CN108657398A - A kind of underwater robot center of gravity regulating system and method - Google Patents
A kind of underwater robot center of gravity regulating system and method Download PDFInfo
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- CN108657398A CN108657398A CN201810394210.1A CN201810394210A CN108657398A CN 108657398 A CN108657398 A CN 108657398A CN 201810394210 A CN201810394210 A CN 201810394210A CN 108657398 A CN108657398 A CN 108657398A
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- 230000005484 gravity Effects 0.000 title claims abstract description 106
- 230000001105 regulatory effect Effects 0.000 title claims abstract description 28
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- 230000007246 mechanism Effects 0.000 claims abstract description 89
- 230000003028 elevating effect Effects 0.000 claims abstract description 13
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims abstract description 12
- 238000006073 displacement reaction Methods 0.000 claims description 24
- 230000006835 compression Effects 0.000 claims description 19
- 238000007906 compression Methods 0.000 claims description 19
- 230000008569 process Effects 0.000 claims description 10
- 238000005259 measurement Methods 0.000 claims description 9
- 230000002093 peripheral effect Effects 0.000 claims description 3
- 230000008859 change Effects 0.000 description 6
- 230000008901 benefit Effects 0.000 description 3
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- 238000011160 research Methods 0.000 description 2
- 230000002459 sustained effect Effects 0.000 description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 2
- 241000208340 Araliaceae Species 0.000 description 1
- 235000005035 Panax pseudoginseng ssp. pseudoginseng Nutrition 0.000 description 1
- 235000003140 Panax quinquefolius Nutrition 0.000 description 1
- 230000004308 accommodation Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
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- 239000002360 explosive Substances 0.000 description 1
- 239000012530 fluid Substances 0.000 description 1
- 235000008434 ginseng Nutrition 0.000 description 1
- 230000003116 impacting effect Effects 0.000 description 1
- 230000003137 locomotive effect Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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- 239000003643 water by type Substances 0.000 description 1
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
-
- 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
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Abstract
The invention discloses a kind of underwater robot center of gravity regulating system and methods, including：Pedestal；Support base；Balance mechanism；Turntable；Bearing platform is slidably mounted on the first sliding block on the first uniaxial slide unit, and bearing platform bottom is arranged in parallel with a pair of support arms, and support arm is slidably arranged in sliding slot；Bearing platform is arranged on the telescopic end of three telescoping mechanisms；Center of gravity micro-adjusting mechanism is arranged at the top of bearing platform, one second sliding block is provided on center of gravity micro-adjusting mechanism, an elevating mechanism is arranged on the second sliding block；Several load-carrying blocks, it is slidably disposed in bearing platform upper end, and load-carrying block frame is located at center of gravity micro-adjusting mechanism upper end, and load-carrying block center, which is run through, opens up pass through aperture, the internal diameter of through hole is not less than the outer diameter of elevating mechanism lift side, and the lift side of elevating mechanism selectively stretches in through hole；The present invention can adjust the center of gravity of robot, to meet robot work requirements, solve the technical issues of underwater robot center of gravity is not easy to adjust.
Description
Technical field
The present invention relates to underwater robot technical fields, it is more particularly related to a kind of underwater robot center of gravity
Regulating system and method.
Background technology
Underwater robot has very wide application prospect, this be also for many years each state all greatly developing underwater
The reason of people's technology.Underwater robot can replace artificial in the waters of highly dangerous environment, contaminated environment and zero visibility
Long working under water is commonly equipped with the devices such as Sonar system, video camera, headlamp and mechanical arm, energy on underwater robot
Real-time video, sonar image are provided, mechanical arm can pick up weight, and underwater robot is in oil development, maritime affair law enforcement evidence obtaining, science
It is used widely in the fields such as research and military affairs
However, when executing underwater, water surface task, near flow, wave and disturbance of shoving, and other including lash ship
The surge that ship takes up, the rotating vortex etc. in flow make underwater robot deviate setting course, wave, monitor video mould often
Paste, cannot keep set depth etc..Underwater robot kinetic stability, that is, the ability of original state is voluntarily returned to after being disturbed is
The premise of underwater robot course control system and depth control system precision.If underwater robot automatic stabilisation performance is too poor,
Then propeller necessary frequent start-stop, positive and negative rotation keeps course and the depth of setting to change thrust size and Orientation.Not only can
Propeller is caused to damage, electric energy is excessively consumed, will also increase the disturbance of surrounding fluid, be further exacerbated by underwater robot not
Stablize, or even cannot keep course and depthkeeping.
