The invention discloses an anchoring robot based on a solen grandis movement mechanism. The anchoring robot comprises a connecting shaft frame, a connecting block is slidably arranged on the front side of the connecting shaft frame, the connecting block can be driven by a first driving mechanism to slide back and forth in the vertical direction of the connecting shaft frame, and the bottom of the connecting block is connected with an axe foot part through a transition part; the axe foot part comprises an axe foot bracket, a sleeve and an axe foot, and drives the axe foot bracket to rotate in a horizontal plane through a second driving mechanism; the sleeve is fixed to the bottom of the axe foot support and is vertically through, the axe foot is arranged at the bottom of the sleeve and comprises a plurality of independent blades evenly distributed in the circumferential direction of the sleeve, and the top end of each blade is hinged to the bottom of the sleeve through a main hinge shaft of the blade and drives the blade to rotate through a third driving mechanism. When the blades are all closed, the blades jointly form an inverted-cone-shaped axe foot with the inverted-cone-shaped appearance. The robot has the advantage that the autonomous anchoring and autonomous desorption functions of the robot are achieved.

    本发明公开了一种基于长竹蛏运动机理的锚泊机器人,包括连轴架,连轴架前侧滑动设置有连接块,连接块在第一驱动机构的驱动下能沿着连轴架的竖直方向来回滑动,连接块底部通过过渡件连接有斧足部;斧足部包括斧足支架、套筒、斧足,通过第二驱动机构带动斧足支架在水平面内转动;套筒固定在斧足支架底部,且套筒上下贯通,斧足设置在套筒底部,斧足包括沿套筒周向均布的若干块独立的叶片,每块叶片顶端通过各自的主铰接轴铰接在套筒底部,并通过第三驱动机构驱动各块叶片转动,从而实现各块叶片的张开或闭合,当各块叶片均闭合时,各块叶片共同形成一个外形为倒锥形的倒锥形斧足。本发明的优点:实现了机器人的自主锚定和自主脱附功能。


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    Title :

    Anchoring robot based on solen grandis movement mechanism


    Additional title:

    一种基于长竹蛏运动机理的锚泊机器人


    Contributors:
    XU LINSEN (author) / ZHAO BINGXIN (author) / LIU LEI (author) / LIU JINFU (author) / HAN SONG (author) / SUN PENG (author)

    Publication date :

    2021-04-16


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B63C LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS , Zuwasserlassen, Trockenstellen, Docken oder Bergen von Schiffen / B63B Schiffe oder sonstige Wasserfahrzeuge , SHIPS OR OTHER WATERBORNE VESSELS



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