The invention relates to the field of underwater unmanned underwater vehicles, in particular to an active load rejection device for an underwater robot. One end of the load rejection support is fixedly connected with a linear bearing, the lead block sliding rod is arranged in a through hole in the linear bearing in the vertical direction in a sliding mode, and the bottom of the lead block sliding rod is fixedly connected with the lead block. The electromagnet is fixed to the load rejection support, the connecting rod comprises a connecting rod I and a connecting rod II which are hinged, the hinged position of the connecting rod I and the connecting rod II is located below the electromagnet, one end of the connecting rod I is hinged to the load rejection support, the position of one end of the connecting rod I is fixed, and the other end of the connecting rod II is hinged to the sliding block. The opposite faces of the sliding block and the lead block sliding rod are both provided with wedge-shaped faces, the two wedge-shaped faces are matched with each other, the side, facing the lead block sliding rod, of the sliding block is provided with a forward wedge-shaped face, and the corresponding side, facing the lead block sliding rod, of the sliding block is provided with an inverted wedge-shaped face. The device is simple in structure and small in size, has self-locking performance and is reliable in load rejection.
本发明涉及水下无人潜航器领域,特别是水下机器人用主动式抛载装置。抛载支架的一端固定连接有直线轴承,铅块滑杆滑动设置在直线轴承内的竖直方向的通孔内,铅块滑杆的底部与铅块固定连接;所述电磁铁固定在抛载支架上,连接杆包括连接杆Ⅰ和连接杆Ⅱ,连接杆Ⅰ和连接杆Ⅱ之间铰接,连接杆Ⅰ和连接杆Ⅱ的铰接处位于电磁铁的下方,连接杆Ⅰ的一端与抛载支架铰接,连接杆Ⅰ一端的位置固定,连接杆Ⅱ的另一端与滑块铰接,滑块和铅块滑杆的相对面均设有楔形面,且两楔形面之间相互配合,滑块朝向铅块滑杆的一侧设有正向楔形面,对应的铅块滑杆的一侧设有倒向楔形面。其结构简单,体积小,具备自锁性能,抛载可靠。
Active load rejection device for underwater robot
水下机器人用主动式抛载装置
2022-07-26
Patent
Electronic Resource
Chinese
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