According to the underwater docking device and method suitable for the underwater remote control robot, the ROV moves to the position close to equipment to be docked, a small ball is put down, the equipment to be docked opens a capturing mechanism, a rotational flow suction cup rotates, and a water inlet flow field at a water inlet and a water outlet flow field at a water outlet are formed; the drainage flow field is guided to the position above the water inlet through the flow guide groove, the drainage flow field and the water inlet flow field jointly act to form a flow field, after a small ball connected with the ROV through a cable moves along with the flow field to enter the water inlet, the capturing mechanism is closed and locked, and the small ball is fixed in the water inlet to complete capturing of the small ball. And the underwater steering engine rolls up the cable and pulls the underwater remote control robot to the to-be-butted equipment. And under the combined action of cable guiding and a flow field on ROV suction force, butt joint is completed. According to the flow field capturing design, the ROV can be captured in a large space range by using the capturing flow field, the interference of the water flow environment on the docking process and the requirement of the control precision are reduced, and the underwater docking efficiency and success rate are improved.
本发明提供一种适用于水下遥控机器人的水下对接装置及其方法,ROV运动至待对接设备附近,放下小球,待对接设备打开捕捉机构,旋流吸盘旋转,形成入水口处的入水流场和排水口处的排水流场;导流槽将排水流场引导到入水口上方,与入水流场共同作用,形成流场,通过缆线与ROV相连的小球随流场运动进入入水口后,捕捉机构闭合锁紧,将小球固定在入水口内完成对小球的捕捉;水下舵机卷起缆线,将水下遥控机器人拉向待对接设备。缆线引导和流场对ROV吸力的共同作用,完成对接。本发明的流场捕获设计利用捕捉流场在较大空间范围内即可捕获ROV,降低了水流环境对对接过程的干扰和操控精度的要求,提高了水下对接的效率和成功率。
Underwater docking device suitable for underwater remote control robot and method thereof
一种适用于水下遥控机器人的水下对接装置及其方法
2024-08-30
Patent
Electronic Resource
Chinese
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