The underwater robot comprises a control cabin module, a propelling module, a bow adjusting module and a tail adjusting module, the bow adjusting module and the tail adjusting module are located at the two ends of the control cabin module respectively and are the same in structure, and the bow adjusting module comprises a posture adjusting system and a buoyancy adjusting system; the buoyancy adjusting system comprises an outer oil cylinder, the outer oil cylinder is filled with or discharges liquid to adjust the buoyancy of the underwater robot, the posture adjusting system comprises a counter weight, a driving motor and an annular toothed rail fixedly arranged outside the outer oil cylinder in a sleeving mode, the driving motor is fixedly connected with the counter weight, and the driving motor drives the counter weight to move along the annular toothed rail through a gear assembly. And changing the gravity center position of the underwater robot and adjusting the posture of the underwater robot. The bow adjusting module and the tail adjusting module can keep buoyancy unchanged in the posture adjusting process, the posture can be kept unchanged in the buoyancy adjusting process, and decoupling adjustment of the posture and the buoyancy is achieved.
本发明公开了一种姿态浮力调节解耦的水下机器人,包括控制舱模块、推进模块、艏部调节模块和尾部调节模块,艏部调节模块和尾部调节模块分别位于控制舱模块两端,且结构相同,艏部调节模块包括姿态调节系统和浮力调节系统,浮力调节系统包括外油缸,外油缸充入或排出液体,调整水下机器人浮力,姿态调节系统包括配重物、驱动电机、固定套设于外油缸外的环形齿轨,驱动电机与配重物固定连接,驱动电机通过齿轮组件驱动配重物沿环形齿轨移动,改变水下机器人重心位置,调整水下机器人姿态。艏部调节模块和尾部调节模块在调节姿态的过程中可以保持浮力不变,在调节浮力的过程中可以保持姿态不变,实现姿态、浮力的解耦调节。
Underwater robot for attitude buoyancy adjustment decoupling and attitude adjustment method thereof
一种姿态浮力调节解耦的水下机器人及其姿态调节方法
2024-07-09
Patent
Electronic Resource
Chinese
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