The invention belongs to the technical field of underwater robots, and particularly relates to a joint device capable of achieving underwater autonomous butt joint and separation. Comprising an underwater robot carrier I, an underwater robot carrier II, a joint mechanism and a plug, the plug is arranged on the bow portion of the underwater robot carrier II, and the joint mechanism is arranged on the stern portion of the underwater robot carrier I. The joint mechanism comprises a driving cabin, a movable joint and a butt joint cabin which are sequentially connected. The driving cabin is connected with the stern of the underwater robot carrier I, and the butt joint cabin is used for being in butt joint with a plug of the bow of the underwater robot carrier II; the movable joint has the degree of freedom of pitching and yawing, and the driving cabin has the functions of controlling the degree of freedom of the movable joint and switching the locking or opening state of the butt joint cabin. The device is simple and reliable in structure and small in size, and the underwater robot provided with the device can be in a single-body underwater robot state, a multi-body underwater robot state and a mechanical arm state.
本发明属于水下机器人技术领域,特别涉及一种可实现水下自主对接和分离的关节装置。包括水下机器人载体Ⅰ、水下机器人载体Ⅱ、关节机构及插头,其中插头设置于水下机器人载体Ⅱ的艏部,关节机构设置于水下机器人载体Ⅰ的艉部,关节机构包括依次连接的驱动舱、活动关节和对接舱,驱动舱与水下机器人载体Ⅰ的艉部连接,对接舱用于与水下机器人载体Ⅱ艏部的插头对接;活动关节具有俯仰和偏航的自由度,驱动舱具有控制活动关节的自由度以及切换对接舱的锁紧或打开状态的功能。本发明结构简单可靠,且体积较小,安装该装置的水下机器人可处于单体水下机器人状态、多体水下机器人状态和机械臂状态。
Joint device capable of achieving underwater autonomous butt joint and separation
一种可实现水下自主对接和分离的关节装置
11.04.2025
Patent
Elektronische Ressource
Chinesisch
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