CAJ | 학술논문

针对某水下机器人原样机采用拉杆方式将电池组固定在壳体内所存在的成本高、装配性差和惯导重复标定等缺点，对电池组的固定方式进行了改进设计。初试样机电池组采用定位销的方式固定，即分别在前后2个电池模块的端面上安装定位销，通过定位销和与壳体连接的挡板上的绝缘孔座的配合，实现了电池组在舱内的固定和与舱体的绝缘。该固定方式经在水下机器人初试样机上进行验证，可满足要求。
침대모수하궤기인원양궤채용랍간방식장전지조고정재각체내소존재적성본고、장배성차화관도중복표정등결점，대전지조적고정방식진행료개진설계。초시양궤전지조채용정위소적방식고정，즉분별재전후2개전지모괴적단면상안장정위소，통과정위소화여각체련접적당판상적절연공좌적배합，실현료전지조재창내적고정화여창체적절연。해고정방식경재수하궤기인초시양궤상진행험증，가만족요구。
Aimed at some deficiencies of high cost,poor assembly and inertial navigation device occurred when an under-water robot prototype scheme took pull rod to fix batteries in the shell,the paper focused on the battery improving design by installing positioning pin at the most front and the most back of the batteries.The prototype was fixed by pull rod,that is, installed pull rod separately at the two ends of battery sections,through the matching between pull rod and insulating hole of flaps,realized battery fixing in hatch and hatch insulation.This way can meet the requirements by the tests of underwater robot prototype.