The invention belongs to the field of underwater robots, in particular to a flexible rope driving mechanism for an underwater robot, which is characterized in that a rope winding device is mounted on the bottom surface of a box body, a rope winding shaft is driven to rotate by a motor, a straight gear set and a lead screw are matched to change the rope outgoing direction, and errors are reduced; the tension detection device is mounted in front of the rope winding device, a rope bypasses a U-shaped pulley, tension is converted into pressure, and the pressure is transmitted to the pressure sensor, so that real-time monitoring on the tension of the rope is realized; the steering wheel is fixed on the side wall of the box body to change the direction of the rope; the tensioning device is installed on the opposite side wall of the tension detection device, the tensioning effect on the rope is achieved through elastic deformation of the tower-shaped spring, and finally the rope is output to the outside of the driving mechanism. According to the invention, an independent modular design is adopted, so that the transportation and installation difficulty is greatly simplified, and the flexibility of deployment and configuration is realized. The design of these modules has wear and impact resistance, light weight and compactness.
本发明属于水下机器人领域,具体地说是一种水下机器人用绳索柔顺驱动机构,绳索卷扬装置安装在箱体底面,通过电机带动卷绳轴转动,直齿轮组和丝杠配合改变绳索出线方向,减小误差;拉力检测装置安装在绳索卷扬装置前方,绳索绕过U型滑轮将拉力转变成压力传送给压力传感器,从而实现对绳索拉力的实时监测;转向轮固定在箱体侧壁上,实现绳索方向的变化;拉紧装置安装在拉力检测装置相对的侧壁上,通过塔型弹簧的弹性变形实现对绳索的拉紧作用,最后绳索输出到驱动机构外。本发明采用单独的模块化设计,这将大大简化了运输和安装困难,并实现了部署配置的灵活性。这些模块的设计具有耐磨性和耐冲击性,重量轻且紧凑。
Rope flexible driving mechanism for underwater robot
一种水下机器人用绳索柔顺驱动机构
19.09.2023
Patent
Elektronische Ressource
Chinesisch
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