In the prior art, patent：Space flight grade ball bar detecting system discloses a kind of completely new spatial simulation locomotory apparatus, but
The technological means accurately adjusted about center of gravity is not disclosed, underwater robot can not be suitable for.
For this purpose, being badly in need of a kind of underwater robot center of gravity regulating system and method.
Invention content
It is an object of the invention to solve at least the above, and provide the advantages of at least will be described later.
It is a still further object of the present invention to provide a kind of underwater robot center of gravity regulating systems, are existed with stablizing underwater robot
Underwater posture, in favor of robot normal operation, while can be with the center of gravity and posture of active accommodation robot, to meet machine
People's work requirements solve the technical issues of underwater robot center of gravity is not easy to adjust.
In order to realize these purposes and other advantages according to the present invention, a kind of underwater robot center of gravity adjusting system is provided
System, including:
Pedestal is mounted in robot, and the base center protrusion is provided with a positioning rotating shaft, and the positioning rotating shaft is outer with one heart
The pedestal in week offers a circular groove；
Support base, centre bottom open up a positioning circular hole, and the support base of the concentric periphery of positioning round orifice, which protrudes above, to be set
It is equipped with a sliding rail, the sliding rail is rotatably arranged in the circular groove, and the positioning rotating shaft rotation is plugged in the setting circle
Kong Zhong；
Balance mechanism is inclined outwardly the elastic component being arranged on the support base by several bottoms and constitutes, several elasticity
Part is symmetrically distributed in the support base peripheral surface；
Turntable is arranged in the balance mechanism upper end, and the turntable periphery is provided with a linkage mechanism, the turntable
Outside is provided with a driving mechanism being drivingly connected with the linkage mechanism, and the first uniaxial slide unit is provided on the turntable,
The first uniaxial slide unit be arranged the turntable one diametrically, on the turntable of the described first uniaxial slide unit both sides
A sliding slot is opened up respectively, and the sliding slot is arranged in parallel with the described first uniaxial slide unit；
Bearing platform is slidably mounted on the first sliding block on the described first uniaxial slide unit, and the bearing platform bottom is arranged in parallel
There are a pair of support arms, the support arm to be slidably arranged in the sliding slot；
Center of gravity micro-adjusting mechanism is arranged at the top of the bearing platform, one second sliding block, institute is provided on the center of gravity micro-adjusting mechanism
It states and an elevating mechanism is set on the second sliding block；
Several load-carrying blocks, are slidably disposed in the bearing platform upper end, and the load-carrying block frame be located at it is described heavy
Heart micro-adjusting mechanism upper end, load-carrying block center are not less than the lifting through pass through aperture, the internal diameter of the through hole is opened up
The lift side of the outer diameter of mechanism lift side, the elevating mechanism selectively stretches in the through hole；And
Control mechanism is connect with the described first uniaxial slide unit, telescoping mechanism and center of gravity micro-adjusting mechanism respectively.
Preferably, the balance mechanism includes：
Four connecting seats, are symmetrically distributed in support base upper surface periphery, and one the is tiltedly installed on the inside of the connecting seat
One card interface；
Four elastic components, the elastic component are compression spring, and the both ends of the compression spring are respectively arranged with a buckle, and the compression spring bottom is logical
Cross described snap connection in first card interface；
Wherein, the angle of inclination of the compression spring is between 10 °~50 °.
Preferably, turntable lower surface periphery is correspondingly arranged there are four the second card interface, and the compression spring top passes through
It is described to snap connection in second card interface；Wherein, the turntable and the support base are a disc structure, described turn
Dynamic platform is arranged with the support base parallel interval, and pair at the turntable center, support base center and four connecting seats
Title center is on a straight line.
