The invention discloses a self-adaptive clamping module of an underwater UUV (Unmanned Underwater Vehicle). The self-adaptive clamping module comprises a flexible clamping belt and a rectangular clamping frame, and two ends of upper and lower sliding block counterweights arranged below the bottom frame of the clamping frame are respectively connected with long and short cables. And the long and short cables bypass the large and small fixed pulleys and are connected with the upper and lower sliding blocks. And two rotating shafts are arranged on the top surface of the bottom frame. The two ends of the flexible clamping belt are fixedly connected with the rotating shafts correspondingly, and the upper sliding block and the lower sliding block are elastically connected with the flexible clamping belt correspondingly. The invention further discloses a self-adaptive clamping and holding device of the underwater UUV. The self-adaptive clamping and holding device comprises two clamping and holding modules, a frame and a positioning shaft located between the two clamping and holding modules. The two clamping modules are arranged on the frame in a sleeving mode. And the positioning shaft is higher than the rotating shaft. The method is suitable for UUVs with different shapes and sizes. And when a roll angle is generated, the posture of the UUV can be adjusted by controlling the rotation of the rotating shaft. The clamping device can be used for the UUV to complete underwater docking work such as charging and information exchange.
本发明公开了一种水下UUV的自适应夹抱模块,包括柔性夹抱带和矩形的夹抱框。设在夹抱框的底边框下方的上、下滑块配重两端分别连接长、短缆绳。所述长、短缆绳绕过大、小定滑轮与上、下滑块连接。所述底边框的顶面上设有两个转动轴。柔性夹抱带的两端分别与一个转动轴固定连接,上滑块和下滑块分别与柔性夹抱带弹性连接。本发明还公开了一种水下UUV的自适应夹抱装置,包括两个夹抱模块、框架以及位于两个夹抱模块之间的定位轴。两个夹抱模块套设在框架上。定位轴的高度高于转动轴的高度。本发明可适用于不同外形、尺寸的UUV。而且当产生横滚角时,也可以通过控制转动轴的转动,调整UUV的姿态。本夹抱装置可用于UUV完成充电和信息交换等水下对接工作。
Self-adaptive clamping module and clamping device of underwater UUV (Unmanned Underwater Vehicle)
一种水下UUV的自适应夹抱模块及夹抱装置
2023-09-19
Patent
Elektronische Ressource
Chinesisch
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