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Underwater crawler-type work robot experiment system

An operation robot and experimental system technology, applied in the field of underwater crawler operation robot experimental system, can solve the problems of lack of design theory and method and evaluation standard, failure to build design calculation mathematical model optimization design method, etc. Walking through performance and continuous operation performance, the effect of optimizing design parameters

Active Publication Date: 2018-04-03
CENT SOUTH UNIV +1
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AI Technical Summary

Problems solved by technology

At present, the research on the design of underwater crawler robots still only considers some of its overall size parameters and simple mechanical parameters such as underwater substrate bearing strength and shear strength, and fails to consider the detailed structural design parameters of crawler robots and The detailed vehicle ground mechanics model of the underwater substrate fails to construct the corresponding design calculation mathematical model and proposes the corresponding optimization design method. Therefore, there is still no corresponding complete design for the design of the underwater crawler robot and its passing performance. Theory and Method and Evaluation Criteria

Method used

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  • Underwater crawler-type work robot experiment system

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Embodiment Construction

[0016] see figure 1 , the present invention comprises a crawler type model car, a simulated water bottom soil tank, a simulated water bottom bottom, a sensor group, a cable, a traction device and a frame, the simulated water bottom bottom is arranged in the simulated water bottom bottom soil tank, and the crawler model The prototype vehicle is set in the simulated underwater bottom soil tank and walks on the simulated underwater bottom material. The frame is set on one side of the simulated underwater bottom soil tank. The traction device is fixed on the frame and connected to the crawler model model vehicle by cables In order to apply the traction force opposite to the moving direction of the crawler model vehicle, the sensor group is installed at the simulated underwater bottom soil groove and monitors the movement information of the crawler model vehicle.

[0017] In order to simulate the movement under different load conditions, a counterweight platform is fixed on the cra...

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Abstract

A underwater crawler-type work robot experiment system comprises a crawler-type model sample vehicle, a simulated water bottom sediment soil groove, a simulated water bottom sediment, a sensor group,a cable, a traction device and a rack. The technical effects in the invention are characterized in that aiming at different underwater operation function requirements and a water bottom work environment, the underwater crawler-type work robot experiment system is comprehensively established so that underwater walking and passing performance and continuous work performance are effectively increased; and through traction performance experiments of a model sample vehicle which can be detached and recombined in the experiment system under different hook traction forces, a structure design parameter of a work robot is verified and optimized.

Description

technical field [0001] The invention relates to an experimental system of an underwater crawler-type operating robot. Background technique [0002] Due to its high grounding specific pressure, strong bearing capacity, large traction force, good passing performance, and small soil disturbance, the underwater crawler robot is suitable for long-term and heavy-load free walking operations on extremely thin underwater soft substrates. In the field of submarine mineral resources development and underwater engineering operations, including underwater observation, submarine oil and gas pipelines and cable laying, submarine polymetallic nodule mining, submarine diamond mining, submarine trenching, underwater dredging, etc., it has important application value and extensive application prospects. The walking performance of this type of underwater crawler robot will directly determine the stability and efficiency of the continuous operation of the entire deep-sea mineral resource devel...

Claims

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Application Information

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IPC IPC(8): G01M17/03
CPCG01M17/03
Inventor 戴瑜庞李平陈李松
Owner CENT SOUTH UNIV
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