Preferably, the linkage mechanism is an annular rack, and the teeth of the annular rack are arranged downward in the rotation
Platform periphery bottom, the turntable periphery are provided with a circular ring shape angle displacement measurement ruler, on the circular ring shape angle displacement measurement ruler
Sliding sleeve is equipped with one first reading head, and the output end of first reading head is connect with the control mechanism.
Preferably, the driving mechanism is fixed in the robot, and one is provided in the drive shaft of the driving mechanism
A and annular rack meshed gears, first reading head bottom is fixed in the driving mechanism.
Preferably, a first straight line displacement measuring scale, the first straight line position are provided on the first sliding block upper side wall
Sliding sleeve is equipped with one second reading head on shift measurement ruler, and the output end of second reading head is connect with the control mechanism.
Preferably, the described first uniaxial slide unit turntable upper surface center excessively, and the length of the described first uniaxial slide unit
Diameter of the degree not less than the turntable；Several mounting holes are provided through on the bearing platform.
Preferably, the center of gravity micro-adjusting mechanism includes：
Second uniaxial slide unit is arranged in the bearing platform upper surface, and the described second excessively described bearing platform center of uniaxial slide unit；
Second straight line displacement measuring scale is arranged on second slider side wall, sliding on the second straight line displacement measuring scale
Dynamic to be arranged with a third reading head, the output end of the third reading head is connect with the control mechanism；And
Elevating mechanism is arranged on the second sliding block of the described second uniaxial slide unit, and the third reading head is fixed on described the
On two sliding blocks.
Preferably, a supporting rack, the support are respectively arranged on the bearing platform of the described second uniaxial slide unit both sides
Longitudinally spaced on frame to be provided with several guide rods, the guide rod is higher than the described second uniaxial slide unit certain distance, the guiding
Bar is arranged in parallel with the described second uniaxial slide unit, and the guide rod of the described second uniaxial slide unit both sides corresponds, several loads
Pouring weight stacked on top is arranged, and each load-carrying block and the guide rod of sustained height position correspond, and the load-carrying
Block both sides laterally open up a through-hole respectively, and each load-carrying block is set in by the through-hole on the guide rod of both sides, described
It is provided with positioning protrusion on load-carrying block side wall, is vertically installed on the bearing platform on the outside of the described second uniaxial slide unit center certain
Position seat is vertically arranged with several limited bayonets with positioning protrusion cooperation on the positioning seat.
A kind of underwater robot center of gravity adjusting method, includes the following steps：
Step 1: the target for calculating regulating system center of gravity according to the bias of posture residing for robot and targeted attitude deviates position
It sets；
Step 2: according to the target deviation position of regulating system center of gravity be sequentially adjusted in bearing platform center of gravity motion direction and it is mobile away from
From adjusting the swing arm of force of bearing platform center of gravity with this；
Step 3: mobile bearing platform center of gravity is until by bearing platform gravity motion to the target deviation position, with this by adjusting
Bearing platform center of gravity adjusts the center of gravity and posture of robot；
Step 4: the position of centre of gravity to robot is finely adjusted, the load-carrying number of blocks by adjusting participation adjustment process and position,
Robot center of gravity is accurately adjusted to target deviation position.
The present invention includes at least following advantageous effect：
1, by adjusting the centre-of gravity shift of bearing platform, the center of gravity of adjustment underwater robot can be facilitated, and then adjust underwater
The underwater center of gravity of people and posture, regulated efficiency and precision are high；
2, it effectively offsets caused by flow impacts robot and shakes；
3, robot center of gravity can be finely adjusted by load-carrying block, further improves the center of gravity and pose adjustment to robot
Accuracy.
Part is illustrated to embody by further advantage, target and the feature of the present invention by following, and part will also be by this
The research and practice of invention and be understood by the person skilled in the art.
Description of the drawings
Fig. 1 is the structural schematic diagram of apparatus of the present invention；
Fig. 2 is the explosive view of apparatus of the present invention；
Fig. 3 is the mounting structure schematic diagram of the first uniaxial slide unit；
Fig. 4 is the structural schematic diagram of center of gravity micro-adjusting mechanism.
