The invention relates to a buoyancy adjusting posture control system based on rigid oil bag closed type circulation buoyancy adjusters, which comprises four rigid oil bag closed type circulation buoyancy adjusters which are symmetrically arranged on the same plane, outer oil bags of any two rigid oil bag closed type circulation buoyancy adjusters are connected through a bidirectional hydraulic pump, and the outer oil bags of any two rigid oil bag closed type circulation buoyancy adjusters are connected through a hydraulic pump. The inner oil bags of all the rigid oil bag closed circulation buoyancy regulators are connected through pipelines; the four rigid oil bag closed circulation buoyancy regulators are used for independently or synchronously regulating the buoyancy of the system so as to realize snorkeling of the system; the two-way hydraulic pump is used for secondarily distributing the buoyancy proportion of the two rigid oil bag closed circulation buoyancy regulators connected with the two rigid oil bag closed circulation buoyancy regulators so that transverse rolling, pitching and diagonal inclination attitude control can be achieved. On the basis of a plurality of rigid oil bag closed circulation buoyancy regulators capable of freely regulating buoyancy, roll control, pitching regulation and diagonal inclination attitude control are realized, and more complex action control can be carried out.
本发明涉及一种基于刚性油囊闭式循环浮力调节器的浮力调节姿态控制系统,包括4台对称同平面布局的的刚性油囊闭式循环浮力调节器,其中,任意两个刚性油囊闭式循环浮力调节器的外油囊通过双向液压泵连接,所有刚性油囊闭式循环浮力调节器的内油囊通过管路连接;4台刚性油囊闭式循环浮力调节器用于单独或同步调节系统浮力,以实现系统的浮潜;双向液压泵用于二次分配相连接的两个刚性油囊闭式循环浮力调节器的浮力比例,以实现横滚、俯仰以及对角倾斜姿态控制。本申请基于多个可以自由调节浮力的刚性油囊闭式循环浮力调节器,实现横滚控制、俯仰调节和对角倾斜姿态控制,可以进行更加复杂的动作控制。
Buoyancy adjusting posture control system based on rigid oil bag closed type circulation buoyancy adjuster
一种基于刚性油囊闭式循环浮力调节器的浮力调节姿态控制系统
22.10.2024
Patent
Elektronische Ressource
Chinesisch
IPC: | B63G OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS , Angriffs- oder Verteidigungsanordnungen auf Schiffen |
Mass center and buoyancy center adjustable and controllable buoyancy adjusting posture controller
Europäisches Patentamt | 2021
|Posture-adjustable underwater robot based on buoyancy adjusting system
Europäisches Patentamt | 2025
|