Under-actuated AUV (Autonomous Underwater Vehicle) underwater recycling device
An underwater recovery and under-actuated technology, applied in transportation and packaging, ships, and ship salvage, etc., can solve problems such as damage to underwater robots and the inability of fixing methods to achieve fixed recovery of underwater robots, so as to ensure the performance of hydrodynamic performance. Effect
Active Publication Date: 2015-05-20
哈尔滨哈船特装科技发展有限公司
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Problems solved by technology
The fixing method of this technical solution not only cannot achieve the purpose of fixing and recovering the underwater robot, but also causes damage to the underwater robot
Method used
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[0026] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.
[0027] figure 1 Among them, the positioning groove 4 is connected with the first connecting rod 5, the first connecting rod 5 passes through a positioning hole on the frame 10, and is connected with the cross connecting block 7, and the cross connecting block 7 is also connected with the second connecting rod in the axial direction 6. The second connecting rod is connected to the brake 8. The movement of the positioning groove 4 can be limited to the axis by the positioning holes on the brake 8 and the frame 10 . The cover 9 can fix the position of the stopper 8 on the frame 10 . At the end of the cross connection block 7, it is connected with the second mechanical arm 3 through the connecting piece 11, and the second mechanical arm 3 is connected with the first mechanical arm 2 through the connecting piece 11, and at the same time, the first mechanic...
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The invention provides an under-actuated AUV (Autonomous Underwater Vehicle) underwater recycling device. A locating groove is connected with a first connecting rod, the other end of the first connecting rod is connected with a multi-port connecting block by passing through a locating hole in a skeleton, the multi-port connecting block is also connected with a second connecting rod in the axial direction, the other end of the second connecting rod is connected to a brake, the brake is installed on the skeleton, each port of the multi-port connecting block is hinged with one end of a second mechanical arm, the other end of the second mechanical arm is hinged with one end of a first mechanical arm, each first mechanical arm is hinged with the skeleton through a connecting element, and an antiskid arm is arranged on each first mechanical arm. The antiskid arm and the mechanical arms are arranged in the circumferential direction on the skeleton along the axial line of the locating groove, and the axial movement of the locating groove is controlled to control the circumferential movement of the antiskid arm and the mechanical arms so as to recycle the AUV. The AUV underwater recycling device has a flexible and compact structure and certain anti-interference capability, so that the device is suitable to be applied on submarines or other carriers having underwater locating capability.
Description
technical field [0001] The invention relates to an underwater recovery device for an intelligent underwater robot, which is particularly suitable for recovery of small and medium-sized underactuated intelligent underwater robots. Background technique [0002] With the in-depth study of intelligent underwater vehicles (AUVs), people began to pay attention to the effective recovery methods of AUVs. The current AUV recovery methods can generally be divided into two types: surface and underwater. The surface recovery method needs to face the impact of wind, waves, and currents, but the underwater recovery method can not only greatly reduce the above-mentioned impact, but also increase concealment. [0003] In the patent document with the application number of 201110382046.0, a single-degree-of-freedom symmetrical swing-driven underwater robot recovery device with a large expansion and contraction ratio is disclosed. It is mainly composed of a recovery pipe, a swing arm, a line...
Claims
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IPC IPC(8): B63C7/16
Inventor 张英浩孙玉山万磊庞永杰李岳明张国成马珊何斌白继嵩
Owner 哈尔滨哈船特装科技发展有限公司