水下目标抓取及打捞装置结构设计  

Structure Design of Underwater Target Grabbing and Salvaging Device

作　　者：韩岩 刘畅[1] 李建荣[1] 刘玉生[1] 马文家 Han Yan;Liu Chang;Li Jianrong;Liu Yusheng;Ma Wenjia(Changchun Institute of Optics,Fine Mechanics and Physics,Chinese Academy of Science,Changchun 130033,China)

机构地区：[1]中国科学院长春光学精密机械与物理研究所,长春130033

出　　处：《机电工程技术》2021年第6期57-60,共4页Mechanical & Electrical Engineering Technology

基　　金：吉林省科技厅重点研发项目(编号:20200403067SF,20190302086GX)。

摘　　要：设计了一种水下目标抓取及打捞装置,主要实现对目标水下的抓取及水面打捞功能,采用纯机械结构,主要由主开关、机械手、位置锁定机构、浮球脱离机构组成。机械手设计为弧形,方便对目标的抓取;位置锁定机构可实现对机械手张开状态时的锁定;在抓取目标后,浮球脱离机构可实现对浮球的充气及浮球与装置本体的脱离动作,浮球浮出水面即可实现水面打捞功能。所有执行机构驱动力均采用弹簧力,结构简单。为实现浮球充气和脱离动作,分析了机构受力情况并对弹簧结构参数进行设计。试制了产品样机,试验结果表明装置各执行机构动作顺畅、连贯,能够完成抓取及浮球的充气和脱离动作,满足设计要求。A underwater target grab and salvage device was designed,which mainly realized the function of catching and fishing the targetunderwater.It adopted pure mechanical structure,which was mainly composed of main switch,manipulator,position locking mechanism andfloating ball detachment mechanism.The manipulator was designed as arc,which was convenient to grasp the target.The position lockingmechanism could lock the manipulator when it was open.After grasping the target,the floating ball separation mechanism could inflate thefloating ball and separate the floating ball from the device body,and the floating ball could float out of the water to realize the surface fishingfunction.All actuators were driven by spring force,and the structure was simple.In order to realize the action of floating ball inflation andseparation,the force condition of the mechanism was analyzed and the structural parameters of the spring were designed.The test results showthat the actuator of the device works smoothly and coherently,and can complete the grasping,inflation and separation of the floating ball,whichmeets the design requirements.

关 键 词：机械手 水下抓取 打捞装置 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]