Electric controllable contraction ring structure and annular intelligent underwater robot

Abstract

The invention provides an electric controllable contraction ring. The contraction ring comprises an annular contraction ring outer frame, tension springs, a winch, a steel cable and a winch motor, wherein a plurality of connecting holes evenly distributed are formed in the inner side of the contraction ring outer frame, and a plurality of mounting holes are formed in the outer side of the contraction ring outer frame; the plurality of tension springs which have the same stiffness coefficient and are uniformly distributed are arranged in the contraction ring outer frame, and the outer end of each tension spring is fixedly connected with the connecting hole; the winch is arranged on one side of the contraction ring outer frame, and a circle of groove is formed in the middle of the winch; a head end of the steel cable is wound in the groove, a tail end of the steel cable is fixedly connected with the contraction ring outer frame, the head end and the tail end are mutually crossed to forma ring body, and the ring body is fixedly connected with the inner end of each tension spring in sequence; and the winch motor is arranged at the bottom of the winch and used for driving the winch torotate so as to control the number of turns of the steel cable wound in the groove. The contraction ring has the beneficial effect that grabbing adaptability and flexibility of the underwater robot are improved.

Description

technical field [0001] The invention belongs to the technical field of underwater detection, and in particular relates to an electric controllable contraction ring structure and an annular intelligent underwater robot. Background technique [0002] At present, there is still a large gap with foreign countries in detection technology, technological level, navigation and positioning and other technologies. The research and development capabilities of core equipment, specialized supporting operation tools and key components are insufficient, and some important accessories are heavily dependent on foreign countries. At present, my country's research on underwater robots focuses more on the functional technology of underwater robots. The relevant research has already established a certain foundation. Underwater robots need to achieve the following aspects: first, the water depth is generally 6,000 meters; The control system mostly uses a large-capacity computer to implement data p...

AI Technical Summary

Problems solved by technology

[0003] However, the traditional underwater robot usually adopts a square open-frame structure design, and the water resistance is relatively large. In order to realize the underwater grasping function, it is usually equipped with a mechanical arm structure, and the movement of the mechanical arm and the opening and closing of the manipulator are used to achieve underwater target detection crawl

The mechanical arm method has low flexibility for grasping underwater objects, usually only able to grasp static objects in the water, and the mechanical arm is usually composed of a relatively complicated waterproof hydraulic system or servo system, which has a complex structure and high cost. Afterwards, the overall center of gravity of the ROV will shift greatly, making it difficult to move. Since the force point of the robot arm is small when grabbing the target, it is easy to cause damage to the target and it is difficult to grab underwater living organisms. Controllable shrinkage ring structure and annular intelligent underwater robot are used to improve the adaptability and flexibility of underwater robot grasping

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