The invention relates to an underwater robot take-up and pay-off device and a take-up and pay-off wave compensation method. The device comprises a cable storage winch, a wave compensation component, an A frame, a swing stopper, load equipment, an umbilical cable and a controller, and the umbilical cable is connected with the cable storage winch and the load equipment. The wave compensation component comprises a base, a swing support, a first driving component, a first guide wheel, a sliding base, a second driving component, a first force measuring shaft pin and a first encoder, the swing support is connected with the base, the sliding base slides along the swing support, and the first guide wheel is installed on the sliding base. The A frame is connected with a ship body and provided with a motion reference unit; the oscillation stopping device comprises a second guide wheel, a second force measuring shaft pin and a second encoder and is installed on the A frame. The load device is provided with an inertial measurement unit. Through the controller, based on intelligent switching of tension control and wave compensation modes, the first driving part achieves passive compensation, the second driving part adjusts the tension of the umbilical cable according to the heaving motion, and safe and efficient operation of equipment is ensured.
本发明涉及一种水下机器人收放装置及收放波浪补偿方法,装置包括储缆绞车、波浪补偿部件、A架、止荡器、负载设备、脐带缆及控制器,脐带缆连接储缆绞车和负载设备。波浪补偿部件包括基座、摆动支架、第一驱动部件、第一导向轮、滑动底座、第二驱动部件、第一测力轴销和第一编码器,摆动支架与基座连接,滑动底座沿摆动支架滑动,第一导向轮安装在滑动底座上。A架与船体连接,配备运动参考单元;止荡器包括第二导向轮、第二测力轴销及第二编码器,安装在A架上。负载设备设有惯性测量单元。通过控制器,基于张力控制与波浪补偿模式智能切换,第一驱动部件实现被动补偿,第二驱动部件根据升沉运动调整脐带缆张力,确保设备安全高效运行。
Underwater robot retracting and releasing device and retracting and releasing wave compensation method
一种水下机器人收放装置及收放波浪补偿方法
2025-01-21
Patent
Electronic Resource
Chinese
IPC: | B63B Schiffe oder sonstige Wasserfahrzeuge , SHIPS OR OTHER WATERBORNE VESSELS |
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