The sectional type modular underwater robot comprises a propelling section, a pitching adjusting cabin section, a buoyancy adjusting cabin section, a fixed battery pack cabin section and an observation cabin section which are connected in sequence. The propelling section comprises a propelling frame, a propeller, a motor driving unit, an elevator and a rudder; the pitching adjusting cabin section comprises a pitching cabin shell, and a mobile battery pack, a pitching supporting assembly and a driving device which are arranged in the pitching cabin shell; the buoyancy adjusting cabin section comprises a buoyancy shell, an outer oil bag and a piston type inner oil bag, the outer oil bag surrounds the outer wall of the shell, the inner oil bag is arranged in an inner cavity of the shell, and the outer wall of the inner oil bag is in sealed sliding connection with the inner cavity wall of the shell. The outer oil bag is communicated with the inner oil bag through an adjusting system and adjusts the oil amount in the outer oil bag and the inner oil bag. The fixed battery pack cabin section comprises a fixed battery pack cabin section shell, a fixed battery pack and a supporting pipe, the technical problems that an existing underwater robot is short in voyage, short in self-sustaining time and free of autonomous heaving capacity can be solved.
本发明公开了分段式模块化水下机器人,包括依次连接的推进段、俯仰调节舱段、浮力调节舱段、固定电池组舱段及观测舱段;推进段包括推进框架、推进器、电机驱动单元、升降舵、方向舵;俯仰调节舱段包括俯仰舱外壳及其内部设置的移动电池组、俯仰支撑组件以及驱动装置;浮力调节舱段包括浮力外壳、外油囊、活塞式内油囊,外油囊环绕外壳外壁设置,内油囊设置在外壳内腔且外壁与外壳的内腔壁密封滑动连接;外油囊通过调节系统与内油囊连通并调节外油囊和内油囊内的油量;固定电池组舱段包括固定电池组舱段外壳及内部设置的固定电池组、支撑管。本发明可解决现有水下机器人航程短、自持时间短、不具备自主升沉能力的技术问题。
Sectional type modular underwater robot
分段式模块化水下机器人
2023-04-14
Patent
Electronic Resource
Chinese