invention, the underwater electric telescopic four-bar linkage is characterized in that the groove inside the guide dust seal is used for installing a dust ring, a U-shaped ring, a guide ring, and an O-shaped ring, the wedge-shaped block is a conical surface, one end of the conical surface is provided with three openings which are distributed at equal intervals along the axial direction, the wedge-shaped block gland nut structurally has an inclined surface with the same inclination angle, and the conical surface is overlapped with the inclined surface.

As a preferred embodiment of the present invention, the underwater electric telescopic four-bar linkage is characterized in that the push rod and the push rod sleeve are in a sliding manner, the thin strut connecting member and the push rod are fixed, and the push rod sleeve slide simultaneously when the short push rod and the electric push rod sleeve slide.

One or more technical solutions provided in the embodiments of the present application have at least the following technical effects or advantages:

the structure is small and exquisite, arranges rationally, can regard as an independent module to install on most robots, installs the spring on the odometer wheel, and on the contained angle of steerable two landing legs can guarantee simultaneously again that two wheels homoenergetic paste the pipe wall simultaneously, has two and can observe environment under water in real time by 4K camera under water. The four-connecting-rod can meet the requirement of supporting the odometer wheel and is convenient to recover, and the whole length is shortened during recovery so as to facilitate transportation.

Drawings

In order to more clearly illustrate the novel embodiments or the technical solutions in the prior art of the present invention, the drawings used in the description of the embodiments or the prior art will be briefly introduced below, it is obvious that the drawings in the following description are only some embodiments of the novel invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.

Fig. 1 is a schematic view of an extended configuration of an embodiment of the present application.

Fig. 2 is a schematic diagram of a contracted configuration of an example of the present application.

Fig. 3 is a schematic diagram of a three-dimensional structure of a hollow connecting rod and push rod seal according to an embodiment of the present application.

Fig. 4 is a schematic diagram of the arrangement of the underwater 4K camera in the embodiment of the present application.

Fig. 5 is a schematic structural view of a sealing manner of the electric push rod in the embodiment of the application.

Fig. 6 is a schematic view of the hinge connection of the electric push rod and the connecting rod in the example of the present application.

In the drawings 1-6, 1 comprises a metering wheel, 2. a hollow tube sealing element I, 3. a push rod, 4. a plug, 5. an O-shaped ring, 6. a connecting rod, 7. a hollow tube sealing element II, 8. an underwater 4K camera, 9. a supporting rod camera fixing frame, 10. a camera fixing seat, 11. a watertight cable, 12. a hollow tube sealing welding element, 13. a push rod sleeve, 14. a linear bearing, 15. a bearing compression nut, 16. a short push rod, 17. a short rod head sealing element, 18. a pin shaft, 19. a guiding dustproof sealing element, 20. a sealing cylinder, 21. a wedge block, 22. a wedge block compression nut, 23. a fixing seat, 24. a supporting rod fixing collar II, 25. a supporting rod connecting element III, 26. a vertical rod fixing seat, 27. a fixing collar I, 28. a supporting rod connecting element I, 29. a supporting rod connecting element, 30. a thin supporting rod connecting element, 31. a dustproof, 32, U-shaped ring, 33, guide ring and 34, electric push rod sleeve

Detailed Description

The invention provides an underwater electric telescopic four-bar linkage, wherein an electric push rod is electrically driven to control the underwater electric telescopic four-bar linkage to do telescopic motion, and the electric push rod is a movable part in a four-bar linkage mechanism and drives the whole device to do motion. The movement caused by the extension and contraction of the electric push rod comprises two types, wherein one type is the extension and contraction movement of the push rod, and the other type is the rotation movement of the push rod along a fixed point.

