CN105711782B - A kind of gravity adjusting device for underwater robot - Google Patents
A kind of gravity adjusting device for underwater robot Download PDFInfo
- Publication number
- CN105711782B CN105711782B CN201610047281.5A CN201610047281A CN105711782B CN 105711782 B CN105711782 B CN 105711782B CN 201610047281 A CN201610047281 A CN 201610047281A CN 105711782 B CN105711782 B CN 105711782B
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- Prior art keywords
- battery case
- battery
- screw
- case
- underwater robot
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/14—Control of attitude or depth
- B63G8/26—Trimming equipment
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
- B63G2008/002—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned
- B63G2008/004—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned autonomously operating
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Toys (AREA)
Abstract
The present invention provides a kind of gravity adjusting device for underwater robot, including outer casing back lid and case nose lid, case nose lid and outer casing back lid are separately mounted to former and later two end faces of shell, glass front shroud is mounted on the front end of case nose lid, the present apparatus further includes front end panel and rear bearing sheet, front end panel is mounted on rear side of case nose lid, rear bearing sheet is mounted on front side of outer casing back lid, the rear and front end of screw is separately mounted on front end panel and rear bearing sheet, the front end of screw is connected by synchronizing wheel and synchronous belt with stepper motor, straight line slide bar is mounted on the lower section of screw, sliding block is mounted on screw, straight line slide bar passes through sliding block, battery case is mounted on the lower end of sliding block, it is furnished with counterweight dish on the outside of battery box body, battery case is connected by spiral power wire pipe with stepper motor.Underwater robot battery case is served as weight inside gravity adjusting device by the present invention, compact-sized, easy for installation, can improve the operation cruising ability of underwater robot.
Description
Technical field
The present invention relates to a kind of gravity adjusting devices, and in particular to a kind of gravity adjusting device for underwater robot.
Background technology
Underwater robot is that modern marine detects, the essential instrument of underwater operation.Underwater robot is often pacified
The power tools such as manipulator, diddle-net are filled, and camera and a variety of underwater equipments can be carried, as people are to ocean, lake
Continuous exploration and application in aquaculture it is more and more extensive, action completeness when fulfiling assignment under water to it and
The requirement of harmony is also higher and higher, and the adjusting of underwater robot center of gravity is to complete various actions and holding overall structure stationarity
Key.
The problem of underwater robot generally existing gravity adjusting device occupied space is big at present adjusts weight by moving heavy object
The mode of the heart is usually to add metal weight, and space availability ratio is not also high.
In addition, the battery of underwater robot is typically mounted in the main cabin of sealing of underwater robot either with independent at present
Battery flat installation and it is exposed in water, this causes the overall volume of robot or aircraft bigger.
Due to volume and weight, battery capacity can not accomplish bigger, this is to underwater robot or aircraft
Cruising ability have a great impact.
The Chinese patent literature of Publication No. CN104773272A discloses a kind of " operation type underwater robot center of gravity adjusting
Device ", the gravity adjusting device make pouring weight and screw floating connection, and weight bearing is avoided on line slideway because of ball screw
Load capacity deforms upon influence transmission, while also reduces the diameter of ball screw, alleviates system weight, realizes underwater
Center of gravity of the robot in pitching and roll both direction is adjusted, but the gravity adjusting device for underwater robot remains utilization
Additional pouring weight de-regulation center of gravity, still existing needs to vacate individual space arrangement battery, and battery capacity should not be too large, space
The problems such as utilization rate is not high.
The content of the invention
For overcome the deficiencies in the prior art, the present invention devises a kind of gravity adjusting device for underwater robot, this underwater machine
Device people gravity adjusting device is improved on existing gravity adjusting device for underwater robot, and underwater robot battery is served as weight
Object is mounted on inside gravity adjusting device, designs a kind of compact-sized, small, easy for installation underwater robot center of gravity tune
Regulating device, while the operation cruising ability of underwater robot can be improved.
