Underwater robot roll adjusting device based on arc ballast battery counterweight

Abstract

The utility model discloses an underwater robot roll adjusting device based on an arc ballast battery counterweight, which belongs to the field of underwater robots and comprises a ballast battery, a driving unit, a slider and an arc guide rail. The arc-shaped guide rail is mounted on the inner circumferential surface of the battery cabin section, the length of the arc-shaped guide rail is along the circumferential direction of the battery cabin section, and the geometric center of the arc-shaped guide rail is positioned on the central axis of the battery cabin section; the lower end face of the ballast battery is an arc surface, and a sliding block in sliding fit with the arc-shaped guide rail is arranged on the arc surface; the driving unit is installed on the inner circumferential face of the battery cabin section and used for driving the ballast batteries to move along the guide rails. According to the device, the load of the underwater robot does not need to be additionally increased, so that the underwater robot can be controlled to roll through the load of the underwater robot under the conditions that the size is limited, the underwater robot does not need to go in and out of a water pressure water loading cabin to sail at a high speed, and roll changes rapidly, and the effect of adjusting the floating state is achieved.

Description

TECHNICAL FIELD

[0001] The utility model belongs to the field of underwater robot, concretely relates to a kind of underwater robot roll adjustment device based on arc ballast battery counterweight. BACKGROUND

[0002] When underwater robot runs underwater, it realizes forward and backward in water by the rotation of screw propeller in stern. Screw propeller will produce torque along the axial rotation of underwater robot while rotating, which affects its attitude position change and the stability of control. To adjust roll, the current method is to configure ballast tank inside underwater robot, underwater robot is equipped with water tank on both sides, and the roll of underwater robot is adjusted by injecting water of different mass into both sides of water tank. However, as water needs to be injected and discharged, larger volume is needed for adjustment, and it is difficult to control the static torque generated by free surface of ballast tank, so the method of controlling roll is not suitable for high-speed navigation, limited volume and rapid roll change. Another method is to set arc ballast and annular slide rail in the cabin of underwater robot, and adjust the roll of underwater robot by moving arc ballast along annular slide rail. Because of limited space inside underwater robot and weight requirement of underwater robot, it is difficult to set arc ballast and annular guide rail, and the weight of arc ballast is too heavy, which increases the load of underwater robot, and the weight is too light, which affects the roll adjustment effect, so the design difficulty and control difficulty are increased. SUMMARY

[0003] Therefore, the utility model provides a kind of underwater robot roll adjustment device based on arc ballast battery counterweight, the device does not need to additionally increase the load of underwater robot, so that underwater robot can control its roll by its load in the case of limited volume, high-speed navigation without water ballast tank and rapid roll change, to achieve the effect of adjusting floating state.

[0004] The utility model is realized by the following technical schemes:

[0005] A kind of underwater robot roll adjustment device based on arc ballast battery counterweight is arranged in the battery cabin section of underwater robot, and the device includes: ballast battery, drive unit, sliding block and arc guide rail;

[0006] The arc guide rail is installed on the inner circumferential surface of battery cabin section, the length of arc guide rail is along the circumferential direction of battery cabin section, and the geometric center of arc guide rail is located on the central axis of battery cabin section;

[0007] The lower end surface of ballast battery is arc surface, and the sliding block is arranged on the arc surface and slidably connected with arc guide rail;

[0008] The drive unit is installed on the inner circumferential surface of battery cabin section, and is used to drive ballast battery to move along arc guide rail.

[0009] Further, the curvature radius of the arc surface of the ballast battery is not greater than the curvature radius of the arc-shaped guide rail.

[0010] Further, the driving unit comprises two motors and a plurality of traction ropes.

[0011] The two motors are respectively located at two ends of the arc-shaped guide rail, and the output shafts of the two motors are parallel to the axis of the battery cabin section.

[0012] A plurality of traction ropes are wound on the output shaft of each motor, and the traction ropes on the two motors are connected to the end faces of the corresponding ends of the sliding block, for traction of the ballast battery along the arc-shaped guide rail.

[0013] Further, the arc-shaped guide rail comprises two arc-shaped guide rods arranged side by side, and a U-shaped guide groove is arranged on one side of each guide rod along the length direction of the guide rod; the opening ends of the two guide grooves are arranged facing each other.

