SIA OpenIR  > 水下机器人研究室
Alternative TitleActive heave compensation system of underwater robot
张竺英; 杨文林; 张艾群; 全伟才
Rights Holder中国科学院沈阳自动化研究所
Patent Agent沈阳科苑专利商标代理有限公司 21002
Other AbstractThe invention relates to an active heave compensation system of an underwater robot. A hydraulic winch is fixedly connected to a deck of a mother ship, an armoured cable is wound on a winding drum of the hydraulic winch, the armoured cable is connected with a combination of a relay and the underwater robot through a fixed pulley, a sensor module is fixedly installed on the fixed pulley and sequentially connected with a signal processing module, a control unit, a hydraulic driving system and the hydraulic winch. An existing hydraulic take-up and pay-off winch can be utilized for the active heave compensation system, additional power equipment does not need to be arranged, and the work space for the deck of the mother ship does not need to be enlarged either. Besides, because the rotation range of the hydraulic winch is wide, the compensation range is wide; meanwhile, violent collision between the underwater robot and the relay is avoided in the releasing or retracting process. Compared with a passive compensation mode of a pneumatic-hydraulic energy accumulator, the active heave compensation system of the underwater robot has the advantages that heave compensation efficiency can be effectively improved, and the active heave compensation system is easy to operate, convenient to obtain in the respect of engineering and capable of being applied to high-precision heave compensation under significant sea conditions.
PCT Attributes
Application Date2012-08-28
Application NumberCN201210309848.3
Open (Notice) NumberCN103626068A
Contribution Rank1
Document Type专利
Recommended Citation
GB/T 7714
张竺英,杨文林,张艾群,等. 一种水下机器人主动升沉补偿系统[P]. 2014-03-12.
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