The invention discloses a gravity center adjusting system applied to an underwater robot; the system comprises a support, a gravity center adjusting top disc and a gravity center adjusting bottom disc which are oppositely arranged and can synchronously move in the axial direction of the support are arranged in the support, and a first balancing weight and a second balancing weight are arranged between the gravity center adjusting top disc and the gravity center adjusting bottom disc; the gravity center adjusting system further comprises an axial adjusting mechanism used for driving the gravity center adjusting top disc and the gravity center adjusting bottom disc to move synchronously, a horizontal adjusting mechanism used for driving the first balancing weight and the second balancing weight to rotate in the circumferential direction so as to adjust the relative positions of the first balancing weight and the second balancing weight, and a circumferential rolling adjusting mechanism used for driving the first balancing weight and the second balancing weight to integrally and circumferentially rotate. The three-degree-of-freedom motion of the gravity center adjusting system of the complex structure is achieved through the three driving sources, power consumption is reduced by reducing motors, it is guaranteed that no degree-of-freedom loss exists, and the cruising ability and flexibility of the underwater robot under water are greatly improved.

    本发明公开了一种应用于水下机器人的重心调节系统,包括支架,所述支架内设置有相对布置且能沿支架轴向同步移动的重心调节顶盘、重心调节底盘,所述重心调节顶盘和重心调节底盘之间设置有第一配重块、第二配重块;所述重心调节系统还包括用于驱动重心调节顶盘、重心调节底盘同步移动的轴向调节机构,用于驱动第一配重块和第二配重块周向旋转以调节两者相对位置的水平调节机构,以及用于驱动第一配重块和第二配重块整体周向旋转的圆周滚转调节机构。本发明通过三个驱动源实现了复杂结构重心调节系统的三自由度运动,不仅通过减少电机降低了功耗,还保证了没有自由度方面的损失,大大提升了水下机器人在水下的续航能力和灵活性。


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    Title :

    Gravity center adjusting system applied to underwater robot


    Additional title:

    一种应用于水下机器人的重心调节系统


    Contributors:
    CHEN YANHU (author) / MU XIUTONG (author) / ZHI HUI (author) / ZHAO XIAOYAN (author) / FEI XINYU (author)

    Publication date :

    2021-12-17


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B63G OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS , Angriffs- oder Verteidigungsanordnungen auf Schiffen / B63C LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS , Zuwasserlassen, Trockenstellen, Docken oder Bergen von Schiffen



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