Three-connecting-rod type marine self-grabbing and releasing mechanical arm device capable of actively controlling constant tension

Abstract

The invention designs a three-connecting-rod type marine self-grabbing and releasing mechanical arm device capable of actively controlling constant tension. The device mainly comprises a base, a balance platform, a left balance arm, a right balance arm, a tension sensor, a first connecting rod, a second connecting rod, a third connecting rod, a left auxiliary balance arm, a right auxiliary balancearm, a main sling, a left balance cable, a right balance cable, a left auxiliary balance cable, a right auxiliary balance cable, a visual sensor, a lifting ring, a grab hook and a PLC control box. Four balance cables are adopted, active constant tension control is achieved through a PLC, and automatic grabbing, collecting and releasing functions are achieved through the grab hook of the visual sensor. The device has the advantages that a multi-degree-of-freedom three-connecting-rod type mechanical arm is used, and the grabbing range is enlarged. Meanwhile, the influence of marine environmental factor interference force on the main sling, the grab hook and the hoisted object is considered. The four balance cables are adopted, so that the stabilization effect is improved. The visual sensoris applied, the marine mechanical arm can automatically grab, collect and release the hoisted object, and compared with a manually-operated marine crane, the device is more intelligent and suitable for various carriers.

Description

[0001] (1) Technical field [0002] The invention belongs to a device for grabbing and releasing objects such as torpedoes, submersibles, and small boats with a marine mechanical arm, in particular a three-link marine self-grabbing and releasing mechanical arm device with active control and constant tension suitable for complex ocean interference environments . [0003] (2) Background technology [0004] With the vigorous development of the national marine transportation industry, marine robotic arms are widely used in this industry as a new type of marine engineering equipment. Nowadays, marine robotic arms are more and more used for hoisting torpedoes, submarines, boats and other objects, and have a wide range of applications and have good development prospects. However, due to the fact that the marine manipulator will be affected by the complex and changeable external environmental factors of the ocean when performing lifting operations in the real ocean environment, the sl...

AI Technical Summary

Problems solved by technology

[0012] The purpose of the present invention is to provide a device that can actively control the constant tension, and can automatically grab and release some objects such as torpedoes, submersibles, and small boats, so as to solve the problem of the decrease in the working efficiency of the marine mechanical arm due to the swaying of the main sling due to the complex environment on the sea surface. The problem of not being able to work safely, the three-link marine self-picking and placing robotic arm device with active control and constant tension that can be installed on various carriers

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