The rope-driven foldable capturing mechanism comprises a bendable mechanism, a synchronous opening and closing mechanism and a steel wire rope guide driving mechanism, and the bendable mechanism is connected with a far joint, a middle joint and a near joint through a connecting rod transmission assembly to achieve bending movement. In order to further enlarge the grabbing range of the capturing mechanism, a synchronous opening and closing mechanism is introduced, the mechanism is provided with three sets of folding and unfolding branches which are symmetrically and evenly distributed and a steel wire rope guiding driving mechanism, under the action of a linear electric push rod, synchronous bending and closing two-stage folding and unfolding movement can be achieved only with the single degree of freedom, and on the basis of the double movement characteristic, the mechanical performance of the capturing mechanism is improved. And the operation of grabbing and locking the unmanned underwater vehicle is completed. The elastic potential energy accumulated due to deformation of the torsion spring in the grabbing locking state is gradually released, the separation unlocking action is completed, and laying of the unmanned underwater vehicle is achieved. The driving mode is flexible, the unmanned underwater vehicles of different models can be captured, high universality is achieved, and fast, accurate and stable retracting and releasing operation can be achieved.

    本发明公开了一种面向无人潜航器收放的绳驱动可折展捕获机构,包括可折弯机构、同步开合机构、钢丝绳索导引驱动机构,可折弯机构利用连杆传动组件连接远节、中节、近节实现弯曲运动。为进一步扩大捕获机构抓取范围,引入同步开合机构,该机构设置有三组对称均布的折展分支以及钢丝绳索导引驱动机构,在直线电动推杆作用下,仅需单自由度就能实现同步折弯和靠拢两级可折展运动,基于此双重运动特性,完成抓取锁定无人潜航器的操作。通过将扭簧在抓取锁定状态因形变积蓄的弹性势能逐渐释放,完成分离解锁动作,实现无人潜航器的布放。本发明具有驱动方式灵活,可对不同型号的无人潜航器开展捕获,具有较强的通用性,能够实现快、准、稳收放作业。


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    Titel :

    Rope-driven foldable capturing mechanism for unmanned underwater vehicle retracting and releasing


    Weitere Titelangaben:

    一种面向无人潜航器收放的绳驱动可折展捕获机构


    Beteiligte:
    ZHANG GUOXING (Autor:in) / XIA XINLU (Autor:in) / GUO JINWEI (Autor:in) / WANG JIA (Autor:in) / LI CHONG (Autor:in) / LU DAOHUA (Autor:in)

    Erscheinungsdatum :

    2023-09-12


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    B63B Schiffe oder sonstige Wasserfahrzeuge , SHIPS OR OTHER WATERBORNE VESSELS



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