Robot cooperative folding and unfolding device and method

A retractable device and robot technology, applied in hoisting devices, transportation and packaging, clockwork mechanism, etc., can solve the problems of unsafe recycling, difficult operation, interference in use, etc., and achieve safe recycling process and structural layout Compact, Versatile Effects

CN111559480APending Publication Date: 2020-08-21JIANGSU UNIV OF SCI & TECH +1
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
Publication Date
2020-08-21

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Abstract

The invention discloses a robot cooperative folding and unfolding device and method, and relates to the technical field of ships. A hanging bracket component plays a supporting role. A rolling compensation device comprises a first swing oil cylinder and a second swing oil cylinder which are horizontally arranged to realize rolling compensation of the ship body. A heave compensation device is a heave compensation winch and is used for realizing heave compensation of the ship body; a pitching compensation device comprises a first servo hydraulic cylinder and a second servo hydraulic cylinder andis used for realizing pitching compensation on the ship body; a mechanical arm winding and unwinding device is provided with a visual servo mechanical arm, a hook of a mooring rope is in butt joint with an unmanned submersible or a lifting ring, an anti-collision bottom plate is arranged at the bottom of the device, an elastic buffer device is arranged above the anti-collision bottom plate, and thus the unmanned submersible is prevented from being collided and damaged. The device has the advantages that three-degree-of-freedom compensation caused by stormy waves can be actively completed, hooking and unhooking actions are autonomously completed by means of the mechanical arm, and the unmanned submersible is automatically and intelligently recycled with high safety and high efficiency.
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Description

technical field

[0001] The invention relates to the technical field of ships, in particular to a robot cooperative retracting device and method. Background technique

[0002] The application of various retractable systems for ships at sea has been very popular, but the research on the retractable system for ship-borne unmanned submersibles is still in its infancy, and the shaking of ships caused by high sea conditions has added difficulties to the recovery work.

[0003] The existing unmanned submersible retractable device has a single function, a loose structure, and occupies a large deck area. When recovering, it only relies on the winch to recover the unmanned submersible. Without wave compensation, it is easy to cause unmanned submersibles and mother ships. The collision between the manned submersible and the retractable device will cause damage to the unmanned submersible, the retractable device and the mother ship, and will also affect the recovery efficiency of the un...

Examples

Embodiment Construction

[0029] The present invention will be described in further detail below in conjunction with the accompanying drawings.

[0030] In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings and specific implementation methods. The following examples can enable those skilled in the art to understand the present invention more comprehensively, but the present invention is not limited to the scope of the described examples.

[0031] This specific embodiment adopts following technical scheme:

[0032] Such as Figure 1-Figure 3As shown, above a cooperative robot retractable device of the present invention is a hanger member, the hanger member includes a first beam 1 and a second beam 2, the first beam 1 is fixed inside the second beam 2, and the second beam 2 A mounting plate is fixed below, and the first swing cylinder 3 and the second s...