The invention discloses a rope-driven parallel mechanism for capturing of an underwater unmanned submersible vehicle, and belongs to the technical field of capturing of underwater unmanned submersible vehicles. A plurality of rope driving motors are fixedly arranged on a catamaran console of the catamaran navigation system, and motor pulleys are fixedly arranged on output shafts of the rope driving motors; the upper ends of the two shear type telescopic mechanisms are fixedly connected with the left side and the right side of the lower end of the catamaran navigation system, the hydraulic driving system is fixedly arranged between the upper ends of the two shear type telescopic mechanisms, and the hydraulic driving end of the hydraulic driving system is connected with the two shear type telescopic mechanisms. The two shear type telescopic mechanisms are driven by the hydraulic driving system to stretch or retract underwater; one end of a steel wire rope is connected with a motor pulley, and the other end of the steel wire rope sequentially bypasses a catamaran pulley on the catamaran navigation system, a shear-type pulley on the shear-type telescopic mechanism and a guide pulley to be connected with the capturing system to perform six-degree-of-freedom movement, so that the unmanned underwater vehicle is quickly and efficiently captured and recovered in a complex underwater environment.
面向水下无人潜器捕获的绳索驱动并联机构,属于捕获水下无人潜器技术领域。多个绳索驱动电机固定装在双体船航行系统的双体船控制台上,绳索驱动电机的输出轴上固定装有电机滑轮;两个剪式伸缩机构上端与双体船航行系统下端的左右两侧固定连接,液压驱动系统固定设置在两个剪式伸缩机构上端之间,液压驱动系统的液压驱动端与两个剪式伸缩机构连接,通过液压驱动系统驱动两个剪式伸缩机构在水下实现伸展或收缩运动;钢丝绳一端与电机滑轮连接,另一端依次绕过双体船航行系统上的双体船滑轮、剪式伸缩机构上的剪式滑轮以及导向滑轮与捕获系统连接,进行六自由度运动,从而实现在复杂的水下环境快速高效捕获回收水下无人潜器。
Rope-driven parallel mechanism for capturing underwater unmanned submersible vehicle
面向水下无人潜器捕获的绳索驱动并联机构
2025-05-16
Patent
Electronic Resource
Chinese
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