The invention provides an underwater robot buoyancy adjusting device. The underwater robot buoyancy adjusting device comprises a buoyancy material and a moving device. The buoyancy material is fixed to the moving device, and the moving device actively adjusts the buoyancy acting position and pose of the underwater robot by changing the position of the buoyancy material. According to the buoyancy adjusting device for the underwater robot, compared with a traditional underwater robot, the underwater robot carrying the buoyancy adjusting device can adjust the buoyancy applying position of the underwater robot when the underwater robot works underwater, and therefore the buoyancy adjusting device has the advantages that the buoyancy applying position of the underwater robot can be adjusted; the body posture of the underwater robot in a balanced unpowered state can be changed or the buoyancy center change caused by the movement of a carried device such as a mechanical arm of the underwater robot can be counteracted. In addition, the size or density of the replaceable movable buoyancy material in the device can be adjusted, so that the robot can reach a zero-buoyancy balance state in underwater environments with different salinity.

    本发明提供一种水下机器人浮力调节装置,包括浮力材料、移动装置;所述浮力材料固定在所述移动装置上,所述移动装置通过改变所述浮力材料的位置主动调节水下机器人自身浮力作用位置和位姿。本发明提供的水下机器人浮力调节装置,使得搭载了这种装置的水下机器人与传统水下机器人相比,可在水下工作时调节其自身浮力施加位置,这样做的好处是,可以改变水下机器人在平衡无动力状态下的身体姿态或抵消水下机器人因搭载的装置如机械臂的运动导致浮心的变化。此外,该装置中可替换的可动浮力材料能够通过调整浮力材料的大小或密度,让机器人在不同盐度的水下环境都可以达到零浮力的平衡状态。


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    Title :

    Underwater robot buoyancy adjusting device and underwater robot


    Additional title:

    一种水下机器人浮力调节装置及水下机器人


    Contributors:
    LI QIANG (author) / JING HONGZHENG (author) / CHEN WENYING (author) / LI XUEMENG (author) / ZHENG YU (author) / WANG KAIYONG (author) / SHU MINGRUI (author)

    Publication date :

    2022-09-23


    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



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