The spherical underwater robot comprises a spherical shell, a depth detection module is installed at the top of the shell, propelling modules for providing power for the robot are arranged on the two sides of the shell, and a buoyancy and posture adjusting module for controlling submerging and floating and posture of the robot is arranged in the shell. The buoyancy and posture adjusting module comprises two water tanks mounted in a bracket in the shell, and a water tank piston is arranged in each water tank; the stepping motor is used for pushing a piston of the water tank and is used for adjusting the volume of water in the water tank and changing the buoyancy of the spherical underwater robot; the stepping motor is further used for changing the positions of pistons of the two water tanks so that the water storage amount of the two water tanks can be different, and posture adjustment is achieved. And the steering engine drives the two water tanks to rotate, and the steering engine rotates to drive the two water tanks to rotate around the central axis of the shell or enable the water storage amounts of the two water tanks to be different, so that the gravity center of the robot shifts, and pitching and transverse inclination posture adjustment of the robot is achieved.
本发明公开一种具有姿态调节的球型水下机器人,包括球形的壳体,壳体顶部安装有深度检测模块,壳体两侧布置有为机器人提供动力的推进模块,所述壳体内设置有控制机器人潜浮和姿态的浮力与姿态调节模块,所述浮力与姿态调节模块包括:安装在壳体内支架中的两个水箱,每个水箱中设置有水箱活塞;推动所述水箱活塞的步进电机,用于调整水箱里水的体积,改变球型水下机器人的浮力;所述步进电机还用于改变两个水箱活塞位置使得两水箱存水量不同,实现调节姿态;驱动两个水箱旋转的舵机,所述舵机旋转带动两个水箱绕壳体中心轴旋转或者使得两水箱存水量不同,使得机器人的重心发生偏移,实现机器人的俯仰与横倾姿态调节。
Spherical underwater robot with posture adjustment function
一种具有姿态调节的球型水下机器人
2024-03-19
Patent
Electronic Resource
Chinese
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