The invention discloses an underwater robot butt joint recovery device and an operation method. The underwater robot butt joint recovery device mainly comprises a base, a swing hydraulic cylinder, a bottom plate, a hydraulic holding claw, acousto-optic guide communication equipment, a hydraulic valve box, an electronic cabin and the like. A vertical seating type butt-joint recovery mode and a hydraulic holding claw capturing type butt-joint recovery mode are adopted, an acoustic beacon and optical lamp array guiding mode is used for enabling the autonomous submersible vehicle to approach and sail towards a butt-joint recovery device, the butt-joint posture of the autonomous submersible vehicle is obtained in real time through acoustic and optical communication equipment, and before the autonomous submersible vehicle approaches the butt-joint device, the butt-joint posture of the autonomous submersible vehicle is obtained. The vertical height of the autonomous submersible vehicle is gradually changed until the autonomous submersible vehicle reaches the effective butt-joint recovery range, the hydraulic holding claws are driven to be rapidly closed, the autonomous submersible vehicle is clamped under the guiding action of the arc-shaped structures of the holding claws, and when the clamping force detected by the force feedback sensor reaches a preset value, the action of the hydraulic cylinder is automatically stopped, and the locking state is kept. And recovery of the autonomous submersible vehicle is completed.
一种水下机器人对接回收装置及操作方法,主要包括底座,摆动液压缸,底板,液压抱爪,声光导引通信设备,液压阀箱,电子舱等。采用垂向坐落式对接回收形式,采用液压抱爪捕捉式对接回收,利用声学信标和光学灯阵导引方式使自治潜器向对接回收装置抵近航行,通过声学与光学通信设备实时获取自治潜器的对接姿态,抵近对接装置前,自治潜器逐步改变垂直高度,直至到达对接回收有效范围,驱动液压抱爪快速闭合,在抱爪的弧形结构导引作用下,自治潜器被夹紧,且利用力反馈传感器检测夹紧力达到预定值时,自动停止液压缸动作,并保持锁紧状态,完成对自治潜器的回收。
Underwater robot docking recovery device and operation method
一种水下机器人对接回收装置及操作方法
2023-07-28
Patent
Electronic Resource
Chinese
Seven-degree-of-freedom parallel underwater robot docking recovery mechanism and underwater robot
European Patent Office | 2023
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