To realize above-mentioned technical proposal, the present invention provides a kind of gravity adjusting device for underwater robot, before glass
Cover, outer casing back lid, case nose lid, sealing cover and shell, the case nose lid and outer casing back lid are separately mounted to outer
Former and later two end faces of shell, glass front shroud are mounted on the front end of case nose lid, and the present apparatus further includes front end panel, rear support
Plate, stepper motor, control unit, screw, straight line slide bar, battery case and sliding block, the front end panel are mounted on case nose lid
Rear side, the rear bearing sheet are mounted on front side of outer casing back lid, and the rear and front end of screw is separately mounted to front end panel and rear branch
On fagging, the front end of the screw is connected by synchronizing wheel and synchronous belt with stepper motor, and straight line slide bar is mounted under screw
Side, the rear and front end of straight line slide bar are separately fixed on front end panel and rear bearing sheet, and sliding block is movably arranged on screw, straight line
Slide bar is horizontally through sliding block, and battery case is mounted on the lower end of sliding block, is furnished with counterweight dish, battery case on the outside of the babinet of the battery case
It is connected by spiral power wire pipe with stepper motor, control unit is mounted on the sky formed between case nose lid and front end panel
Intracavitary.
In the above-mentioned technical solutions, video camera is installed in glass front shroud, for shooting underwater picture, battery case is used for
Power supply is provided for other electronic equipments in stepper motor, control unit and robot, while can be according to the action need of robot
The counterweight dish that different weight is configured on the outside of the babinet of battery case is sought, more preferably to adjust robot center of gravity, while passes through stepping
Motor drives screw, adjusts the position of screw top shoe, and sliding block drives battery case movement, due to battery case weight in itself and
The counterweight dish being equipped on battery case, with the movement of battery case position in the present apparatus, the continuous center of gravity for adjusting whole device,
By the operating for the picture constantly regulate motor that control unit can be shot according to underwater robot, so as to which regulating cell case is in shell
In vivo position to find optimal position of centre of gravity, ensures being normally carried out for underwater operation, since battery case is mounted on housing
In cavity, proprietary placing space need not be individually equipped with, substantially increases the space availability ratio of the present apparatus.
Preferably, the battery case includes Battery case, battery and battery case end cap, and battery is mounted in Battery case,
Battery case end cap is mounted on one end of Battery case, realizes the sealing of battery, the battery contacted with Battery case it is forward and backward,
The rubber pad of anticollision, described four end faces in Battery case front, rear, left and right are both provided on the inside of left and right, upper and lower six end faces
Outside be each equipped with the counterweight dish of different weight；Cell package is in Battery case, during to prevent that Battery case from moving, installation
It is collided in the end face of the in vivo battery of battery case and Battery case and causes cell damage, spy is in vivo six end faces of battery case
Setting rubber pad, the design of battery case end cap facilitates the replacement of battery, the more convenient electricity of design of counterweight dish for protecting battery
The adjustment of pond case weight.
Preferably, ball fixed strip is installed below the battery case, ball has been evenly arranged on the ball fixed strip,
The lower surface of Battery case is contacted with ball, and ball design can reduce frictional force of the battery case in moving process, save energy
Consumption.
Preferably, front limit switch is provided on the front end panel inside, after being provided on the rear bearing sheet inside
Limit switch, front limit switch are used to limit the maximum range of battery case forward movement, and rear limit switch is used to limit battery case
The maximum range moved backward, once battery case is contacted with front limit switch or rear limit switch, battery case is automatically stopped fortune
It is dynamic.
Preferably, the front end of the screw is equipped with preceding thrust bearing, and the rear end of the screw is equipped with rear thrust bearing,
Adjusting disc is provided at preceding thrust bearing, for adjusting the dynamics of thrust bearing limitation leading screw.
Preferably, the laser ranging probe of measurement battery case move distance is installed, by swashing on the inside of the rear bearing sheet
Ligh-ranging probe can be with the move distance of precise acquisition battery case, accurately to control the stop position of battery case, so as to accurate
Adjust the center of gravity of underwater robot.
Compared with prior art, a kind of advantageous effect of gravity adjusting device for underwater robot provided by the invention is：
1) present invention is used for that battery case is driven to move using a leading screw, and a slide bar is used for limiting institute's extension battery case swing and be used for
Battery case major part weight is accepted, the resistance that driving motor drives weight in rotary screw rod can be reduced, so as on choice of electrical machine
The volume of driving motor can be reduced；2) weight for adjusting battery case and the battery installed as center of gravity in the present invention,
Gravity adjusting device and battery flat are combined together, the size and again of underwater robot or submarine navigation device can be effectively reduced
Amount, makes the volume of underwater robot become smaller, weight；3) on Battery case of the invention can additionally mounted balancing disk, it is convenient
The adjusting of battery case weight；4) underwater robot is used method of the battery as weight center-of-gravity regulating by the present invention, can be effectively
Reduce the overall dimensions of underwater robot, without the weight for the extra metal material that bears a heavy burden, while the appearance of battery pack can be increased
Amount improves the cruising ability and work capacity of underwater robot.
