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Single-degree-of-freedom symmetrical type swing-driven underwater robot recovery device with large expansion ratio

A technology of swing drive and recovery device, which is applied in transportation and packaging, ship salvage, etc. It can solve the problems of insufficient research and achieve the effects of large expansion and contraction ratio, easy realization and convenient control

Inactive Publication Date: 2014-03-12
BEIHANG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

However, research in this area is not sufficient

Method used

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  • Single-degree-of-freedom symmetrical type swing-driven underwater robot recovery device with large expansion ratio
  • Single-degree-of-freedom symmetrical type swing-driven underwater robot recovery device with large expansion ratio
  • Single-degree-of-freedom symmetrical type swing-driven underwater robot recovery device with large expansion ratio

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Embodiment Construction

[0031] The technical solution of the present invention will be further described below in conjunction with the accompanying drawings.

[0032] see Figure 1 to Figure 4 As shown, the recovery pipe 1 is connected to the mother boat, one end of the swing arm 3 is hinged to the recovery pipe 1 through the recovery pipe hinge 2, and the other end is respectively connected to the inner ring-type stretching mechanism 5 and the linear stretching mechanism 6 through the space four-branch hinge 4. hinged. One end (i.e. the proximal end) of the linear extension mechanism 6 is hinged with the swing arm 3 and the inner circular ring type extension mechanism 5 respectively through the space four-branch hinge 4 and the space three-branch hinge 7, and the other end (i.e.: the far end) is hinged by two A space three-branch hinge 7 is hinged with the outer circular ring type stretching mechanism 5 . Wherein, one end of the linear stretching mechanism 6 close to the recovery tube 1 is the pro...

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Abstract

The invention provides a single-degree-of-freedom symmetrical type swing-driven underwater robot recovery device with large expansion ratio. The device is mainly composed of a recycling pipe, a swaying arm, a linear stretching mechanism, an annular stretching mechanism, a space multi-branched hinge and so on. The device can be stretched or contracted at large ratio in the axial direction and radial direction simultaneously under the driving of a symmetrical type swaying arm. When the device is stretched, the recycling device is formed to be a columnar encircling zone so as to search an underwater robot in a large scale; when being contracted, the recycling device can be contracted in both radial direction and axial direction simultaneously to capture the underwater robot and adjust the position and gesture of the underwater robot; and when the device is completely folded, the axial line of the underwater robot and the axial line of the recycling pipe are basically adjusted to be an overlapping state, so that the underwater robot is quickly, safely and reliably recycled. The entire recycling device can realize linkage stretch at large ratio in the axial direction and the radial direction by one degree of freedom only; and the single-degree-of-freedom symmetrical type swing-driven underwater robot recovery device has the advantages of simple structure, convenience for control, low energy consumption and easy implementation.

Description

technical field [0001] The invention relates to a recovery device for an underwater robot, in particular to a recovery device for a single-degree-of-freedom symmetrical swing drive with a large expansion and contraction ratio, which has good extensibility, guidance and docking reliability in complex hydrological environments . Background technique [0002] Underwater robot is a kind of unmanned vehicle that can perform specific tasks underwater. It is an indispensable tool for human beings to develop marine resources. It has broad application prospects and important research value. In the vast majority of cases, underwater robots need to be reused, which means that they must be able to be recovered after completing their tasks. Therefore, how to realize rapid, safe and reliable recovery of underwater robots has become a research focus of underwater robot technology. [0003] Generally speaking, the recovery methods of underwater robots can be divided into surface recovery ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B63C7/16
Inventor 边宇枢高志慧胡强
Owner BEIHANG UNIV
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