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Mass center adjusting device for underwater robot

The technology of an underwater robot and an adjustment device is applied in the directions of underwater ships, underwater operation equipment, and motor vehicles.

Active Publication Date: 2017-07-07
SHENYANG INST OF AUTOMATION - CHINESE ACAD OF SCI
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The method of allocating liquid is mainly to arrange pressurized water tanks on the bow and stern of the underwater robot or on the left and right sides of the carrier. This method takes up a large volume, and the position of the center of buoyancy also changes when the center of mass is changed. The system is more complicated.

Method used

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  • Mass center adjusting device for underwater robot
  • Mass center adjusting device for underwater robot
  • Mass center adjusting device for underwater robot

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Embodiment Construction

[0026] The present invention will be described in further detail below in conjunction with the accompanying drawings.

[0027] Such as Figure 1~4 As shown, the present invention includes a pressure-resistant cabin body 27, a front support ring 5, a rear support ring 14, an eccentric battery pack 11, a square tube shaft 12, a heel drive device and a pitch drive device 21, wherein the two pressure-resistant cabin body 27 The ends are respectively sealed and connected with the front support ring 5 and the rear support ring 14, and the square tube shaft 12, the eccentric battery pack 11 and the pitch drive device 21 are all located in the pressure-resistant cabin 27.

[0028] The heel driving device is installed on the front support ring 5, and includes heel motor 4, heel equal-diameter gear set 3, heel worm gear 1, heel worm 2 and heel shaft 26, and heel motor 4 passes through heel fixed seat 23 is fixedly connected on the front support ring 5, and the heeling worm 2 is rotatab...

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Abstract

The invention belongs to the field of underwater robots and specifically relates to a mass center adjusting device for an underwater robot. A biasing battery pack of the underwater robot is used as a mass block of the mass center adjusting device for the underwater robot; through engaged transmissions of a pitching worm gear, a pitching worm and a gear rack of a pitching driving device, the biasing battery pack is enabled to slide on a square tube shaft so that the adjusting mass center of the mass center adjusting device moves in an axis direction of the mass center adjusting device; and through engaged transmission of a heeling worm gear and a heeling worm of a heeling adjusting device, the square tube shaft and the biasing battery pack are driven to rotate; and as the mass center of the biasing battery pack is biased from the axis of the square tube shaft, the mass center of the whole mass center adjusting device rotates around the axis of the whole mass center adjusting device so as to realize the pitching and heeling adjusting function of the whole underwater robot system. The mass center adjusting device for the underwater robot satisfies requirements, such as compact structure, small energy consumption, reliable working and so on, of the underwater robot.

Description

technical field [0001] The invention belongs to the field of underwater robots, in particular to a center-of-mass adjustment device for underwater robots. Background technique [0002] Underwater robot is an important tool for modern marine environment observation and resource exploration. With the development of underwater robot technology, higher and higher requirements are put forward for its operating performance. Due to the influence of ocean currents, waves, etc. during the operation of the underwater robot, the underwater robot cannot maintain a stable posture in the water, which affects its operating ability. In addition, the underwater robot often needs to adjust its own pitch and roll attitude during the movement, which can be realized by adjusting the position of the center of mass of the underwater robot. [0003] At present, the attitude adjustment of underwater robots mainly depends on the transfer of liquid and the movement of mass blocks. The method of allo...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B63G8/14
CPCB63G8/14B63G8/26B63G2008/004
Inventor 谭智铎俞建成金文明王旭李春阳
Owner SHENYANG INST OF AUTOMATION - CHINESE ACAD OF SCI
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