Underwater ice layer tracked robot with sucker and hook thorn collaborative attachment device and working method of underwater ice layer tracked robot
A technology of attachment device and suction cup mechanism, which is applied to underwater operation equipment, underwater ships, crawler vehicles, etc., can solve the problems of inability to adapt to the adsorption of the negative surface of the ceiling, high energy consumption, always open, etc., and achieves good walking ability, large attachment The effect of focus and contact stability
Active Publication Date: 2022-05-27
NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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Problems solved by technology
Xi'an University of Technology designed a crawler wall-climbing robot based on the bionic hook compliant claw structure, which can achieve continuous and stable crawling on rough walls, but it cannot adapt to the negative surface adsorption of the ceiling (Wang Limeng. Based on the bionic compliant claw structure Research on crawler wall-climbing robot [D]. Xi'an University of Technology, 2021.)
Harbin University of Science and Technology has developed an underwater wall-climbing robot, which uses the propeller to generate adsorption force and walks on the underwater wall through the crawler, but the propeller needs to be turned on all the time during the adsorption process, and the energy consumption is high (Zhuang Bo. Underwater wall-climbing robot Research on robot structure design and motion stability [D]. Harbin University of Science and Technology, 2018.)
[0006] So far, no research has been reported on the cooperative attachment of suckers and barbs facing underwater ice
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[0061] Below in conjunction with accompanying drawing and specific implementation case the present invention is described in further detail:
[0062] combine Figure 1-2 , the object of the present invention is to provide a kind of sucker and barb cooperative attachment device and crawler robot movement method that face underwater ice layer, comprise that this device comprises middle strut plate 18, the side support that is respectively installed on the left and right sides of middle strut plate 18 Plate 17; the device also includes a suction cup mechanism installed on the middle support plate 18; wherein the suction cup mechanism is composed of a stepped shaft 19, a sleeve 21, a suction cup 22, and a compression spring 20; wherein the large end of the stepped shaft 19 faces upwards and the small end faces downwards , the small end is fixed with the middle bracket, the lower end of the sleeve 21 is fitted with the large end of the stepped shaft 19, the suction cup 22 is instal...
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The invention discloses an underwater ice layer tracked robot with a sucker and hook thorn collaborative attachment device and a working method, and belongs to the technical field of robot application. The device comprises a middle supporting plate (18) and side supporting plates (17) which are installed on the left side and the right side of the middle supporting plate (18) respectively. The sucker mechanism is mounted on the middle support plate (18); the barbed movement mechanism is installed on the outer side of the side supporting plate (17), and the triggering mechanism is installed on the inner side of the side supporting plate. The corresponding robot has underwater ice layer attachment and underwater operation capabilities. The deformable crawler belt is used for exploring the motion mode of the robot, and the robot can better adapt to the underwater ice layer environment. The method has important research significance and application value in the fields of underwater ice-water interface exploration and the like.
Description
technical field [0001] The invention belongs to the technical field of robot application, and in particular relates to a sucker and barb cooperative attachment device facing the underwater ice layer and a crawler robot movement mode, which is mainly used as an attachment mobile platform under the underwater ice layer. [0002] technical background [0003] Due to the needs of polar scientific research, underwater ice mobile robots have become an important demand. Robots that adapt to various underwater complex environments are one of the most cutting-edge topics in the field of robotics research today. It integrates machinery, electronics, computers, materials, sensors, and controls. The integration of multiple disciplines such as technology and artificial intelligence reflects a country's intelligence and automation research level, and is also an important symbol of a country's high-tech strength. Developed countries have invested heavily in research in this field. [0004] ...
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IPC IPC(8): B63C11/52B63G8/16B62D55/08
CPCB63C11/52B63G8/16B62D55/08
Inventor 俞志伟胡光坤姬宇吉爱红郭策
Owner NANJING UNIV OF AERONAUTICS & ASTRONAUTICS