The invention relates to a submersible multi-load synchronous load rejection device and a load rejection method. The submersible multi-load synchronous load rejection device comprises a manipulator, a sampling basket, an effective load, a bearing frame, a manipulator mounting bottom plate, a starboard fixing bracket, a starboard limiting block, a larboard fixing bracket, a load rejection executing mechanism and a larboard limiting block. The manipulator, the sampling basket and the effective load are mounted on the bearing frame in an assembling manner and form an integral structure with the bearing frame. The six-degree-of-freedom of the bearing frame is restrained by the port limiting block and the starboard limiting block, the load rejection executing mechanism executes the load rejection action under hydraulic drive, the bearing frame, the mechanical arm, the sampling basket and the effective load fall down together and break away from the submersible body, and the whole set of rejection action is completed. Multiple load rejection functions are integrated, synchronous rejection of the mechanical arm, the sampling basket and the effective load can be achieved only by arranging one oil cylinder, hydraulic supply and electric control strategies are greatly optimized, and the load rejection device is particularly suitable for small and light submersibles.
本发明涉及一种潜水器多载荷同步抛载装置及抛载方法,包括机械手、采样篮、有效载荷、承载框架、机械手安装底板、右舷固定支架、右舷限位块、左舷固定支架、抛载执行机构、左舷限位块。机械手、采样篮、有效载荷均通过装配方式安装在承载框架上,与承载框架构成一个整体结构。承载框架六自由度由左舷限位块、右舷限位块进行约束,在液压驱动下抛载执行机构执行抛载动作,承载框架连同机械手、采样篮、有效载荷一同下落,脱离潜水器本体,完成整套抛弃动作。本发明将多种抛载功能融合为一体,只设置一个油缸即可实现机械手、采样篮及有效载荷三种载荷的同步抛弃,极大优化了液压供给和电气控制策略,尤其适用于小型、轻量型的潜水器。
Submersible multi-load synchronous load rejection device and load rejection method
一种潜水器多载荷同步抛载装置及抛载方法
2024-11-12
Patent
Electronic Resource
Chinese
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