[0014] The sliding block is in an inverted T-shaped structure, the vertical part of the T-shaped structure is connected to the arc surface of the ballast battery, and the two ends of the horizontal part of the T-shaped structure are respectively located in the guide grooves formed by the two guide rods, and the two side walls of the guide rods limit the horizontal part of the T-shaped structure.

[0015] Further, two traction ropes are wound on the output shaft of each motor, and the two traction ropes wound on the same output shaft are connected to the two sides of the horizontal part of the T-shaped structure and are arranged symmetrically, and the two traction ropes are respectively located in the guide grooves of the two guide rods.

[0016] Further, each guide rod comprises an arc-shaped web and two side walls extending along the length direction of the web, the two side walls are perpendicular to the web, and the two side walls are parallel to each other.

[0017] The two long edges of the web of each guide rod and the two side wall surfaces of the web are along the circumferential direction of the battery cabin section; and the two side walls and the web of each guide rod jointly form a U-shaped guide groove.

[0018] Further, the rotation directions of the output shafts of the two motors are consistent, the rotation speeds are consistent, and the winding directions of the traction ropes on the output shafts of the two motors are opposite, when the traction rope on one of the output shafts is wound, the traction rope on the other output shaft is unwound.

[0019] Advantages:

[0020] (1) The utility model discloses a kind of underwater robot roll adjustment devices based on arc ballast battery counterweight, be set in the battery cabin section of underwater robot, without being set in underwater robot independently for ballast space;Device includes ballast battery, drive unit, sliding block and arc guide rail;The device with the battery needed by underwater robot itself as ballast, i.e.

[0021] (2) The utility model discloses a kind of underwater robot roll adjustment devices based on arc ballast battery counterweight, the curvature radius of the arc surface of ballast battery is not greater than the curvature radius of arc guide rail, so that ballast battery can move smoothly on arc guide rail.

[0022] (3) The utility model discloses a kind of underwater robot roll adjustment devices based on arc ballast battery counterweight, drive unit includes: two motors and several traction ropes, several traction ropes are wound on the output shaft of each motor, the end surface of the corresponding end of sliding block is connected respectively by the traction rope on two motors, for traction ballast battery moves along arc guide rail, ensure that ballast battery can move stably on guide rail.

[0023] (4) The utility model discloses a kind of underwater robot roll adjustment devices based on arc ballast battery counterweight, the two side walls of guide rod form the limit to the horizontal portion of T-shaped structure, when ballast battery reciprocates along arc guide rail, can prevent ballast battery from disengaging track.

[0024] (5) The utility model discloses a kind of underwater robot roll adjustment devices based on arc ballast battery counterweight, two traction ropes wound on the same output shaft are connected to the two sides of the horizontal portion of T-shaped structure, symmetrically arranged, can apply uniform force to ballast battery, so that ballast battery can stably reciprocate along the length direction of arc guide rail;Two traction ropes are located in the guide slot of two guide rods respectively, so that the two side walls of guide slot can form limit to traction rope, prevent traction rope from disengaging track in traction process. BRIEF DESCRIPTION OF DRAWINGS

[0025] Figure 1 for the cross section schematic view of underwater robot equipped with the utility model device;

[0026] Figure 2 for the cross section schematic view of sliding block and arc guide rail of the utility model;

[0027] Figure 3 for the structure schematic view of guide rod of the utility model;

[0028] Wherein, 1 - battery cabin section, 2 - ballast battery, 201 - arc surface, 202 - slider, 3 - output shaft a, 4 - output shaft b, 5 - guide rod, 501 - web, 502 - side wall, 6 - traction rope. DETAILED DESCRIPTION

[0029] The utility model is described in detail below with reference to the drawings and examples.

[0030] The embodiment provides a horizontal roll adjusting device of underwater robot based on arc ballast battery counterweight, as shown in the figure, which is arranged in the battery cabin section 1 (cylindrical structure) of underwater robot, and comprises a ballast battery 2, two motors, a plurality of traction ropes 6, a slider 202 and an arc-shaped guide rail. Figure 1

[0031] The arc-shaped guide rail is symmetrically arranged along the central axis of the battery cabin section 1.

