The invention provides a magnetometer winding and unwinding device and method for an underwater robot. The device at least comprises a hollow cylinder and a towrope winding and unwinding mechanism. The towrope winding and unwinding mechanism is arranged in the hollow cylinder, a wire outlet guide rail is arranged at the bottom of the hollow cylinder, a wire guide cover is slidably connected to the wire outlet guide rail, a first guide wheel is arranged in the wire guide cover, and a second guide wheel is arranged at the position, close to the tail, in the hollow cylinder. The towrope winding and unwinding mechanism at least comprises a screw which is controlled by a driving motor and provided with multiple rows of inclined threads, a towrope is spirally wound on the screw along the threads, and the free end of the towrope is used for penetrating through a wire outlet guide rail wire groove, then passing through the first guide wheel and the second guide wheel and then being connected with a magnetometer. The device can be directly installed outside an underwater robot body, autonomous retraction and release of the marine magnetometer are achieved, and the adverse effect on underwater robot operation caused by using the detection equipment of the type is reduced.
本公开提供了一种水下机器人用磁力仪收放装置及方法,所述装置至少包括:中空筒体和拖缆收放机构;拖缆收放机构置于中空筒体内部,中空筒体的底部设有出线导轨,出线导轨上滑动连接有导线罩,导线罩内设有第一导向轮,中空筒体内靠近尾部的位置设有第二导向轮;拖缆收放机构至少包括利用驱动电机控制的设有多排倾斜螺纹的螺杆,拖缆在螺杆沿螺纹螺旋缠绕,拖缆的自由端用于穿过出线导轨线槽再经过第一导向轮和第二导向轮后与磁力仪连接;本公开可直接安装于水下机器人机体外部,实现对于海洋磁力仪的自主收放,降低了使用该类探测设备对于水下机器人作业产生的不利影响。
Magnetometer winding and unwinding device and method for underwater robot
一种水下机器人用磁力仪收放装置及方法
2022-01-28
Patent
Electronic Resource
Chinese
IPC: | B63C LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS , Zuwasserlassen, Trockenstellen, Docken oder Bergen von Schiffen |
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