Specific implementation mode
Present invention will be described in further detail below with reference to the accompanying drawings, to enable those skilled in the art with reference to specification text
Word can be implemented according to this.
It should be appreciated that such as " having ", "comprising" and " comprising " term used herein do not allot one or more
The presence or addition of a other elements or combinations thereof.
As shown in Figs 1-4, a kind of underwater robot center of gravity regulating system, pedestal 700 are fixedly mounted in robot, preferably
, pedestal 700 and robot center, 700 center of pedestal protrusion are provided with a positioning rotating shaft 710, the positioning rotating shaft 710
The pedestal 700 of concentric periphery offers a circular groove, for providing guiding for the rotation of support base 500.
500 centre bottom of support base opens up a positioning circular hole, on the support base 500 of the concentric periphery of positioning round orifice
Protrusion be provided with a sliding rail 510, the sliding rail 510 is rotatably arranged in the circular groove, in order to support base 500 along
Circular groove rotates on pedestal 700, and the rotation of the positioning rotating shaft 710 is plugged in the positioning round orifice, as center of rotation.
Balance mechanism is inclined outwardly the elastic component being arranged on the support base 500 by several bottoms and constitutes, several described
Elastic component 600 is symmetrically distributed in 500 peripheral surface of the support base.Specifically, in the balance mechanism, four connecting seats
610 are symmetrically distributed in 500 upper surface periphery of the support base, and 610 inside of the connecting seat is tiltedly installed with one first card interface；
Four elastic components 600 are respectively arranged with a buckle using compression spring, the both ends of the compression spring, and the compression spring bottom passes through described
It snaps connection in first card interface, in order to install fixation.
The setting of turntable 300 is set in the balance mechanism upper end specifically, 300 lower surface periphery of the turntable corresponds to
Second card interface there are four setting, the compression spring top is snapped connection by described in second card interface, to turntable
300 are connected with support base 500 by four compression springs.In the present embodiment, the angle of inclination of the compression spring is at 15 °, when robot exists
When underwater work, when flow causes impact to make robot centre-of gravity shift and attitude offsets in robot, due to four compression spring structures
At resilient suspension structure, when robot pose deviates, turntable 300 and the structure mounted on upper end are protected under effect of inertia
Original position is held, at this point, turntable 300 and the center of gravity mounted on upper end formation are biased to the deviation with robot center of gravity on the contrary, being applied to
One reset force of robot body, avoids robot body posture from further deviating, and reset force promotes the posture of robot body
It resets, to stabilize the posture of robot, reduces influence of the flow to robot pose, effectively offset flow and robot is rushed
Shaking caused by hitting.
Wherein, the turntable 300 and the support base 500 are a disc structure, the turntable 300 and the support
500 parallel intervals of seat are arranged, under stationary state, 300 center of the turntable, 500 center of support base and four connecting seats
610 symmetrical centre is on a straight line.
Under the self-adjusting effect of compression spring, robot can be maintained to a stable posture, simultaneously because compression spring
Angle of inclination is at 15 °, and under normal condition, turntable 300 is kept under static state, and parallel with support base 500.Therefore, exist
In the case that external force reduces, turntable 300 can reset to the position parallel with support base 500, avoid turntable 300 or so disorderly
It shakes.
300 periphery of the turntable is provided with a linkage mechanism, and 300 outside of the turntable is provided with one and the linkage
The driving mechanism 800 that mechanism is drivingly connected, to drive turntable 300 to rotate.Specifically, in the present embodiment, the linkage mechanism
Teeth for an annular rack 340, the annular rack 340 are arranged downward in 300 periphery bottom of the turntable, and the drive
Motivation structure 800 is fixed in the robot, in the drive shaft of the driving mechanism 800 setting there are one with the annular rack
340 meshed gears 810, when driving mechanism 800 rotates, you can drive turntable to turn by gear 810 and annular rack 340
It is dynamic, since turntable is supported on by balance mechanism on support base, to when driving mechanism 800 drives turntable rotation, lead to
Overbalance mechanism drives support base to be rotated on pedestal 700 so that pedestal 700 and its above section rotation.