[0032] As shown in the figure, the arc-shaped guide rail comprises two parallel arranged arc-shaped guide rods 5. Figure 2

[0033] As shown in the figure, the guide rod 5 comprises an arc-shaped web 501 and two side walls 502 located on the transverse two sides of the web 501 and extending along the length direction of the web 501, the two side walls 502 are both perpendicular to the web 501, and the two side walls 502 are parallel to each other, so as to form a U-shaped guide groove between the two side walls 502. Figure 3

[0034] ​​​The ballast battery 2 is assembled by several cylindrical batteries. The lower end surface of the ballast battery 2 is a circular arc surface 201. A sliding block 202 which is in sliding fit with the arc-shaped guide rail is arranged on the circular arc surface 201. The sliding block 202 is in inverted T-shaped structure, that is, the vertical part of the T-shaped structure is connected to the circular arc surface 201 of the ballast battery 2, and the two ends of the horizontal part of the T-shaped structure are respectively located in the guide grooves formed by the two guide rods 5. The two side walls 502 of the guide rod 5 limit the horizontal part of the T-shaped structure. When the ballast battery 2 moves along the arc-shaped guide rail, the two side walls 502 of the guide rod 5 can prevent the ballast battery 2 from leaving the track. The ballast battery 2 is in sliding fit with the arc-shaped guide rail through the sliding block 202. In the embodiment, the curvature radius of the circular arc surface 201 of the ballast battery 2 is not greater than the curvature radius of the arc-shaped guide rail. The ballast battery 2 as a device for adjusting the roll of the underwater robot can avoid loading the underwater robot, and can also improve the adjusting effect on the underwater robot.

[0035] Two motors and several traction ropes 6 constitute a driving unit of the ballast battery 2, which is used to drive the ballast battery 2 to move along the arc-shaped guide rail. Specifically,

[0036] The two motors are installed on the inner circumferential surface of the battery cabin section 1 and are respectively located at the two ends of the arc-shaped guide rail. The motor located at the left end (i.e. the left side in Figure 1 ) of the arc-shaped guide rail is motor A, and the motor located at the right end of the arc-shaped guide rail is motor B. The axial direction of the output shaft a3 of the motor A and the axial direction of the output shaft b4 of the motor B are parallel to the axial direction of the battery cabin section 1.

[0037] A plurality of traction ropes 6 (preferably an even number) are wound on the output shaft a3 of the motor A and the output shaft b4 of the motor B. In the embodiment, two traction ropes 6 are wound on each output shaft (i.e. output shaft a3 or output shaft b4). In the motor A, one end of each of the two traction ropes 6 is fixed on the output shaft a3 of the motor A, and the other end of each of the two traction ropes 6 is fixedly connected to the end surface of the left end (i.e. the left side in Figure 1 ) of the sliding block 202. In the motor B, one end of each of the other two traction ropes 6 is fixed on the output shaft b4 of the motor B, and the other end of each of the two traction ropes 6 is fixedly connected to the end surface of the right end of the sliding block 202.

[0038] As Figure 2As shown, two traction ropes 6 wound on the same motor output shaft are symmetrically arranged (two traction ropes 6 wound on the same output shaft are symmetrically arranged left and right with the center line of the T-shaped structure of the slider 202 as the symmetric axis). The two traction ropes 6 wound on the output shaft a3 are wound or unwound with the rotation of the output shaft a3, and the two traction ropes 6 wound on the output shaft b4 are wound or unwound with the rotation of the output shaft b4. The rotation directions of the output shaft a3 and the output shaft b4 are consistent and the rotation speeds are consistent, and the winding directions of the two traction ropes 6 on the output shaft a3 are opposite to the winding directions of the two traction ropes 6 on the output shaft b4. When the two traction ropes 6 on the output shaft a3 are wound, the two traction ropes 6 on the output shaft b4 are unwound, so that the ballast battery 2 moves to the left with the traction ropes 6 on the output shaft a3; when the two traction ropes 6 on the output shaft b4 are unwound, the two traction ropes 6 on the output shaft b4 are wound, so that the ballast battery 2 moves to the right with the traction ropes 6 on the output shaft b4. The positions of the two traction ropes 6 connected to the left end face of the slider 202 and the two traction ropes 6 connected to the right end face of the slider 202 are opposite to each other, and the traction ropes 6 are located in the guide grooves of the two guide rods 5, preventing the traction ropes 6 from deviating from the track.

