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Center-of-gravity regulating device applied to underwater robotic dolphin

A technology for adjusting the center of gravity and underwater machines, which is applied to underwater operation equipment, transportation and packaging, ships, etc. It can solve problems such as limited bearing capacity and limited pendulum weight, and achieve simple production, convenient control, and small radial load Effect

Inactive Publication Date: 2014-05-14
BEIJING INSTITUTE OF TECHNOLOGYGY +1
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Judging from the current status quo, there are few studies on the three-dimensional motion of robotic dolphins. The existing method is to adjust the center of gravity by driving the pendulum with the steering gear, and then realize the three-dimensional motion with the cooperation of tail flapping motion. The rotating shaft of the steering gear fully bears the pendulum. The weight of the machine is limited, and the weight of the pendulum used is limited. With the increase of the weight and volume of the robot dolphin, this method can no longer meet the requirements

Method used

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  • Center-of-gravity regulating device applied to underwater robotic dolphin
  • Center-of-gravity regulating device applied to underwater robotic dolphin
  • Center-of-gravity regulating device applied to underwater robotic dolphin

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Embodiment Construction

[0013] See attached figure 1 , 2 , 3, a center of gravity adjustment device applied to underwater machine dolphins, which includes: lead screw 1, lead screw nut 2, slider group, stepper motor 3, encoder 4, encoder transmission kit, L-shaped fixed frame 5. Left bearing rod 6, right bearing rod 7, bottom plate 8, front vertical plate 9, rear vertical plate 10, front limit switch 11 and rear limit switch 12;

[0014] Wherein the slider group includes: left linear bearing 13, right linear bearing 14, copper block 15, left fixed wedge 16 and right fixed wedge 17;

[0015] The front and rear ends of the left bearing rod 6 and the right bearing rod 7 are respectively fixed on the front vertical plate 9 and the rear vertical plate 10, and the front vertical plate 9 and the rear vertical plate 10 are fixed on the front and rear ends of the straight base plate 8; The motor 3 and the encoder 4 are fixed on the base plate 8 through the L-shaped fixing frame 5, and the stepper motor 3 is...

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Abstract

The invention relates to the technical field of underwater bionic robots, in particular to a center-of-gravity regulating device. The invention discloses a center-of-gravity regulating device applied to an underwater robotic dolphin. A lead screw (1) is driven to rotate through the forward rotation and the backward rotation of a stepping motor (3) so as to move a lead screw nut (2) engaged with the lead screw (1); a slide block group is dragged to move forwards for realizing the movement of the center of gravity; an encoder (4) is used for recording the number of rotation circles and the angular speed of the lead screw (1) and estimating the position and the translation speed of the slide block group; and a front limit switch (11) and a back limit switch (12) are used for realizing the initial position resetting of the slide block group. The lead screw (1) and the stepping motor (3) of the center-of-gravity regulating device provided by the invention are subject to low radial load. Moreover, the center-of-gravity regulating device is simple in manufacture and convenient in control, can adapt to the center-of-gravity regulating demand for the three-dimensional movement of a larger robotic dolphin, and has a significant application prospect in the tasks of monitoring water quality environments, inspecting underwater equipment and the like.

Description

technical field [0001] The invention relates to the technical field of underwater bionic robots, in particular to a center of gravity adjusting device. Background technique [0002] Underwater bionic robots have become a research hotspot in robotics. Because dolphins have superior performance than fish in terms of swimming performance, drag reduction mechanism and detection, it is more suitable to be a research object. Tokyo Institute of Technology has developed a two-joint robot dolphin. The first joint is driven by a motor, and the second joint is connected to the first joint through a spring without power. Istanbul Technical University has developed a pneumatically driven, four-jointed robotic dolphin. Peking University has developed a robotic dolphin equipped with mechanical flippers. The Institute of Automation of the Chinese Academy of Sciences has developed a small robot dolphin, which can achieve three-dimensional movement by changing the center of gravity of the ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B63C11/52
Inventor 任光戴亚平赵鹏曹志强沈飞
Owner BEIJING INSTITUTE OF TECHNOLOGYGY
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