The invention belongs to the field of underwater robots. According to the technical scheme, a posture control and floating and diving adjustment device for an underwater robot is characterized by comprising a cross-shaped support, a gyroscope sensor used for detecting the moving posture of the underwater robot, a front compression tank and a rear compression tank which are installed at the front outer end and the rear outer end of the cross-shaped support respectively to adjust the moving posture of the underwater robot in the front-back direction, a left compression tank and a right compression tank which are installed at the left outer end and the right outer end of the cross-shaped support respectively to adjust the moving posture of the underwater robot in the left-right direction, a longitudinal sliding rail arranged on the cross-shaped support in the front-back direction, a transverse sliding rail arranged on the cross-shaped support in the left-right direction, a first driving assembly used for driving the front compression tank and the rear compression tank, and a second driving assembly used for driving the left compression tank and the right compression tank. The device can be carried on the underwater robot, the pitching and rolling balance and the floating and diving functions of the underwater robot are achieved, the structure is simple, control is convenient, andthe occupied space is small.
本发明属于水下机器人领域。技术方案是:水下机器人姿态控制及浮潜调节装置,其特征在于:包括十字型支架、用于检测水下机器人运动姿态的陀螺仪传感器、分别安装在十字型支架前、后两个外端部以调节水下机器人前后方向运动姿态的前压缩罐和后压缩罐、分别安装在十字型支架左、右两个外端部以调节水下机器人左右方向运动姿态的左压缩罐和右压缩罐、沿前后方向设置在十字型支架上的纵向滑轨、沿左右方向设置在十字型支架上的横向滑轨、用于驱动前压缩罐和后压缩罐的第一驱动组件以及用于驱动左压缩罐和右压缩罐的第二驱动组件。该装置可搭载在水下机器人上,实现水下机器人俯仰和翻滚的平衡以及上浮和下潜功能,结构简单、控制方便、占用空间小。
Posture control and floating and diving adjustment device for underwater robot
水下机器人姿态控制及浮潜调节装置
2020-12-22
Patent
Electronic Resource
Chinese
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