The capturing device comprises a submersible, the submersible is fixed through a mounting frame, and grabbing mechanisms used for grabbing the unmanned underwater vehicle are symmetrically mounted on the mounting frame through a base; the grabbing mechanism comprises a driving arm in transmission connection with the base, the other end of the driving arm is rotationally connected with a four-corner supporting frame, and the four-corner supporting frame is in transmission connection with a contact claw used for clamping through a connecting arm. A sliding groove is formed in the side, close to the base, of the driving arm, a servo motor is arranged on the base, the servo motor is connected with a gear at one end of a limiting connecting rod, and power is transmitted to the sliding groove in the driving arm through the other end of the limiting connecting rod to achieve movement of the grabbing mechanism. The invention further discloses a folding and unfolding method for the unmanned underwater vehicle, wherein the folding and unfolding method is combined with the folding and unfolding device. According to the invention, the accurate hook docking operation under the high sea condition can be simplified, the dependence of the unmanned underwater vehicle on the computing power in the retracting and releasing process is reduced, and the automation level of the retracting and releasing process is improved.

    本发明公开了一种应用于无人潜航器的捕获装置,包括潜水器,所述潜水器通过安装架进行固定,安装架通过基座对称安装用于抓取无人潜航器的抓取机构;抓取机构包括与基座传动连接的驱动臂,驱动臂另一端转动连接四角支撑架,四角支撑架通过连接臂传动连接用于夹取的接触爪;驱动臂靠近基座的一侧设有滑槽,基座上设有伺服电机,伺服电机通过与限位连杆一端的齿轮连接,将动力通过限位连杆的另一端传递给驱动臂上的滑槽实现抓取机构的运动。本发明还公开了一种结合上述收放装置的用于无人潜航器收放方法。本发明能够简化高海况下精确挂钩对接操作,减少无人潜航器在收放过程中对算力的依赖,提高收放过程自动化水平。


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    Title :

    Capturing device applied to unmanned underwater vehicle and folding and unfolding method


    Additional title:

    一种应用于无人潜航器的捕获装置及收放方法


    Contributors:
    XIA XINLU (author) / ZHANG GUOXING (author) / GUO JINWEI (author) / WANG JIA (author) / LI CHONG (author) / LU DAOHUA (author)

    Publication date :

    2023-10-10


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B63B Schiffe oder sonstige Wasserfahrzeuge , SHIPS OR OTHER WATERBORNE VESSELS / B63C LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS , Zuwasserlassen, Trockenstellen, Docken oder Bergen von Schiffen / B63G OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS , Angriffs- oder Verteidigungsanordnungen auf Schiffen / G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS / G01S RADIO DIRECTION-FINDING , Funkpeilung





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