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Gravity adjusting device for underwater robot

An underwater robot, center of gravity adjustment technology, applied in the directions of underwater operation equipment, transportation and packaging, ships, etc. The effect of endurance, weight reduction, and number reduction

Inactive Publication Date: 2011-08-10
HARBIN ENG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

This design increases the number of parts in the system and requires a relatively large installation space, which is not conducive to reducing the overall volume of the robot.
Moreover, the roll adjustment mechanism of this design uses a special eccentric weight as the adjustment object, which increases the weight of the robot and has an adverse effect on the motion control of the underwater robot and the ability to carry payloads.

Method used

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  • Gravity adjusting device for underwater robot
  • Gravity adjusting device for underwater robot
  • Gravity adjusting device for underwater robot

Examples

Experimental program
Comparison scheme
Effect test

specific Embodiment approach 1

[0024] combine figure 1 , figure 2 , Figure 4 and Figure 5 , screw bearing supports 6, 13 are respectively installed on the supporting discs 20, 30, angular contact ball bearings 7, 12 are housed in the supports, the two ends of the ball screw 8 are respectively connected with the angular contact ball bearings 7, 12, the ball screw Bar 8 is free to spin. The right end of the ball screw 8 is fixedly connected with the gear 15. A ball nut 10 is mounted on the ball screw 8 . The eccentric battery block 24 is fixedly connected with the ball nut 10 through the connecting pieces 9 , 11 . The left and right ends of the eccentric battery block 24 are equipped with linear bearings 23, 25, which cooperate with the central axis 26 so that the eccentric battery block 24 can move linearly along the central axis 26. An axially adjusting motor 22 with a worm gear reducer is housed on the support plate 20, and the gear 18 is fixedly connected with the motor output shaft through a key...

specific Embodiment approach 2

[0027] combine figure 1 , Figure 4 and Figure 6 , the axial adjustment gear transmission composed of gears (18), (15) and the rolling adjustment gear transmission composed of sun wheel (4) and planetary gear (31) described in Embodiment 1 can be replaced by synchronous belt The synchronous belt transmission that wheel (35), (37) and synchronous belt (36) form makes transmission more stable, reduces the noise in the transmission process.

specific Embodiment approach 3

[0028] combine Figure 7 , because the cross-section of the robot is a circular structure, so in order to utilize the inner space of the robot to the greatest extent, the eccentric battery block (24) described in Embodiment 1 can be changed into the structure of a circular eccentric battery block (38), increasing the size of the battery The capacity is conducive to improving the endurance of underwater robots.

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Abstract

The invention provides a gravity adjusting device for an underwater robot. A central shaft is fixed between two end covers, and is provided with a left supporting disk and a right supporting disk, which can freely rotate around the central shaft, and an eccentric battery block; a screw rod is arranged between the left and the right supporting disks, and is provided with a ball nut; the ball nut is fixedly connected with the eccentric battery block through a connecting piece; the right supporting disk is provided with an axial adjusting motor; an axial position adjusting transmission mechanism is arranged between an output shaft of the axial adjusting motor and a ball screw rod; a rolling motor is arranged on the left supporting disk; and a rolling position adjusting transmission mechanism is arranged between an output shaft of the rolling motor and the central shaft. By adopting the gravity adjusting device, gravity adjustment of the underwater robot in two directions can be realized at the same time, i.e., the axial position and the rolling position of the gravity of the underwater robot can be adjusted, the service efficiency of the internal space of the robot is increased, and conditions for reducing the weight of the robot and enhancing the effective equipment carrying capability of the robot are provided.

Description

technical field [0001] The invention relates to a gravity center adjusting device. In particular, the invention relates to a center-of-gravity adjusting device of an underwater robot. It is used to adjust the movement posture of the underwater robot. Background technique [0002] In the actual application of underwater robots, the position of the center of gravity and the center of buoyancy of the underwater robot will often be changed due to the addition or reduction of a certain component during the assembly process, resulting in the underwater robot being unable to maintain a stable posture in the water and affecting its motion control. Effect. In addition, the underwater robot often needs to adjust its own pitch attitude and roll attitude during its movement, which can be realized by adjusting the center of gravity position of the underwater robot, including axial position adjustment and roll position adjustment. At present, the adjustment of the center of gravity in ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B63C11/00
Inventor 王玉甲苏浩张铭钧赵文德宋炜胥徐建安
Owner HARBIN ENG UNIV
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