300 periphery of the turntable is provided with a circular ring shape angle displacement measurement ruler 400, the circular ring shape angle displacement measurement ruler
Sliding sleeve is equipped with one first reading head 820 on 400, and the output end of first reading head 820 is connect with control mechanism.Described
One reading head, 820 bottom is fixed in the driving mechanism 800, in the present embodiment, angle displacement measurement and linear position measuring machine
Structure all uses active ball bar displacement measurement system, and when driving mechanism driving turntable rotation, the first reading head 820 is in circular ring shape
Angle displacement measurement ruler 400 slides, and the rotational angle of turntable can be measured by the first reading head, feeds back to control mechanism
In, with the amount of spin of feedback control turntable and position.
The first uniaxial slide unit 310 is provided on the turntable 300, the described first uniaxial slide unit 310 is arranged at described turn
The one of dynamic platform 300 is diametrically, that is to say, that the described first uniaxial slide unit 310 turntable upper surface center excessively, and described the
The length of one uniaxial slide unit 310 is not less than the diameter of the turntable 300, to increase the adjustment distance of bearing platform position.
A sliding slot 330, the sliding slot 330 are opened up respectively on the turntable 300 of described first 310 both sides of uniaxial slide unit
It is arranged in parallel with the described first uniaxial slide unit 310.One the is provided on 320 side wall of the first sliding block on first uniaxial slide unit 310
Linear movement measuring ruler 311 always, sliding sleeve is equipped with one second reading head 321 on the first straight line displacement measuring scale 311, described
The output end of second reading head 321 is connect with the control mechanism, and the first sliding block 320 is moved along guide groove 312, the second reading
First 321 synchronizing moving, to measure displacement distance and the position of the first sliding block 320, to feed back the accurate shifting for adjusting the first sliding block 320
Dynamic process.
Bearing platform 100 is slidably mounted on the first sliding block 320 on the described first uniaxial slide unit 310, with the first sliding block 320
Movement and move, 100 bottom of the bearing platform is arranged in parallel with a pair of support arms 110, and the support arm 110 is slidably arranged in
In the sliding slot 330, by the support sliding of support arm 110 in sliding slot 330, sliding slot 330 provides movement for it and leads bearing platform 100
To when the first sliding block 320 moves, you can drive bearing platform 100 to be moved along sliding slot 330, the second reading head 321 measures and anti-
Displacement distance and the position for presenting bearing platform 100, are made with the moving process to bearing platform 100 and being accurately controlled.Change bearing platform 100
In the position of centre of gravity of regulating system, and change the center of gravity of entire robot, that is, change the arm of force of 100 gravity of bearing platform, leads to
Cross the change arm of force, you can the torque for changing adjustment force, with to robot center of gravity and posture make corresponding adjustment.
The setting of center of gravity micro-adjusting mechanism is at 100 top of the bearing platform, specifically, the second single shaft in the center of gravity micro-adjusting mechanism
Slide unit 150 is arranged in 100 upper surface of the bearing platform, and the described second 150 excessively described 100 center of bearing platform of uniaxial slide unit, the
Two uniaxial slide units 150 be arranged bearing platform 100 one diametrically, the setting of second straight line displacement measuring scale 151 is uniaxial sliding second
On 152 side wall of the second sliding block of platform 150, sliding sleeve is equipped with a third reading head on the second straight line displacement measuring scale 151
154, the third reading head 154 is fixed on second sliding block, output end and the control of the third reading head 154
Mechanism connects, and the second sliding block 152 moves linearly along the guide groove 155 on the second uniaxial slide unit 150, with the second sliding block 152
Movement, drive the synchronizing moving on second straight line displacement measuring scale 151 of third reading head 154, measure the movement of the second sliding block
Distance and position, feed back in control mechanism, are accurately controlled with the displacement distance to the second sliding block.
