Buoyancy regulating system for micro underwater robot

Abstract

The invention provides a buoyancy regulating system for a micro underwater robot and belongs to the field of underwater robots. The buoyancy regulating system for the micro underwater robot comprisesa buoyancy regulating part and a buoyancy leveling part; a motor shaft of the buoyancy regulating part is connected with a small gear; the small gear is engaged with a big gear; the big gear is connected with a lead screw; the lead screw is fixedly connected with a piston; a lead screw nut is connected with a big limiting piece and a direct small potentiometer; a piezometric tube for a piston cylinder bottom cover is connected with a filter; and a lead screw nut of a lead screw motor of the leveling part is connected with a small limiting piece, a big potentiometer and a balancing lead block.The buoyancy regulating system for the micro underwater robot has the advantages that the gear can be connected with the lead screw to directly drive the piston to move by using the mechanical regulating mode; the structure is compact and simple; and the water absorbing capacity and the water displacement can be accurately metered by using the small potentiometer to accurately control the buoyancyregulation. The leveling part balances the posture change caused by water absorption and water displacement through the movement of the balancing lead block so that the posture of the whole underwater robot is not affected.

Description

technical field [0001] The invention relates to the technical field of underwater robots, in particular to the field of buoyancy adjustment of miniature underwater robots. Background technique [0002] Unmanned untethered autonomous underwater vehicle (AUV) is a kind of underwater robot that can rely on its own energy for autonomous navigation, and it is the main direction of underwater robot development. The underwater buoyancy adjustment is a key and difficult point in the development of AUV. At present, most AUVs do not have the function of actively adjusting the water environment changes. To overcome this, on the one hand, the aircraft generates additional water resistance or propeller power consumption, which increases energy consumption, and on the other hand, it reduces the effective control range of the AUV control surface, and in some cases even leads to the uncontrollability of the AUV. The research on the buoyancy adjustment system of underwater robots can well a...

AI Technical Summary

Problems solved by technology

Current buoyancy adjustment methods: 1. Oil bladder type buoyancy adjustment 2. Hydraulic system and plunger pump type 3. Temperature difference energy type. The above adjustment methods are more complicated and occupy a large space, which is not suitable for micro-sized underwater robots.

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