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Attitude compensation coupler suitable for underwater vehicle-manipulator system and working method thereof

An underwater vehicle and manipulator technology, applied in manipulators, underwater operation equipment, underwater ships, etc., can solve the problems of slow response speed, poor attitude compensation effect, slow response speed of propeller thrusters, etc., and achieve enhanced attitude. Compensation effect, reduction of position change speed, reduction of response speed and effect of driving force

Active Publication Date: 2021-03-02
SHANDONG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

For example, the invention patent with application number 201910351493.6 discloses an underwater robot with a mechanical arm, which uses a propeller propeller to realize movement in water, but the response speed of the propeller propeller is slow, and fast attitude compensation cannot be achieved, and the propeller propeller The start and stop of the propeller will have an impact force on the underwater vehicle, and the attitude compensation effect is not good
[0004] The invention patent with application number 201810506717.1 discloses an auxiliary adjustment system and control method for the center of gravity of an underwater robot. By installing an auxiliary adjustment mechanism on the underwater robot and using a servo motor to drive the moving slider, the adjustment of the center of gravity of the underwater robot is realized. Compensate the influence of the underwater robot arm on the vertical change of the center of gravity of the underwater robot during the movement, but by adjusting the center of gravity, the attitude change can only be compensated indirectly, and the response speed is also slow
[0005] Therefore, only relying on the propeller propeller or the vertical center of gravity adjustment device for the attitude compensation of the underwater vehicle cannot eliminate the influence of the attitude change of the underwater vehicle on the positioning accuracy of the end of the manipulator, and it is difficult to effectively improve the positioning accuracy of the end of the manipulator

Method used

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  • Attitude compensation coupler suitable for underwater vehicle-manipulator system and working method thereof
  • Attitude compensation coupler suitable for underwater vehicle-manipulator system and working method thereof
  • Attitude compensation coupler suitable for underwater vehicle-manipulator system and working method thereof

Examples

Experimental program
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Effect test

Embodiment 1

[0048] An attitude compensation coupler suitable for underwater vehicle-manipulator systems, such as Figure 1-7 As shown, it includes an underwater vehicle 1, a manipulator 3, and an attitude compensation coupler 2 arranged between the underwater vehicle 1 and the manipulator 3. The attitude compensation coupler 2 includes a bottom plate 5, and the bottom plate 5 is fixed to the underwater vehicle 1. connection, a pair of lower-layer guide rails 6 parallel to each other are fixedly arranged on both sides of the upper part of the bottom plate 5, and a lower-layer slider 7 is slidably arranged on a pair of lower-layer guide rails 6, and a lower-layer slider connecting plate 19 is fixedly arranged between the two lower-layer sliders 7, The lower slide block connecting plate 19 can slide along the length direction of the lower guide rail 6;

[0049] A pair of mutually parallel upper guide rails 11 are fixedly arranged on both sides of the upper part of the lower slide block conne...

Embodiment 2

[0052] An attitude compensation coupler suitable for an underwater vehicle-manipulator system, as described in Embodiment 1, the difference is that the bottom plate 5 is provided with a lower screw 9, a lower motor 8 and a lower 10, and the lower screw 9 Set between a pair of lower guide rails 6, the lower motor 8 and the lower support 10 are fixed on the bottom plate 5, one end of the lower lead screw 9 is fixedly connected with the lower motor 8, and the other end of the lower lead screw 9 is rotatably connected with the lower support 10 , the lower lead screw 9 and the lower slider connecting plate 19 are also rotationally connected, driven by the lower motor 8, the lower lead screw 9 rotates, and can drive the lower slider connecting plate 19 together with the lower slider 7 along the length direction of the lower guide rail 6 sports;

[0053] The lower slider connecting plate 19 is provided with an upper lead screw 14, an upper motor 13 and an upper support 15, the upper ...

Embodiment 3

[0057] An attitude compensation coupler suitable for an underwater vehicle-manipulator system, as described in Embodiment 1, the difference is that four propeller propellers 4 are fixedly installed in the circumferential direction of the underwater vehicle 1, and the vertical fixed arrangement There are 2 propeller propellers 4 .

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Abstract

The invention relates to an attitude compensation coupler suitable for an underwater vehicle-manipulator system and a working method thereof, and belongs to the field of ocean detection equipment. Theattitude compensation coupler comprises an underwater vehicle, a manipulator and an attitude compensation coupler; a pair of lower-layer guide rails are fixedly arranged on two sides of the upper part of a bottom plate, and lower-layer sliding blocks are slidably arranged on the two lower-layer guide rails; a lower-layer sliding block connecting plate is arranged between the two lower-layer sliding blocks; a pair of upper-layer guide rails are arranged on the two sides of the upper portion of the lower-layer sliding block connecting plate; upper-layer sliding blocks are arranged on the two upper-layer guide rails in a sliding mode; a tray is arranged between the two upper-layer sliding blocks; the manipulator is arranged on the tray; and a controller is arranged on the bottom plate. The influence of underwater vehicle posture changes caused by various factors on the positioning precision of the tail end of the manipulator can be eliminated, so that the positioning precision of the tail end of the manipulator is effectively improved, the posture stability of the manipulator during underwater work is guaranteed, and the working capacity and efficiency of the underwater vehicle manipulator system are improved.

Description

technical field [0001] The invention relates to an attitude compensation coupler suitable for an underwater vehicle-manipulator system and a working method thereof, belonging to the technical field of marine detection equipment. Background technique [0002] With the rapid development of marine technology, people are exploring the ocean more and more deeply, and underwater vehicles have become an indispensable deep-sea equipment for people to explore the ocean. Underwater vehicles need the assistance of manipulator systems to perform tasks such as underwater detection and sampling. The underwater manipulator is usually installed on the underwater vehicle as a working unit, and the manipulator is controlled by the underwater vehicle to complete the expected action. The underwater vehicle is a rootless system. When it is affected by disturbances such as the impact of underwater ocean currents, the underwater vehicle will shake and produce attitude changes, resulting in a decr...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B63C11/52B63G8/00B63G8/14B25J18/00B25J19/00
CPCB25J18/00B25J19/00B63C11/52B63G8/001B63G8/14
Inventor 薛钢刘延俊石振杰白发刚王雨贾华
Owner SHANDONG UNIV