Under-actuated buoyancy adjusting device and adjusting method thereof

A buoyancy adjustment and underactuated technology is applied in the field of auxiliary devices of underwater robots, which can solve the problems of increasing the self-weight of underwater robots, complex structure, limited adjustment ability, etc., and achieves improved energy utilization, high motion stability, and easy elongation. Effect

Active Publication Date: 2022-05-17
JIANGSU UNIV OF SCI & TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, the left and right adjustment modules of the device are driven by the left and right electric push rods respectively, and the number of degrees of freedom is equal to the number of driving sources. It can realize the adjustment of buoyancy and buoyancy moment in one dimension, and the adjustment ability is also limited

Method used

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  • Under-actuated buoyancy adjusting device and adjusting method thereof
  • Under-actuated buoyancy adjusting device and adjusting method thereof
  • Under-actuated buoyancy adjusting device and adjusting method thereof

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Experimental program
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Embodiment 1

[0054] like figure 1 , figure 2 , Figure 30 (a), Figure 30 (b), Figure 30 As shown in (c), an underactuated buoyancy adjustment device in this embodiment includes a power module 65 and at least two adjustment modules. The adjustment modules are evenly distributed around the power module 65. In this embodiment, the four adjustment modules are example to illustrate.

[0055] like figure 1 and figure 2 As shown, in this embodiment, an underactuated buoyancy adjustment device with four adjustment modules is used, including a power module 65 , a first adjustment module 66 , a second adjustment module 67 , a third adjustment module 68 , and a fourth adjustment module 69 . The first adjustment module 66 , the second adjustment module 67 , the third adjustment module 68 , and the fourth adjustment module 69 have the same structure. The power module 65 is located at the center position, the first adjustment module 66 , the second adjustment module 67 , the third adjustment ...

Embodiment 2

[0075] like Figure 30 As shown, an adjustment method for an underactuated buoyancy adjustment device in this embodiment is described by using four adjustment modules as an example, including the following steps:

[0076] Step 1: Collect attitude information of the underactuated buoyancy adjustment device;

[0077] Step 2: Establish the space coordinate system oxyz of the buoyancy adjustment device: take the geometric center of the power module 65 as the coordinate origin O, take the axis of the worm 14 as the z-axis, take the central axis of the fourth adjustment module 69 as the x-axis, take the first adjustment module The central axis of 66 is the y-axis;

[0078] Step 3: Set the target attitude information of the underactuated buoyancy adjustment device to obtain the target buoyancy F required for adjustment z , floating moment M;

[0079] Step 4: Decompose the target buoyancy F and the buoyancy moment M to the coordinate axis, obtain the component force and component f...

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Abstract

The invention discloses an under-actuated buoyancy adjusting device which comprises a power module and at least two adjusting modules, the power module comprises a driving motor and a worm, each adjusting module comprises a telescopic cylinder, a transmission shaft, a worm gear and a first spline gear, and the first spline gear rotates to adjust the size of the telescopic cylinder. A groove with spline teeth on the side surface and an electromagnetic control device on the bottom surface is formed in one side of the worm gear, an elastic part is arranged between the first spline gear and the transmission shaft, the electromagnetic control device adsorbs the first spline gear when being electrified, the elastic part deforms, the first spline gear is meshed with the worm gear, and the worm gear rotates to drive the first spline gear to rotate; when the electromagnetic control device loses power, the elastic component restores the shape, and the first spline gear is separated from the groove of the worm gear; the multiple adjusting modules are driven by one motor, the size of the device is reduced, the energy utilization rate is increased, the failure rate and the dead weight of an electromechanical system are reduced, each adjusting module can be independently adjusted, and buoyancy adjustment is more flexible.

Description

technical field [0001] The invention relates to an auxiliary device of an underwater robot, in particular to an under-actuated buoyancy adjusting device and an adjusting method thereof. Background technique [0002] As the second largest development space for human beings, the ocean contains abundant energy and biological resources. Underwater robots play an irreplaceable role in the development of marine resources. However, due to the complex underwater environment, underwater robots need to have good buoyancy adjustment performance to adapt to changes in seawater density in different waters and depths. There are many ways to adjust the buoyancy of today's underwater robots, such as adjusting the buoyancy through hydraulic pumps or high-pressure pneumatic systems. [0003] In the prior art, such as patent application CN202010893259.9, an underwater robot attitude control and snorkeling adjustment device is disclosed, which adjusts the water by absorbing and draining water ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B63G8/24
CPCB63G8/24Y02E10/30
Inventor 颜静殷宝吉张冲张建苏世杰陈赟徐文星辛伯彧
Owner JIANGSU UNIV OF SCI & TECH
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