Automatic balancing device for underwater robot
The automatic balancing device automatically adjusts the weight distribution of the underwater robot, solving the time-consuming and labor-intensive problem of traditional balancing and achieving efficient and simple posture adjustment.
Patent Information
- Application Number
- CN202510918334.5
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-07-03
- Publication Date
- 2025-09-05
AI Technical Summary
The traditional balancing process of underwater robots relies on manual calculations and repeated debugging, which is time-consuming and labor-intensive, and it is difficult to respond quickly in complex environments.
An automatic balancing device is used, which uses components such as a closed chamber, an airbag, a water outlet one-way valve and a distribution valve to achieve automatic balancing of the underwater robot and automatically adjust the weight distribution.
No manual calculations and on-site testing are required, which improves work efficiency, simplifies the balancing process, and enables rapid response to complex environments.
Smart Images
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Abstract
Description
Technical Field
[0001] The present invention relates to the technical field of underwater robots, and in particular to an automatic balancing device for underwater robots. Background Art
[0002] Traditional manual balancing of underwater robots relies heavily on manual calculations, repeated debugging, and field testing. This process requires precise measurement of the mass distribution of each robot component, complex static calculations based on the properties of buoyant materials, and repeated submersion of the robot in water using a hoist to verify its posture. Each adjustment requires re-lifting, adding or removing counterweights, and re-submerging for testing, a cycle that often lasts for hours or even days. This not only results in extremely high labor and time costs but also exposes serious limitations in complex mission scenarios. Furthermore, it is difficult to respond quickly in complex environments (such as deep water, strong currents), or after a sudden load dump. Summary of the Invention
[0003] The present invention relates to the technical field of underwater robots, and specifically to an automatic balancing device for underwater robots, comprising an automatic balancing device body, a plurality of sealed compartments within the body, airbags within the sealed compartments, and a water outlet one-way valve for discharging gas or liquid; a distribution valve is disposed in the middle of the automatic balancing device to deliver gas or liquid to sealed compartments at different positions. The automatic balancing device can be disposed at different positions of the underwater robot to achieve automatic balancing of the underwater robot. The automatic balancing device can automatically balance the weight, eliminating the need for manual balancing by adding floats or counterweights, thereby increasing work efficiency and facilitating use.
[0004] To solve the above technical problems, the present application provides an automatic balancing device for an underwater robot, comprising an automatic balancing device body, wherein the body comprises a plurality of sealed compartments, wherein airbags are provided in the cavities of the sealed compartments; and further comprising; Water outlet one-way valve, used to discharge gas or liquid; The distribution valve is set in the middle of the automatic balancing device to transport gas or liquid to the closed chambers at different positions; the automatic balancing device can be set at different positions of the underwater robot to achieve automatic balancing of the underwater robot.
[0005] In some embodiments, the closed chamber is composed of an inner wall, an outer wall, a sealing end cover and a spacer. A cavity is provided in the closed chamber, and the cavity is filled with a medium. The airbag is arranged in the cavity of the closed chamber, the air pipe passes through the inner wall of the closed chamber to communicate with the airbag, the water pipe passes through the inner wall of the closed chamber to communicate with the cavity in the closed chamber, and the water outlet one-way valve is arranged on the outer wall of the closed chamber.
[0006] In some embodiments, the inner wall, outer wall and sealing end cover form a cavity, the cavity is filled with medium, the distribution valve is arranged in the cavity, the distribution valve is connected to the closed chamber through a water pipe and an air pipe, the pump is arranged in the cavity, the pump is connected to the distribution valve through a pipeline, the switching valve is arranged in the cavity, the switching valve is connected to the pump through a pipeline, and the switching valve is connected to the cavity through an air inlet pipe.
[0007] In some embodiments, the water inlet one-way valve is arranged on the outer wall, and the water inlet one-way valve is connected to the switching valve through a water inlet pipe.
[0008] In some embodiments, the water inlet one-way valve only allows the medium to flow in from the outside.