As shown in fig. 1 to 6, an underwater electric telescopic four-bar linkage is characterized by comprising a odometer wheel 1, a first hollow tube sealing element 2, a push rod 3, a plug 4, an O-ring 5, a connecting rod 6, a second hollow tube sealing element 7, an underwater 4K camera 8, a camera fixing frame 9, a camera fixing seat 10, a watertight cable 11, a welding part 12, a push rod sleeve 13, a linear bearing 14, a bearing gland nut 15, a short push rod 16, a short rod head sealing element 17, a pin shaft 18, a guide dustproof sealing element 19, a sealing cylinder 20, a wedge block 21, a wedge block gland nut 22, a fixing seat 23, a second support rod fixing collar 24, a third support rod connecting element 25, a first vertical rod fixing seat 26, a first fixing collar 27, a first support rod connecting element 28, a support rod connecting element 29, a thin support rod connecting element 30, a dustproof collar 31, a first support rod connecting element 31, a, The device comprises a U-shaped ring 32, a guide ring 33 and an electric push rod sleeve 34, wherein a hollow tube sealing piece I2 arranged on a odometer wheel 1 is connected with a push rod 3 in a cylindrical sleeve pair mode, a plug 4 is arranged on the hollow tube sealing piece I2, the plug 4 is in threaded connection with the hollow tube sealing piece I2, an O-shaped ring 5 is arranged inside the plug, a cylindrical hole is formed inside the hollow tube sealing piece I2 and communicated with a threaded hole formed in the hollow tube sealing piece I2, the push rod 3 is of a hollow tube structure, and a connecting rod 6 is connected with a hollow tube sealing piece II 7 in a shaft hole matching mode; the push rod 3 is provided with two underwater 4K cameras 8, the underwater 4K cameras 8 are fixed with a camera fixing frame 9, the camera fixing frame 9 is fixed with a camera fixing seat 10, the two underwater 4K cameras 8 are symmetrically arranged in the left-right direction, the two underwater 4K cameras form an included angle of 60 degrees in the direction of the included angle, the tail parts of the two underwater 4K cameras 8 are respectively provided with a watertight cable 11, and the two watertight cables 11 are vulcanized into a watertight cable with double core number at a convergent point; the two ends of the hollow push rod 3 and the two ends of the connecting rod 6 are respectively provided with a welding part 12, the welding parts 12 are welded with the push rod 3 and the connecting rod 6 together in a cylindrical sleeve pair mode, the push rod 3 and the push rod sleeve 13 are connected together in a cylindrical sleeve pair mode and can move up and down, a linear bearing 14 is arranged between the push rod 3 and the push rod sleeve 13, and the linear bearing 14 is guaranteed to be limited up and down through a bearing compression nut 15; the short push rod 16 and the short push rod head sealing part 17 are installed in a shaft hole matching mode, the short push rod head sealing part 17 is limited by a pin shaft 18, two sealing grooves are formed in the short push rod head sealing part 17, the guide dustproof sealing part 19 and the short push rod 16 are matched in a concentric mode, a plurality of sealing grooves and guide key grooves are formed in the guide dustproof sealing part 19 in a structure, the guide dustproof sealing part 19 and the sealing barrel 20 are fastened through threads, meanwhile, the sealing barrel 20 is also matched with the shaft hole of the push rod sleeve 13, the upper end face of the wedge block 21 is tightly attached to the tail end face of the sealing barrel 20, the sealing barrel 20 and the wedge block compression nut 22 are installed in a thread matching mode; the tail end of the push rod sleeve 13 is matched and fixed with the fixed seat 23 through a shaft hole, the limit is realized by adopting a pin shaft 18, the fixed seat 23 is matched and fixed with the outer sleeve through the shaft hole, and the outer sleeve is provided with a sealing groove, a threading groove and a limiting groove; the fixing seat 23 is hinged with the supporting rod fixing lantern ring II 24, the supporting rod connecting piece III 25 is hinged with the supporting rod fixing lantern ring II 24, the vertical rod fixing seat 26 is hinged with the fixing lantern ring I27, the short rod head sealing piece 17 is hinged with the supporting rod connecting piece I28, the supporting rod connecting piece 29 is hinged with the thin supporting rod connecting piece 30, and the push rod sleeve 13 is in linear sliding contact with the push rod 3. In practical application, the first hollow tube sealing element 2 and the push rod 3 are matched and fixed together in a welding mode after being matched, the thread of the plug 4 is M6, the threaded hole of the first hollow tube sealing element 2 is M6, the groove formed in the inner portion of the plug 4 is used for placing the O-shaped ring 5 and can be replaced, the hollow tube is used for reducing the overall mass, providing buoyancy, and meeting the requirement of underwater electric telescopic four-connecting-rod neutral buoyancy.

In practical application, the included angle of the two underwater 4K cameras 8 is 60 degrees, the open angle of the lens is 110 degrees, the two cameras can provide a visual range of 120-150 degrees by combination, and the underwater pressure resistance is about 300 meters.

In practical application, the push rod 3 and the connecting rod 6 are both sealing structures, and the sealing performance can be detected by replacing a plug for an air tap;

in practical application, the groove in the guide dust seal 19 is used for installing the dust ring 31, the U-shaped ring 32, the guide ring 33 and the O-shaped ring 5, the wedge block 21 is shaped like a conical surface, three openings are distributed on the conical surface at equal intervals along the axial direction, the wedge block gland nut 22 structurally has an inclined surface with the same inclination angle, and the conical surface is overlapped with the inclined surface. The wedge 21 and wedge compression nut 22 function to securely hold the pilot dust seal 19 to the smooth cylindrical face of the power pushrod sleeve.

In practical application, the push rod 3 and the push rod sleeve 13 are in a sliding mode, the thin strut connecting piece 30 and the push rod 3 are fixed, and the push rod 16 and the push rod sleeve 13 slide simultaneously when the short push rod 16 and the electric push rod sleeve 34 slide.