Description of the drawings
Fig. 1 is the structural diagram of the present invention.
Fig. 2 is the structure diagram of battery case in the present invention.
In figure：11st, glass front shroud；12nd, seal nipple；13rd, outer casing back lid；14th, case nose lid；15th, sealing cover；
16th, shell；20th, preceding thrust bearing；21st, rear thrust bearing；22nd, disc is adjusted；23rd, synchronizing wheel and synchronous belt；24th, stepping electricity
Machine；25th, control unit；30th, screw；31st, straight line slide bar；32nd, sliding block；40th, ball；41st, rear bearing sheet；42nd, front limit switch；
43rd, rear limit switch；44th, ball fixed strip；45th, front end panel；46th, spiral power wire pipe；47th, laser ranging probe；50th, it is electric
Pond case；51st, Battery case；52nd, battery；53rd, battery case end cap；54th, counterweight dish；55th, rubber pad.
Specific embodiment
Below in conjunction with the attached drawing in the embodiment of the present invention, the technical solution in the embodiment of the present invention is carried out clear, complete
Whole description, it is clear that described embodiment is only part of the embodiment of the present invention, instead of all the embodiments.Ability
Domain ordinary person all other embodiments obtained without making creative work belong to the protection of the present invention
Scope.
Embodiment：A kind of gravity adjusting device for underwater robot.
With reference to shown in Fig. 1, a kind of gravity adjusting device for underwater robot, including glass front shroud 11, outer casing back lid 13, outer
Shell drive end bearing bracket 14, sealing cover 15 and shell 16, the shell 16 are provided with seal nipple 12 with 14 contact position of case nose lid, outside
Shell drive end bearing bracket 14 and outer casing back lid 13 are separately mounted to former and later two end faces of shell 16, and shell 16 and glass front shroud 11 are installed
In the front end of shell drive end bearing bracket 14, the present apparatus further include front end panel 45, rear bearing sheet 41, stepper motor 24, control unit 25,
Screw 30, straight line slide bar 31, battery case 50 and sliding block 32, the front end panel 45 is mounted on 14 rear side of case nose lid, described
Rear bearing sheet 41 is mounted on 13 front side of outer casing back lid, and the rear and front end of screw 30 is separately mounted to front end panel 45 and rear support
On plate 41, the front end of the screw 30 is connected by synchronizing wheel and synchronous belt 23 with stepper motor 24, and straight line slide bar 31 is mounted on
The lower section of screw 30, the rear and front end of straight line slide bar 31 are separately fixed on front end panel 45 and rear bearing sheet 41, and sliding block 32 is lived
Dynamic to be mounted on screw 30, straight line slide bar 31 is horizontally through sliding block 32, and battery case 50 is mounted on the lower end of sliding block 32, the battery
It is connected on the outside of the babinet of case 50 equipped with counterweight dish 54, battery case 50 by spiral power wire pipe 46 with stepper motor 24, control is single
Member 25 is mounted in the cavity formed between case nose lid 14 and front end panel 45.
In the above-mentioned technical solutions, video camera is installed in glass front shroud 11, for shooting underwater picture, battery case 50
For providing power supply for other electronic equipments in stepper motor 24, control unit 25 and robot, while can be according to robot
Action demand the counterweight dish 54 of different weight is configured on the outside of the babinet of battery case 50, more preferably to adjust robot center of gravity,
Screw 30 is driven by stepper motor 24 simultaneously, adjusts the position of 30 top shoe 32 of screw, sliding block 32 drives battery case 50 to move,
Due to the counterweight dish 54 being equipped on the weight of battery case 50 itself and battery case 50, with battery case 50 in the present apparatus position
Movement, constantly adjust the center of gravity of whole device, straight line slide bar 31 is used for limiting institute's extension battery case 50 and swinging and for holding
The most of weight of battery case 50 is connect, the resistance that stepper motor 24 drives battery case 50 in rotary screw rod 30 can be reduced；Pass through control
The operating for the picture constantly regulate stepper motor 24 that unit 25 can be shot according to underwater robot, so as to which regulating cell case 50 exists
The in vivo position of shell to find optimal position of centre of gravity, ensures being normally carried out for underwater operation, since battery case 50 is mounted on
In housing hollow, proprietary placing space need not be individually equipped with, substantially increases the space availability ratio of the present apparatus.
