The invention discloses a posture buoyancy adjusting device coupled underwater liquid transportation robot which comprises a liquid transportation cabin used for storing and transporting liquid, a propelling module, a bow adjusting module and a tail adjusting module. The bow adjusting module and the tail adjusting module are the same in structure. The bow adjusting module comprises a hydraulic control system, a water bag fixing frame, a water bag, a driving motor and an annular gear track, the water bag and the driving motor are installed in the water bag fixing frame, the annular gear track is an annular track with the central axis of the underwater liquid transportation robot as the center, and the driving motor drives the water bag fixing frame to move along the annular gear track through a gear transmission mechanism. The gravity center position of the underwater liquid transportation robot is changed; the hydraulic control system controls the water bag to suck or discharge external liquid, and the buoyancy of the underwater liquid transportation robot is adjusted. The bow/tail adjusting module can adjust the posture and buoyancy at the same time, the buoyancy is kept unchanged when the posture is adjusted, the posture is kept unchanged when the buoyancy is adjusted, the water bag for buoyancy adjustment serves as a mass block for posture adjustment, and the structure is compact.
本发明公开了一种姿态浮力调节装置耦合的水下液体运输机器人,包括用于存储运输液体的液体运输舱、推进模块、结构相同的艏部调节模块和尾部调节模块,艏部调节模块包括液压控制系统、水囊固定架、安装于水囊固定架内的水囊和驱动电机、环形齿轮轨道,环形齿轮轨道为以水下液体运输机器人中轴线为中心的环形轨道,驱动电机通过齿轮传动机构驱动水囊固定架沿环形齿轮轨道移动,改变水下液体运输机器人重心位置;液压控制系统控制水囊吸入或排出外部液体,调整水下液体运输机器人浮力。艏/尾部调节模块可以同时调节姿态和浮力,且在调节姿态时保持浮力不变,调节浮力时保持姿态不变,且浮力调节的水囊充当姿态调节的质量块,结构紧凑。
Underwater liquid transportation robot coupled with posture buoyancy adjusting device and liquid filling control method and posture adjusting method of underwater liquid transportation robot
一种姿态浮力调节装置耦合的水下液体运输机器人及其充液控制方法和姿态调节方法
2024-07-05
Patent
Electronic Resource
Chinese
IPC: | B63G OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS , Angriffs- oder Verteidigungsanordnungen auf Schiffen / B63B Schiffe oder sonstige Wasserfahrzeuge , SHIPS OR OTHER WATERBORNE VESSELS / B63C LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS , Zuwasserlassen, Trockenstellen, Docken oder Bergen von Schiffen |
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