[0009] In some embodiments, the water outlet one-way valve only allows the medium to flow out to the outside.
[0010] The present invention has at least the following beneficial effects: This automatic balancing device for underwater robots can realize automatic balancing of underwater robots, eliminating the need for manual recalculation, repeated debugging and on-site testing, thereby increasing work efficiency and being easy to use. BRIEF DESCRIPTION OF THE DRAWINGS
[0011] Figure 1 It is a schematic diagram of the overall structure of the present invention; Figure 2 This is a schematic diagram of the overall top view of the structure of the present invention; Figure 3 This is a schematic diagram of the position of the present invention installed on the head and tail of an underwater robot; Figure 4 This is a schematic diagram of the present invention installed in the middle position of the underwater robot; In the figure: 1-sealed chamber; 2-water outlet one-way valve; 3-airbag; 4-water pipe; 5-air pipe; 6-switching valve; 7-water inlet pipe; 8-water inlet one-way valve; 9-air inlet pipe; 10-pump; 11-spacer; 12-flow distribution valve; 13-inner wall; 14-outer wall; 15-sealing end cover; 16-automatic balancing device; 17-underwater robot body. DETAILED DESCRIPTION
[0012] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention. Example 1
[0013] See also Figure 1-2The present invention provides a technical solution: an automatic balancing device for an underwater robot, comprising eight sealed chambers 1. Each sealed chamber 1 is formed by an inner wall 13, an outer wall 14, a spacer 11, and sealing end caps 15 on both sides. An airbag 3 is provided in the sealed chamber 1, and a water outlet check valve 2 is provided on the outer wall 14 of the sealed chamber 1. A water pipe 4 and an air pipe 5 pass through the inner wall 13 of the sealed chamber 1. One end of the air pipe 5 is connected to the airbag 3, and the other end of the air pipe 5 is connected to the distribution valve 12. One end of the water pipe 4 is directly connected to the cavity of the sealed chamber 1, and the other end of the water pipe 4 is connected to the distribution valve 12. The water outlet check valve 2 only allows water or gas to flow out of the cavity of the sealed chamber 1 to the outside in one direction.
[0014] The distribution valve 12 is connected to the outlet of the pump 10 through a pipeline, the inlet of the pump 10 is connected to the switching valve 6 through a pipeline, the switching valve 6 is connected to one end of the water inlet pipe 7, the other end of the water inlet pipe 7 is connected to the water inlet check valve 8, the switching valve 6 is connected to one end of the air inlet pipe 9, and the other end of the air inlet pipe 9 is connected to the cavity formed by the inner wall 13, the outer wall 14 and the sealing end cover 15. The water inlet check valve 8 only allows water to flow into the water inlet pipe 7 from the outside in one direction.
