An underwater mobile carrier circumferential autonomous correction device and correction method thereof
A technology of mobile carrier and correction device, which is applied in underwater operation equipment, transportation and packaging, ships, etc., can solve the problems of high control technology requirements and small adjustment range, and achieve a wide application range, large correction range, and easy operation. Effect
Active Publication Date: 2020-10-02
SHENYANG INST OF AUTOMATION - CHINESE ACAD OF SCI
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Problems solved by technology
At present, there are methods such as lug guide plate and pin fixing at home and abroad to locate the underwater mobile carrier. The positioning method has strict requirements on the initial attitude of the carrier, high control technology requirements, and small adjustment range.
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[0029] The present invention will be described in further detail below in conjunction with the accompanying drawings.
[0030] Such as Figure 1-8 As shown, the present invention includes a main frame 1 as the structural support of the entire autonomous correction device, and the main frame 1 is installed on the docking frame; the structures on both sides of the main frame 1 are identical and symmetrically arranged, and each side includes a hydraulic cylinder 5, Link mechanism and surrounding part; the main frame 1 is the frame foundation of each side link mechanism and has required strength.
[0031] One end of the hydraulic cylinder 5 is connected to the main frame 1 through a T-shaped plate 3, and an intermediate plate 2 installed on the main frame 1 is provided between the vertical plate of the T-shaped plate 3 and the main frame 1, and the vertical plate of the T-shaped plate 3 passes through The middle board is connected with the main frame 1 . The middle plate 2 is pr...
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The invention relates to a device and a method for autonomously correcting an underwater mobile carrier in the circumferential direction. The bow part of the underwater mobile carrier enters an encircling range; hydraulic cylinders on two sides are utilized to synchronously drive a link mechanism and further encircling of arc plates to a bow of the underwater mobile carrier is realized; locating pins enter the range of triangular grooves; the bow of the underwater mobile carrier moves backwards; circumferential correction of the bow of the underwater mobile carrier is realized by limitation ofthe locating pins to the motion of the triangular grooves; when the locating pins reach the top ends of the triangular grooves, the correction of the bow of the underwater mobile carrier is finished,and accurate circumferential positioning of the bow of the underwater mobile carrier is realized. The autonomous correcting device disclosed by the invention adopts a symmetrical link mechanism, realizes circumferential positioning of the underwater mobile carrier and is suitable for underwater mobile carriers with different diameters and sizes; the autonomous correcting device is simple in structure, convenient to operate, safe, reliable and great in university. The correcting method disclosed by the invention has the advantages of accuracy, effectiveness, wide application range, inexactitude requirements on initial attitude of the carrier, wide correction range and accurate positioning.
Description
technical field [0001] The invention belongs to the field of underwater mobile carriers, in particular to an underwater mobile carrier circumferential autonomous correction device and a correction method thereof. Background technique [0002] The circumferential positioning of the underwater mobile vehicle is a key part of the inclusive docking process of the underwater mobile vehicle, and it is a prerequisite for completing the docking task. The underwater mobile carrier is in the shape of a rotating body, and there is a rolling motion underwater. At present, there are methods such as lug guide plate and pin fixing at home and abroad to locate the underwater mobile carrier. The positioning method has strict requirements on the initial attitude of the carrier, high control technology requirements, and a small adjustment range. Contents of the invention [0003] In order to solve the above-mentioned problems existing in the circumferential positioning of the existing under...
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IPC IPC(8): B63C11/52
Inventor 国婧倩郑荣梁洪光杨博吕厚权张斌
Owner SHENYANG INST OF AUTOMATION - CHINESE ACAD OF SCI