An underwater rope-driven manipulator system mounted on an autonomous underwater vehicle

Abstract

The invention discloses an underwater rope-driven mechanical arm system carried by an autonomous underwater vehicle, comprising an autonomous underwater vehicle, a motor box unit, a drive unit, a waist joint unit, a waist platform unit, a large arm unit, and several mechanical arms Unit, terminal unit and manipulator gripper; the motor box unit is installed on the autonomous underwater vehicle, and the drive unit is installed in the motor box unit. All joint drive units of the present invention are placed behind the autonomous underwater vehicle, which greatly reduces the weight of the moving part of the manipulator, reduces the moment of inertia, reduces the disturbance of the system caused by the movement of the manipulator, reduces power consumption, and prolongs the operation of the system. time. With the modular design concept, the number of manipulators can be increased or decreased according to actual needs, and the range of use and functions of the manipulators can be adjusted. The invention has a simple and feasible structure, low cost, can replace or make up for the shortcomings of the traditional mechanical arm carried by the existing system, and has good benefits for underwater tasks such as ocean exploration.

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...

AI Technical Summary

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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