[0015] In summary, during use, when the underwater robot needs to be balanced after mounting the equipment, the underwater robot control system automatically calculates the amount of water to be injected into each closed chamber 1. The switching valve 6 is actuated to connect the water inlet pipe 7 with the pump 10 inlet, and water from the outside world flows into the pump 10 inlet through the water inlet check valve 8. The distribution valve 12 is actuated to connect the pump 10 outlet with the water pipe 4 of the corresponding closed chamber 1. The pump 10 starts working and injects the outside water into the cavity of the corresponding closed chamber 1. The gas in the cavity of the closed chamber 1 flows out to the outside world in a one-way manner through the water outlet check valve 2. When the underwater robot's posture is balanced, the distribution valve 12 is actuated to cut off the water pipe 4 of the corresponding closed chamber 1. Since the closed chambers 1 are distributed at different positions throughout the automatic balancing device 16, injecting water into the closed chambers 1 at different positions causes the mass distribution of the automatic balancing device 16 to change, thereby achieving posture balancing of the underwater robot body 17 rotating around the Y axis. Example 2
[0016] See also Figure 3 Furthermore, based on the first embodiment, an automatic balancing device 16 can be installed at each of the head and tail sections of the underwater robot body 17, so as to achieve posture balancing of the underwater robot body 17 when rotating around the Y-axis, and different masses of water are injected into the automatic balancing devices 16 at different positions, so that the mass distribution of the underwater robot body 17 changes, thereby achieving posture balancing of the underwater robot body 17 when rotating around the X-axis. Example 3
[0017] See also Figure 4Based on the first embodiment, the automatic balancing device 16 is installed in the middle of the underwater robot body 17. By injecting water into the sealed chamber 1 at different positions of the automatic balancing device 16, the mass distribution of the automatic balancing device 16 changes, thereby achieving posture balancing of the underwater robot body 17 around the Y axis. Example 4
[0018] Based on Example 1, when the underwater robot's mass distribution in water suddenly changes and requires trimming, the underwater robot control system automatically calculates the amount of gas to be injected into each sealed compartment 1. Switching valve 6 activates to connect the air inlet pipe 9 to the pump 10 inlet, allowing the gas within the cavity formed by the inner wall 13, outer wall 14, and sealing end cap 15 to flow into the pump 10 inlet. Distribution valve 12 activates to connect the pump 10 outlet to the air pipe 5 of the corresponding sealed compartment 1. Pump 10 begins operation, injecting gas into the airbag 3 of the corresponding sealed compartment 1. The airbag 3 expands, squeezing the water within the cavity of the sealed compartment 1 and causing it to flow out in one direction through the water outlet check valve 2 to the outside world. When the underwater robot's posture is trimmed, distribution valve 12 activates to close the air pipe 5 of the corresponding sealed compartment 1. In this embodiment, the medium within the cavity formed by the inner wall 13 is gas, but is not limited to gas. It can also be a liquid with a density different from water. Since the closed chambers 1 are distributed at different positions of the entire device, air is injected into the airbags 3 of the closed chambers 1 at different positions to squeeze out the water in the closed chambers 1, causing the mass distribution of the automatic balancing device 16 to change, thereby achieving posture balancing of the underwater robot body 17 rotating around the Y-axis.
[0019] It should be noted that, in this document, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that includes a list of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such process, method, article, or apparatus.
[0020] While embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions, and variations may be made to these embodiments without departing from the principles and spirit of the invention, and that the scope of the invention is defined by the appended claims and their equivalents.
Claims
1. An automatic balancing device for an underwater robot, comprising an automatic balancing device body (16), wherein the body has a plurality of sealed compartments (1), characterized in that: Also included are: A sealed chamber (1) is composed of an inner wall (13), an outer wall (14), a sealing end cover (15) and a spacer (11); An airbag (3) is arranged in the cavity of the sealed chamber (1); A water outlet one-way valve (2) is provided on the outer wall of the sealed chamber (1); The trachea (5) passes through the inner wall (13) of the sealed chamber (1) and communicates with the airbag (3); The water pipe (4) passes through the inner wall (13) of the sealed chamber (1) and communicates with the cavity in the sealed chamber (1).
2. The automatic balancing device for an underwater robot according to claim 1, characterized in that: The inner wall (13), the outer wall (14) and the sealing end cover (15) form a cavity, the distribution valve (12) is arranged in the cavity, the cavity is filled with a medium, the distribution valve (12) is connected to the closed chamber (1) through a water pipe (4) and an air pipe (5), the pump (10) is arranged in the cavity, the pump (10) is connected to the distribution valve (12) through a pipeline, the switching valve (6) is arranged in the cavity, the switching valve (6) is connected to the pump (10) through a pipeline, and the switching valve (6) is connected to the cavity through an air inlet pipe (9).
3. The automatic balancing device for an underwater robot according to claim 2, characterized in that: The water inlet one-way valve (8) only allows the medium to flow in from the outside.
4. The automatic balancing device for an underwater robot according to claim 3, characterized in that: The water outlet one-way valve (2) only allows the medium to flow out to the outside.