[0039] In conclusion, the above is only a preferred embodiment of the present application, and is not used to limit the protection scope of the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. An underwater vehicle roll adjustment device based on arc-shaped ballast battery counterweights, characterized by, The device is arranged in the battery cabin section (1) of the underwater robot, and comprises a ballast battery (2), a driving unit, a sliding block (202) and an arc-shaped guide rail. The arc-shaped guide rail is mounted on the inner circumferential surface of the battery cabin section (1), the length of the arc-shaped guide rail is along the circumferential direction of the battery cabin section (1), and the geometric center of the arc-shaped guide rail is located on the central axis of the battery cabin section (1). The lower end surface of the ballast battery (2) is a circular arc surface (201), and the circular arc surface (201) is provided with a sliding block (202) in sliding fit with the arc-shaped guide rail. The driving unit is mounted on the inner circumferential surface of the battery cabin section (1) and is used for driving the ballast battery (2) to move along the arc-shaped guide rail.

2. The roll adjustment device for an underwater vehicle based on arc-shaped ballast battery weight as claimed in claim 1, wherein, The curvature radius of the circular arc surface (201) of the ballast battery (2) is not greater than the curvature radius of the arc-shaped guide rail.

3. The roll adjustment device for an underwater vehicle based on arc-shaped ballast battery weight as claimed in claim 1, wherein, The driving unit comprises two motors and a plurality of traction ropes (6). The two motors are respectively located at two ends of the arc-shaped guide rail, and the output shafts of the two motors are parallel to the axial direction of the battery cabin section (1). A plurality of traction ropes (6) are wound on the output shaft of each motor, and the traction ropes (6) on the two motors are respectively connected to the end surfaces of the corresponding ends of the sliding block (202) and are used for traction of the ballast battery (2) to move along the arc-shaped guide rail.

4. An underwater vehicle roll adjustment device based on arc-shaped ballast battery weight as claimed in claim 1 or 2 or 3 wherein, The arc-shaped guide rail comprises two arc-shaped guide rods (5) arranged side by side, each guide rod (5) is provided with a U-shaped guide groove on one side along the length direction of the guide rod (5), and the opening ends of the two guide grooves are arranged opposite to each other. The sliding block (202) is in an inverted T-shaped structure, the vertical part of the T-shaped structure is connected to the circular arc surface (201) of the ballast battery (2), the two ends of the horizontal part of the T-shaped structure are respectively located in the guide grooves formed by the two guide rods (5), and the two side walls (502) of the guide rod (5) limit the horizontal part of the T-shaped structure.

5. An underwater vehicle roll adjustment device based on arc-shaped ballast battery weight as claimed in claim 4, wherein, Two traction ropes are wound on the output shaft of each motor, and the two traction ropes (6) wound on the same output shaft are connected to the two sides of the horizontal part of the T-shaped structure and are arranged symmetrically, and the two traction ropes (6) are respectively located in the guide grooves of the two guide rods (5).

6. An underwater vehicle roll adjustment device based on arc-shaped ballast battery weight as claimed in claim 4, wherein, Each guide rod (5) comprises an arc-shaped web (501) and two side walls (502) extending along the length direction of the web (501), the two side walls (502) are perpendicular to the web (501), and the two side walls (502) are parallel to each other. The two long edges of the web (501) of each guide rod (5) and the surfaces of the two side walls (502) of the web (501) are along the circumferential direction of the battery cabin section (1), and the two side walls (502) and the web (501) of each guide rod (5) jointly form a U-shaped guide groove.

7. The roll adjustment device for an underwater vehicle based on arc-shaped ballast battery weight as claimed in claim 3, wherein, The rotation directions of the output shafts of the two motors are consistent, the rotation speeds are consistent, the winding directions of the traction ropes (6) on the output shafts of the two motors are opposite, and when the traction rope (6) on one of the output shafts is wound, the traction rope (6) on the other output shaft is unwound.

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