The invention discloses a single-degree-of-freedom nested underwater vehicle capturing mechanism which comprises a nesting mechanism, a closing-up clamping mechanism and a center driving mechanism. The nesting mechanism comprises an inner-layer nesting rod and an outer-layer nesting rod; the center driving mechanism comprises a center sliding groove rod, an upper intersection connecting disc connected with the center sliding groove rod in a sliding mode and a lower intersection connecting disc fixedly connected with the center sliding groove rod, the upper end of the inner-layer nesting rod is hinged to the upper intersection connecting disc, and the upper end of the outer-layer nesting rod is hinged to the lower intersection connecting disc. The closing-in clamping mechanism comprises a foldable connecting rod, and the foldable connecting rod, the inner-layer nesting rod and the outer-layer nesting rod are hinged to a rotary connecting piece. The mechanical arm has a large capturing range ratio, high universality, high overall structural rigidity and good stability. Meanwhile, by means of single-degree-of-freedom sliding motion of the center driving mechanism, linkage of the capturing mechanism can be achieved, the risk of motion failure caused by multiple drives can be reduced, and reliability and unfolding synchronism are well improved.
本发明公开了一种单自由度嵌套式水下潜航器捕获机构,包括嵌套机构、收口夹持机构和中心驱动机构;嵌套机构包括内层嵌套杆和外层嵌套杆;中心驱动机构包括中心滑槽杆及与中心滑槽杆滑动连接的上汇交连接圆盘和与中心滑槽杆固定连接的下汇交连接圆盘,内层嵌套杆上端与上汇交连接圆盘铰接,外层嵌套杆上端与下汇交连接圆盘铰接;收口夹持机构包括可折叠连杆,可折叠连杆与内层嵌套杆和外层嵌套杆分别与旋转连接件铰接。本发明具有较大抓捕范围比、通用性强、整体结构刚度高且稳定性好。同时,依靠中心驱动机构的单自由度滑移运动,即可使捕获机构产生联动,能够减少多驱动带来运动失效的风险,在可靠性与展开同步性方面具有较好提升。
Single-degree-of-freedom nested underwater vehicle capturing mechanism
一种单自由度嵌套式水下潜航器捕获机构
2023-11-10
Patent
Electronic Resource
Chinese
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