A Center of Gravity Adjustment System Applied to Underwater Robots

Abstract

The invention discloses a gravity center adjustment system applied to an underwater robot, and belongs to the technical field of underwater robots. The gravity center adjustment system applied to theunderwater robot comprises a support, wherein a counter-weight unit, an axial adjustment mechanism and a circumferential adjustment mechanism are arranged in the support; the counter-weight unit comprises a first counter-weight block and a second counter-weight block which are symmetrically arranged; the axial adjustment mechanism is used for driving the counter-weight unit to slide in the axial direction of the support; and the circumferential adjustment mechanism is arranged on the end parts of the first counter-weight block and the second counter-weight block, and used for driving the two counter-weight blocks to rotate, and adjusting the relative positions of the two counter-weight blocks. Through the arrangement for the two counter-weight blocks, the counter weight of the underwater robot in the circumferential direction can be adjusted; and adjustment for various postures of the underwater robot can be realized through the co-action of the axial adjustment mechanism and the circumferential adjustment mechanism. Battery packs can be adopted as the counter-weight blocks; and the whole system is simple and compact in structure, so that the interior space of the underwater robotis saved.

Description

technical field [0001] The invention relates to the technical field of underwater robots, in particular to a center-of-gravity adjustment system applied to underwater robots. Background technique [0002] my country's marine resources are very rich, and underwater robots, as a detection platform, can carry out diverse research on the marine environment. In the structure of the underwater robot, the center of gravity adjustment system is an important part, which affects the posture of the underwater robot in the water, and then affects the direction and form of motion of the underwater robot. At present, the center of gravity adjustment system applied to underwater robots usually uses a battery pack as a counterweight to adjust the attitude of the underwater robot by adjusting its position in the axial direction and in the circumferential direction. The axial adjustment is usually driven by a linear motor. The screw rotates, and then the counterweight moves along the axial d...

AI Technical Summary

Problems solved by technology

[0004] 1) The counterweight structure is an eccentric structure, so that the part of the underwater robot that removes the counterweight structure must also be an eccentric structure so that the overall center of gravity of the underwater robot is no longer eccentric. In actual engineering, it is necessary to continuously adjust the counterweight to make the underwater robot The center of gravity is along the axis of the body, and the process is more complicated and cumbersome;

[0005] 2) When the underwater robot needs to be adjusted from the vertical state to the inclined state, it is necessary to first rotate the eccentric weight by 180°, which will cause the body itself to rotate in the rolling direction, which is not conducive to the control of the body itself

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