The invention belongs to the field of stability adjustment of underwater robots, and particularly relates to a stability adjustment device and method of an underwater robot, which are mainly applied to the aspect of stability improvement of the underwater robot operating on the water surface. The stability adjusting device of the underwater robot comprises a mounting frame, and a stroke detection device, a driving unit, an adjusting ballast and a guiding device which are arranged in the mounting frame, the driving unit is used for driving the adjusting ballast to move vertically so as to adjust the gravity center position. The stroke detection device is used for detecting the stroke of the adjusting ballast in the mounting frame; the guiding device is used for guiding and fixing the adjusting ballast. The adjusting ballast is arranged in the mounting frame, the adjusting ballast and the mounting frame form a whole, the adjusting ballast extends out of an opening in the bottom of the mounting frame through the telescopic effect of the hydraulic cylinder, the overall gravity center height of the device is adjusted, the initial stability and the restoring torque are increased, and the stability of the underwater robot is improved.
本发明属于水下机器人稳性调节领域,具体涉及一种水下机器人的稳性调节装置及方法,主要应用在对水面作业的水下机器人的稳性提升方面。该水下机器人的稳性调节装置包括安装架以及设置在安装架内的行程检测装置、驱动单元、调节压载和导向装置;驱动单元用于驱动调节压载竖向移动,以调节重心位置。行程检测装置用于检测调节压载在安装架内的行程;导向装置用于对调节压载进行导向和固定。调节压载内置在安装架内部,与安装架形成一个整体,通过液压缸的伸缩作用,调节压载从安装架底部开口处伸出,调节装置整体重心高度,增加初稳性高和恢复力矩,提高水下机器人的稳性。
Stability adjusting device and method for underwater robot
一种水下机器人的稳性调节装置及方法
2024-03-29
Patent
Electronic Resource
Chinese
Modularized underwater robot stability adjusting system and adjusting method thereof
European Patent Office | 2025
|Underwater robot bidirectional buoyancy adjusting device
European Patent Office | 2020
|