The invention discloses an anchoring robot based on an iris mechanism in the technical field of anchoring robots. The anchoring robot sequentially comprises a drill bit unit, a front anchoring unit, a propelling unit and a rear anchoring unit from top to bottom. The drill bit unit is used for stirring silt to reduce motion resistance of the anchoring robot; the front anchoring unit and the rear anchoring unit are used for anchoring and supporting the anchoring robot, each anchoring unit comprises a steering engine shell, a double-shaft steering engine, a forward iris mechanism and a reverse iris mechanism, the double-shaft steering engines are arranged in the steering engine shells, the upper ends of the double-shaft steering engines are connected with the forward iris mechanisms, and the lower ends of the double-shaft steering engines are connected with the reverse iris mechanisms; the propelling unit is used for propelling the anchoring robot and comprises an electric push rod, an upper propelling base and a lower propelling base, and the two ends of the electric push rod are connected with the upper propelling base and the lower propelling base correspondingly. Rapid tunneling, powerful anchoring and autonomous desorption are achieved, the energy consumption is lower than that of a whole, and the requirement for long-time anchoring and positioning operation of the deep sea net cage can be met.
本发明公开了一种锚泊机器人技术领域的基于虹膜机构的锚泊机器人,其从上到下依次包括钻头单元、前锚定单元、推进单元和后锚定单元;钻头单元用于搅动泥沙以减小锚泊机器人运动阻力;前锚定单元、后锚定单元用于对锚泊机器人作锚定支撑作用,其均包括舵机外壳、双轴舵机、正向虹膜机构和反向虹膜机构,双轴舵机设于舵机外壳内,且其上端与正向虹膜机构连接,其下端与反向虹膜机构连接;推进单元用于对锚泊机器人起推进作用,其包括电动推杆、推进上底座和推进下底座,电动推杆两端分别与推进上底座、推进下底座连接。本发明快速掘进、强力锚固、自主脱附且耗能低于一体,能够满足深海网箱长时间锚泊定位作业的需求。
Anchoring robot based on iris mechanism
一种基于虹膜机构的锚泊机器人
2024-04-12
Patent
Electronic Resource
Chinese
IPC: | B63B Schiffe oder sonstige Wasserfahrzeuge , SHIPS OR OTHER WATERBORNE VESSELS |
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