An operating underwater robot center of gravity adjustment device

Abstract

The invention provides an operating type underwater robot center of gravity adjustment device, which relates to the application field of underwater robots and aims to provide a reliable and effective center of gravity adjustment device for the underwater robot system to balance the underwater robot system due to the expansion of the manipulator during operation. The resulting overturning moment or the adjustment of the movement posture of the underwater robot is driven by a stepping motor through a first-stage bevel gear, and the position of the weight is adjusted by using the principle of screw nut transmission. The position detection sensor moves with the weight and can detect the weight in real time. The position of the block in the sealed cylinder. The present invention makes full use of the effective space inside the underwater robot body, can be used to control the operation balance and motion posture of the underwater robot, and realize the pitch attitude control or roll attitude control of the underwater robot, and has the advantages of small volume, compact structure, The advantages of reliability and high adjustment accuracy are suitable for the operation balance and attitude control of the operational underwater robot.

Description

technical field [0001] The invention relates to a center-of-gravity adjusting device, in particular to an operating-type underwater robot center-of-gravity adjusting device. Background technique [0002] Underwater robot is an important tool for modern marine environment monitoring and resource development; with the continuous improvement of its working scope and operating requirements, higher requirements are put forward for its operating performance. The movement change of the manipulator used in the operation process often changes the position of the center of gravity and the center of buoyancy of the underwater robot, causing the underwater robot to not maintain a stable posture in the water and affecting its operating ability. In addition, the underwater robot often needs to adjust its own pitching attitude and rolling attitude during the movement process, which can be realized by adjusting the center of gravity position of the underwater robot. [0003] At present, th...

AI Technical Summary

Problems solved by technology

The method of moving the weight is to change the position of the center of gravity by changing the position of the weight inside the robot. This patent also adopts the above method. A device for adjusting the center of gravity of an underwater robot (publication number CN102145740A) is mentioned in the Chinese patent. A center-of-gravity adjustment device for attitude adjustment of an observation-type underwater robot. It is characterized in that the pitch adjustment and roll adjustment of the center of gravity adjustment are designed as a set of devices. This design increases the complexity of the adjustment system and reduces the reliability of the system. , at the same time, this design is applied to observation-type underwater robots, where the roll adjustment range is not required to be high. volume

Images