Underwater rope-driven mechanical arm system carried by autonomous underwater vehicle

Abstract

The invention discloses an underwater rope-driven mechanical arm system carried by an autonomous underwater vehicle. The system comprises an autonomous underwater vehicle, a motor box unit, driving units, a waist joint unit, a waist platform unit, a big arm unit, a plurality of mechanical arm units, a tail end unit and a mechanical arm claw; and the motor box unit is installed on the autonomous underwater vehicle, and the driving units are installed in the motor box unit. According to the system, all the joint driving units are arranged in the back part in the autonomous underwater vehicle, sothat the weight of moving parts of mechanical arms is greatly reduced, the movement inertia is reduced, the disturbance of the movement of the mechanical arms to the system is reduced, the power consumption is reduced, and the operation time of the system is prolonged; by adopting the modular design concept, the number of the mechanical arms can be increased or decreased, and the application range and functions of the mechanical arms can be adjusted according to actual needs; and the system is simple and feasible in structure and low in cost, is capable of replacing a traditional mechanical arm carried in an existing system or making up the defects of the same, and has good benefits for underwater operation tasks such as marine exploration and the like.

Description

technical field [0001] The invention relates to the technical field of an autonomous underwater vehicle-manipulator system, in particular to an underwater rope-driven manipulator system mounted on an autonomous underwater vehicle. Background technique [0002] The ocean area is vast, rich in resources, and has a very high exploration value. To explore the ocean, the autonomous underwater vehicle-manipulator system has the advantages of large range of motion, good maneuverability, safety, and intelligence, and has become an important tool for exploring the ocean. [0003] Since the autonomous underwater vehicle-manipulator system is a rootless system, the movement of the manipulator will cause disturbance to the autonomous underwater vehicle-manipulator system and affect the operation accuracy. The size of the disturbance is related to two factors: 1. The ratio of the arm weight of the moving part of the manipulator to the self-weight of the autonomous underwater vehicle, th...

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Problems solved by technology

[0006] Purpose of the invention: In order to overcome the deficiencies in the prior art, the present invention provides an underwater rope-driven manipulator system mounted on an autonomous underwater vehicle. The rope-driven manipulator is used to replace the traditional manipulator, which solves the problem of the rear of the drive device. problems, and provide a beneficial solution for reducing the disturbance to the autonomous underwater vehicle-manipulator system, improving the operation accuracy and prolonging the operation time

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