With reference to shown in Fig. 2, the battery case 50 includes Battery case 51, battery 52 and battery case end cap 53, and battery 52 is pacified
In Battery case 51, battery case end cap 53 is mounted on one end of Battery case 51, realizes the sealing of battery, the battery 52
The rubber pad 55 of anticollision is both provided on the inside of the end face of the front, back, left, right, up, down contacted with Battery case 51 six, it is described
The counterweight dish 54 of different weight is each equipped on the outside of the end face of Battery case 51 front, rear, left and right four；Battery 52 is encapsulated in electricity
In pond babinet 51, for prevent Battery case 51 move when, the end of battery 52 and Battery case 51 in Battery case 51
Face collides and battery 52 is caused to damage, and special six end faces in Battery case 51 set rubber pad 55 for protecting battery 52,
The design of battery case end cap 53 facilitates the replacement of battery 52, the adjustment of more convenient 50 weight of battery case of design of counterweight dish 54.
With reference to shown in Fig. 1,50 lower section of battery case is equipped with ball fixed strip 44, on the ball fixed strip 44 uniformly
Ball 40 is disposed with, the lower surface of Battery case 51 is contacted with ball 40, and the design of ball 40 can reduce battery case 50 in movement
Frictional force in the process saves energy consumption.
With reference to shown in Fig. 1, front limit switch 42,41 inside of rear bearing sheet are provided on 45 inside of front end panel
On be provided with rear limit switch 43, front limit switch 42 is used to limit the maximum range of the forward movement of battery case 50, and rear /V is opened
43 are closed for limiting the maximum range that battery case 50 moves backward, in motion process, once battery case 50 and front limit switch 42
Or rear limit switch 43 contacts, battery case 50 is automatically stopped movement.
With reference to shown in Fig. 1, the front end of the screw 30 is equipped with preceding thrust bearing 20, and the rear end of the screw 30 is equipped with
Thrust bearing 21 afterwards are provided at preceding thrust bearing 20 and adjust disc 22, for adjusting the power that thrust bearing 20 limits leading screw 30
Degree.
With reference to shown in Fig. 1, the laser ranging that 41 inside of rear bearing sheet is equipped with measurement 50 move distance of battery case is visited
First 47, it can be with the move distance of precise acquisition battery case 50, accurately to control battery case 50 by laser ranging probe 47
Stop position, so as to accurately adjust the center of gravity of underwater robot.
The above is presently preferred embodiments of the present invention, but the present invention should not be limited to the embodiment and attached drawing institute is public
The content opened so every do not depart from the lower equivalent or modification completed of spirit disclosed in this invention, both falls within protection of the present invention
Scope.
