Underwater robot with tilting and rotating function

An underwater robot and a robot body technology, applied in the field of robots, can solve problems such as reducing the operating capacity of the underwater robot, and achieve the effects of a good tilting state, avoiding overshoot and increasing damping.

CN109398655AActive Publication Date: 2019-03-01HUNAN INSTITUTE OF ENGINEERING
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
Publication Date
2019-03-01

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Abstract

The invention discloses an underwater robot with a tilting and rotating function. The underwater robot with the tilting and rotating function comprises a robot body adopting a frame-type symmetrical structure and a tilting and rotating control device arranged in the robot body. An electronic cabin is arranged on the middle vertical plane of the robot body, and the electronic cabin is internally provided with a controller and an attitude sensor, wherein the controller and the attitude sensor are connected with each other. The tilting and rotating control device comprises a counterweight and a telescopic driving part connected with the controller, and the telescopic driving part drives the counterweight to reciprocate in the left and right direction of the robot body. According to the underwater robot with the tilting function, the tilting and rotating control device is arranged inside a robot frame, the tilting and rotating control device can change the position of the counterweight ona tilting and rotating lead screw in real time according to an instruction output from the controller in the electronic cabin, and tilting and rotating torque which rotates in the horizontal directionis applied to the robot, so that the robot body can maintain stability in the tilting and rotating process.
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Description

technical field

[0001] The invention relates to the technical field of robots, in particular to an underwater robot with a tilting function. Background technique

[0002] With the rapid development of robot technology, the application of underwater working robots is becoming more and more extensive. Observation-type underwater robot, as a special underwater robot, has special applications in underwater environment detection and observation. The existing observation-type underwater robots are usually designed in a flat shape for the sake of motion stability and safety, and the posture of the underwater robot when walking in the water is kept as horizontal as possible. When this underwater robot walks underwater, the width of the walking channel is required to be larger than that of the underwater robot, and it cannot keep moving at a certain inclination angle, which reduces the working ability of the underwater robot in special applications.

[0003] It can be seen that if ...

Examples

Embodiment Construction

[0026] The embodiments of the present invention will be described in detail below with reference to the accompanying drawings, but the present invention can be implemented in many different ways defined and covered by the claims.

[0027] Such as Figure 1-Figure 7 As shown, the present invention discloses an underwater robot with a tilting function, which includes a robot body 1 , a tilting control device 2 and an attitude control device 3 .

[0028] Among them, in order to ensure that the robot body 1 maintains a balanced state during underwater operations, the robot body 1 is shaped as a rectangular parallelepiped with a frame-type centrosymmetric structure, including a left side plate 11, a right side plate 12, an upper beam 13, a lower beam 14, and a horizontal beam. Propeller 15, vertical propeller 16, buoyancy block 17, cable 19, electronic cabin 18, attitude sensor 181, controller 182, left side plate 11 and right side plate 12 are vertically arranged on the left and r...