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Posture control and floating and diving adjustment device for underwater robot

An underwater robot and attitude control technology, which is applied to underwater ships, underwater operating equipment, motor vehicles, etc., can solve the problems that the control results cannot meet expectations, the control process is complicated, and the space occupied is large, and the space occupied is small, The control method is simple to ensure the effect of normal movement

Inactive Publication Date: 2020-12-22
ZHEJIANG SCI-TECH UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

There are many methods for controlling the balance of underwater robots in underwater operations, such as controlling the steering attitude of the rudder blades, etc., but the control process is relatively complicated, and the control results cannot achieve the expected results
In addition, when underwater robots snorkel, they usually use air valves and oil pumps to control buoyancy, but these methods are complicated to implement and take up a lot of space, making it difficult to apply to some small and medium-sized robots

Method used

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  • Posture control and floating and diving adjustment device for underwater robot
  • Posture control and floating and diving adjustment device for underwater robot
  • Posture control and floating and diving adjustment device for underwater robot

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Embodiment Construction

[0020] Further description will be given below in conjunction with the embodiments shown in the accompanying drawings.

[0021] For convenience of description, the figure 2 The left-right direction of is the left-right direction, with figure 2 The up and down direction is the front and back direction, with figure 2 The direction perpendicular to the plane of paper is the up-down direction.

[0022] Such as figure 1 , figure 2 The underwater robot attitude control and snorkel adjustment device shown includes a cross bracket 1, a gyro sensor 2, a front compression tank 3 and a rear compression tank 4, a left compression tank 5 and a right compression tank 6, a longitudinal slide rail 7, Transverse slide rail 8, first drive assembly and second drive assembly. The cross-shaped support is fixedly connected with the underwater robot (not shown in the figure), so that the present invention can be carried on the underwater robot. The gyroscope sensor is installed on a cross-...

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Abstract

The invention belongs to the field of underwater robots. According to the technical scheme, a posture control and floating and diving adjustment device for an underwater robot is characterized by comprising a cross-shaped support, a gyroscope sensor used for detecting the moving posture of the underwater robot, a front compression tank and a rear compression tank which are installed at the front outer end and the rear outer end of the cross-shaped support respectively to adjust the moving posture of the underwater robot in the front-back direction, a left compression tank and a right compression tank which are installed at the left outer end and the right outer end of the cross-shaped support respectively to adjust the moving posture of the underwater robot in the left-right direction, a longitudinal sliding rail arranged on the cross-shaped support in the front-back direction, a transverse sliding rail arranged on the cross-shaped support in the left-right direction, a first driving assembly used for driving the front compression tank and the rear compression tank, and a second driving assembly used for driving the left compression tank and the right compression tank. The device can be carried on the underwater robot, the pitching and rolling balance and the floating and diving functions of the underwater robot are achieved, the structure is simple, control is convenient, andthe occupied space is small.

Description

technical field [0001] The invention belongs to the field of underwater robots, in particular to an attitude control and snorkeling adjustment device for an underwater robot. Background technique [0002] In today's field of underwater robots, various underwater robots have been gradually applied to practice, and have achieved good results. The underwater robots we are familiar with include traditional underwater robots, such as propeller robots, AUV, ROV, etc., which use propellers to generate propulsion, and also include bionic underwater robots, such as bionic fish robots, bionic frog robots, They can replace people in the ocean to complete some difficult tasks such as underwater detection and underwater operations, so underwater robot technology is used in many fields. [0003] The autonomous operation of underwater robots involves many problems. How to control the snorkeling of underwater robots and ensure the posture balance of underwater robots is one of the technolo...

Claims

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Application Information

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IPC IPC(8): B63G8/22B63C11/52
CPCB63C11/52B63G8/22
Inventor 陈刚遆肖聪杨鑫卢裕旺屠嘉骏
Owner ZHEJIANG SCI-TECH UNIV
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