海底定位抛砂系统的多自由度复合机构设计

Design of Multi-Freedom Compounding Institutions of the Submarine Positioning and Throwing System

在传统抛投机构基础上,结合机械臂的工作方式,设计伸缩导向槽,对竖直导向筒的翻转平移灵活补偿;设计自动抓钩,准确实现水平输送带与竖直导向筒的连接。实现抛投料筒在多个自由度上运动,在保证抛投机构灵活性、准确性的同时,也保证物料运输抛投的连贯性。

Based on the traditional throwing institution,the working method is combined of the robotic arm,designing telescopic guidelines,and flexibly compensation for flip translation of vertical guide cylinder;automatic design to catch the hook to accurately realize the connection between horizontal conveyor belts and vertical-oriented cylinders.Realizing the split tube exercise in multiple freedom,while ensuring the flexibility and accuracy of the throwing mechanism,it also ensures the coherence of material transportation throwing.