A Hard Rod Capturing and Connecting Device with Cables for Underwater Robots

Abstract

The invention provides a hard rod with cable capture and connection device for underwater robots, which belongs to the field of underwater operation robot devices, and realizes the capture of the target hard rod with cables on the upper part of the water twice in a row, and realizes A device attached to a hard rod on the target. The device includes a linkage rotary mechanism, a locking docking mechanism, a differential mechanism, and auxiliary mechanisms such as brackets, limit cylinders, and stepping motors. The linkage rotation mechanism includes guide arms, pressing arms, and cam push rods. The device can guide and capture the target hard rod in a large range through the linkage slewing mechanism, realize the connection of the target hard rod through the locking and docking mechanism, and realize the sequential movement of the linkage slewing mechanism under a single driving source through the differential mechanism. The device can effectively capture the underwater target hard rod within the opening angle range of 112° in front of the robot, and complete the locking and connecting actions of the target hard rod. The device has the advantages of simple structure, large capture range, wide adaptability to environment, high reliability and the like.

Description

technical field [0001] The invention relates to a hard rod capture and connection device with a cable for an underwater robot, which belongs to the field of underwater operation robot devices, and in particular relates to a device applicable to an underwater robot, which realizes two consecutive larger ranges through a guide arm A hard rod with a cable captures and achieves a target connected with a hard rod with a cable. Background technique [0002] Among the existing patents, such as the patent document with the application number 201410451297.3 titled "A New Sea Cucumber Aquatic Fishing Device", and the patent document with the application number 201720159305.6 titled "An Underwater Fishing Robot", both use suction The mouth structure captures underwater objects, but since the above two devices are designed as aquatic fishing devices, they can only capture small passive objects attached to the seabed or floating in seawater. For hard rods with cables on the upper part A...

AI Technical Summary

Problems solved by technology

[0002] Among the existing patents, such as the patent document with the application number 201410451297.3 titled "A New Sea Cucumber Aquatic Fishing Device", and the patent document with the application number 201720159305.6 titled "An Underwater Fishing Robot", both use suction The mouth structure captures underwater objects, but since the above two devices are designed as aquatic fishing devices, they can only capture small passive objects attached to the seabed or floating in seawater. For hard rods with cables on the upper part After the capture, the cable will be blocked at the nozzle, resulting in a smaller diameter of the nozzle, which will affect the next capture operation

[0003] For example, the application number is 201911420806.5, and the patent document titled "An Intelligent Underwater Fishing Manipulator and Its Working Method" uses a manipulator structure to fish underwater objects. However, considering that this fishing method requires higher control precision, it is necessary to Equipped with a large number of high-precision sensors and controllers, resulting in high device costs and low operating efficiency, it is not suitable for large-scale and high-efficiency capture of target objects.

[0004] The above patents are not suitable for catching underwater hard rod targets with cables, and they do not contain the functional requirements for connecting two fishing objects, so they are different from the present invention in terms of application objects and functional requirements

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