The invention provides a cabled hard rod catching and connecting device for an underwater robot, belongs to the field of underwater operation robot devices, and provides a device for continuously capturing a target hard rod with a cable at the upper part of the underwater robot twice and connecting the target hard rod. The device comprises a linkage swing mechanism, a locking butt joint mechanism,a differential mechanism, a support, a limiting cylinder, a stepping motor and other auxiliary mechanisms, wherein the linkage swing mechanism comprises a guide arm, a pressing arm, a cam push rod and other parts. According to the device, large-range guiding and capturing of a target hard rod can be achieved through the linkage swing mechanism, connection of the target hard rod is achieved through the locking butt joint mechanism, and sequential movement of the linkage swing mechanism under a single driving source is achieved through the differential mechanism. The device can effectively capture the underwater target hard rod within the 112-degree opening angle range in front of the robot, and locking and connecting actions of the target hard rod are completed. The device has the advantages of simple structure, large capture range, wide application environment, high reliability and the like.

    本发明提供一种用于水下机器人的带缆硬杆捕捉与连接装置,属于水下作业机器人装置领域,实现连续两次对水下的上部带有线缆的目标硬杆的捕捉,并实现目标硬杆连接的装置。该装置包括联动回转机构、锁紧对接机构、差速机构以及支架、限位筒、步进电机等辅助机构,其中联动回转机构包括导向臂、压紧臂及凸轮推杆等部分。该装置可通过联动回转机构实现对目标硬杆的大范围导向及捕捉,通过锁紧对接机构实现目标硬杆的连接,并通过差速机构实现单一驱动源下联动回转机构的顺序运动。该装置可对机器人前方112°开角范围内的水下目标硬杆进行有效捕捉,并完成对目标硬杆的锁紧、连接动作。该装置具有结构简单、捕捉范围大、适应环境广、可靠性高等优点。


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    Title :

    Cabled hard rod catching and connecting device for underwater robot


    Additional title:

    一种用于水下机器人的带缆硬杆捕捉与连接装置


    Contributors:
    ZHANG MINGJUN (author) / WANG QI (author) / LYU TU (author) / YAO FENG (author) / WANG XINYU (author) / JIE YUXIN (author)

    Publication date :

    2021-04-02


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B63C LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS , Zuwasserlassen, Trockenstellen, Docken oder Bergen von Schiffen



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