Claims (4)
1. a kind of gravity adjusting device for underwater robot, including glass front shroud（11）, outer casing back lid（13）, case nose lid
（14）, sealing cover（15）And shell（16）, the case nose lid（14）With outer casing back lid（13）It is separately mounted to shell
（16）Former and later two end faces, glass front shroud（11）Mounted on case nose lid（14）Front end, it is characterised in that：Before further including
Support plate（45）, rear bearing sheet（41）, stepper motor（24）, control unit（25）, screw（30）, straight line slide bar（31）, battery
Case（50）And sliding block（32）, the glass front shroud（11）Video camera, the front end panel are inside installed（45）Before shell
End cap（14）Rear side, the rear bearing sheet（41）Mounted on outer casing back lid（13）Front side, screw（30）Rear and front end difference
Mounted on front end panel（45）And rear bearing sheet（41）On, the screw（30）
Front end pass through synchronizing wheel and synchronous belt（23）With stepper motor（24）Connection, straight line slide bar（31）Mounted on screw（30）
Lower section, straight line slide bar（31）Rear and front end be separately fixed at front end panel（45）And rear bearing sheet（41）On, sliding block（32）
It is movably arranged on screw（30）On, straight line slide bar（31）It is horizontally through sliding block（32）, battery case（50）Mounted on sliding block（32）'s
Lower end, the battery case（50）Babinet on the outside of be furnished with counterweight dish（54）, battery case（50）Pass through spiral power wire pipe（46）With
Stepper motor（24）Connection, control unit（25）Mounted on case nose lid（14）And front end panel（45）Between the cavity that is formed
It is interior；The battery case（50）Including Battery case（51）, battery（52）With battery case end cap（53）, battery（52）Mounted on battery
Babinet（51）It is interior, battery case end cap（53）Mounted on Battery case（51）One end, realize the sealing of battery, the battery（52）
With Battery case（51）The rubber pad of anticollision is both provided on the inside of the end face of front, back, left, right, up, down six of contact（55）,
The Battery case（51）The counterweight dish of different weight is each equipped on the outside of the end face of front, rear, left and right four（54）；
The battery case（50）Lower section is equipped with ball fixed strip（44）, the ball fixed strip（44）On be evenly arranged ball
（40）, Battery case（51）Lower surface and ball（40）Contact.
2. the gravity adjusting device for underwater robot as described in claim 1, it is characterised in that：The front end panel（45）It is interior
Front limit switch is provided on side（42）, the rear bearing sheet（41）Rear limit switch is provided on inside（43）.
3. the gravity adjusting device for underwater robot as described in claim 2, it is characterised in that：The screw（30）Front end
Preceding thrust bearing is installed（20）, the screw（30）Rear end rear thrust bearing is installed（21）.
4. the gravity adjusting device for underwater robot as described in claim 3, it is characterised in that：The rear bearing sheet（41）It is interior
Side is equipped with measurement battery case（50）The laser ranging probe of move distance（47）.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610047281.5A CN105711782B (en) | 2016-01-25 | 2016-01-25 | A kind of gravity adjusting device for underwater robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610047281.5A CN105711782B (en) | 2016-01-25 | 2016-01-25 | A kind of gravity adjusting device for underwater robot |
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| Publication Number | Publication Date |
|---|---|
| CN105711782A CN105711782A (en) | 2016-06-29 |
| CN105711782B true CN105711782B (en) | 2018-06-05 |
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| CN201610047281.5A Active CN105711782B (en) | 2016-01-25 | 2016-01-25 | A kind of gravity adjusting device for underwater robot |
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| CN (1) | CN105711782B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP4321424A1 (en) * | 2022-08-08 | 2024-02-14 | Brunswick Corporation | System for distributing battery weight on a boat |
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| CN105905265A (en) * | 2016-06-30 | 2016-08-31 | 上海海洋大学 | Included angle and gravity center varying mechanism for tail fins of bio-robotic fish |
| CN106828886A (en) * | 2017-01-16 | 2017-06-13 | 北京猎鹰无人机科技有限公司 | A kind of aircraft center of gravity dynamically balancing device |
| CN111361716A (en) * | 2019-12-10 | 2020-07-03 | 中山市达雅移动照明有限公司 | Underwater robot with power supply located at center of multiple propellers |
| CN111099482A (en) * | 2019-12-23 | 2020-05-05 | 森赫电梯股份有限公司 | Elevator car ventilation cleaning device |
| EP4126657A1 (en) * | 2020-03-28 | 2023-02-08 | Corcoran, Mary A. | Watercraft with battery ballast system |
| CN112666962B (en) * | 2020-12-17 | 2023-04-07 | 东风越野车有限公司 | Attitude-adjustable amphibious vehicle and attitude control method thereof |
| CN113515134B (en) * | 2021-06-24 | 2021-12-14 | 天津海翼科技有限公司 | Underwater robot applied to underwater/water surface detection |
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| CN201784805U (en) * | 2010-12-15 | 2011-04-06 | 中国船舶重工集团公司第七一○研究所 | Underwater vehicle trim adjustment device |
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| CN102616355A (en) * | 2012-04-06 | 2012-08-01 | 西北工业大学 | Centroid-variable adjustment device for multi-load remote autonomous underwater vehicle |
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| CN105711782A (en) | 2016-06-29 |
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