Buoyancy regulating system for micro underwater robot

An underwater robot and buoyancy adjustment technology, which is applied to underwater ships, underwater operating equipment, motor vehicles, etc., can solve the problems of complicated adjustment methods, unsuitable for micro-sized underwater robots, and large space occupation.

Pending Publication Date: 2018-04-13
天津瀚海蓝帆海洋科技有限公司
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Current buoyancy adjustment methods: 1. Oil bladder type buoyancy adjustment 2. Hydraulic system and plunger pump type 3. Temperature difference

Method used

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  • Buoyancy regulating system for micro underwater robot
  • Buoyancy regulating system for micro underwater robot
  • Buoyancy regulating system for micro underwater robot

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Embodiment Construction

[0020] The invention provides a micro-miniature underwater robot buoyancy adjustment system, which is adjusted by suction and drainage. The motor directly drives the piston to move through the gear and the screw. The structure is simple and compact. In addition, the water absorption and displacement can be adjusted through a small potentiometer. Accurate measurement, the leveling part directly uses the screw motor to drive the leveling lead to move back and forth, and the large potentiometer is used to accurately measure the leveling amount, so as to achieve precise control of buoyancy adjustment without changing the overall attitude of the AUV.

[0021] In order to better understand the above-mentioned technical solution, the above-mentioned technical solution will be described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0022] Such as Figure 1-Figure 4 As shown, a micro-miniature underwater robot buoyancy adjustment s...

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Abstract

The invention provides a buoyancy adjustment system for a micro-miniature underwater robot, belonging to the field of underwater robots, comprising a buoyancy adjustment part and a buoyancy leveling part, the motor shaft of the buoyancy adjustment part is connected with a pinion, and the pinion is meshed with a large gear , the large gear is connected to the lead screw, the lead screw is firmly connected to the piston, the lead screw nut is connected to the large limit plate and the straight and small potentiometer, the bottom cover of the piston cylinder is connected to the filter with a pressure measuring tube; the lead screw nut of the balance part of the lead screw motor Connect with the small limiter, large potentiometer and trim lead. The beneficial effects of the present invention are: adopting this mechanical adjustment method can directly drive the piston to move through the gear connection screw rod, the structure is compact and simple, and the small potentiometer can accurately measure the water absorption and displacement to achieve buoyancy adjustment. Precise control. The leveling part balances the attitude changes caused by suction and drainage by leveling the movement of the lead weight, so that the overall underwater robot attitude is not affected.

Description

technical field [0001] The invention relates to the technical field of underwater robots, in particular to the field of buoyancy adjustment of miniature underwater robots. Background technique [0002] Unmanned untethered autonomous underwater vehicle (AUV) is a kind of underwater robot that can rely on its own energy for autonomous navigation, and it is the main direction of underwater robot development. The underwater buoyancy adjustment is a key and difficult point in the development of AUV. At present, most AUVs do not have the function of actively adjusting the water environment changes. To overcome this, on the one hand, the aircraft generates additional water resistance or propeller power consumption, which increases energy consumption, and on the other hand, it reduces the effective control range of the AUV control surface, and in some cases even leads to the uncontrollability of the AUV. The research on the buoyancy adjustment system of underwater robots can well a...

Claims

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Application Information

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IPC IPC(8): B63C11/52B63G8/14
CPCB63C11/52B63G8/14
Inventor 武建国王伟张敏革张桐瑞王东
Owner 天津瀚海蓝帆海洋科技有限公司
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