Elevating mechanism 153 is arranged on the second sliding block 152 of the described second uniaxial slide unit 150, as the second sliding block 152 is same
Moved further.
Several load-carrying blocks 200 are slidably disposed in 100 upper end of the bearing platform, and 200 frame of load-carrying block
It is located at center of gravity micro-adjusting mechanism upper end, 200 center of load-carrying block, which is run through, opens up pass through aperture 210, the through hole 210
Internal diameter is not less than the outer diameter of 153 lift side of the elevating mechanism, and the lift side of the elevating mechanism 153 selectively stretches to described
In through hole 210.
Specifically, being respectively arranged with a supporting rack 160, institute on the bearing platform of the described second 150 both sides of uniaxial slide unit
State it is longitudinally spaced on supporting rack 160 be provided with several guide rods 161, the guide rod 161 is higher than the described second uniaxial slide unit 150
Certain distance, the guide rod 161 are arranged in parallel with the described second uniaxial slide unit 150, the described second 150 both sides of uniaxial slide unit
Guide rod 161 corresponds, several 200 stacked on top of load-carrying block settings, each load-carrying block 200 and sustained height position
The guide rod 161 set corresponds, and 200 both sides of load-carrying block laterally open up a through-hole, each load-carrying block 200 respectively
It is set on the guide rod 161 of both sides by the through-hole.
Positioning protrusion 220 is provided on 200 side wall of load-carrying block, on the outside of the described second 150 center of uniaxial slide unit
It is vertically installed with a positioning seat 170 on bearing platform 100, several and positioning protrusion is vertically arranged on the positioning seat 170
The limited bayonets of 220 cooperations, when normal condition, positioning protrusion 220 is fastened in limited bayonet so that each load-carrying block 200 is protected
The center for being stacked on bearing platform is held, when needing the posture to robot to finely tune, according to the amplitude and robot of required adjustment
The position of center of gravity, to select to move a certain distance wherein at least one load-carrying block on bearing platform, to complete to bearing platform weight
The fine tuning of the heart.
Several mounting holes are provided through on the bearing platform 100, for installing polylith bearing platform, to adjust entire load-bearing
The weight of platform.
Control mechanism is connect with the described first uniaxial slide unit, telescoping mechanism and center of gravity micro-adjusting mechanism respectively, each for controlling
The operational process of a actuating mechanism.
Specifically, the center of gravity of adjustment robot needs the position of centre of gravity by adjusting entire robot to change, and adjust
The weight of system is certain, and when robot center of gravity deviates with target barycentric, regulating system is calculated according to bias
The target deviation position of center of gravity, that is, deviate the arm of force.
Because the weight of entire regulating system all concentrates on bearing platform 100, therefore adjusts regulating system center of gravity namely
Adjust the center of gravity of bearing platform 100.
The adjustment process of 100 center of gravity of bearing platform is as follows：
Step 1: the target for calculating regulating system center of gravity according to the bias of posture residing for robot and targeted attitude deviates position
It sets；
Step 2: according to the target deviation position of regulating system center of gravity be sequentially adjusted in bearing platform center of gravity motion direction and it is mobile away from
From adjusting the swing arm of force of bearing platform center of gravity with this；Specifically, according to 100 center of gravity target deviation position of calculated bearing platform,
The orientation for determining 100 center of gravity target location of bearing platform first drives turntable 300 and bearing platform to rotate by driving mechanism,
First reading head feeds back rotational angle so that is directed toward the orientation of 100 center of gravity target location of bearing platform in the direction of the first uniaxial slide unit；
Step 3: mobile bearing platform center of gravity is until by bearing platform gravity motion to the target deviation position, with this by adjusting
Bearing platform center of gravity adjusts the center of gravity and posture of robot；Specifically, control the first sliding block movement, drives bearing platform 100 to mesh
Cursor position moves, that is, changes the position of centre of gravity of bearing platform 100, and the second reading head measures displacement distance and the position of bearing platform
It sets, to be accurately controlled to moving process, until the gravity motion of bearing platform 100 is to target deviation position, to machine
The center of gravity of people is adjusted；
Step 4: the position of centre of gravity to robot is finely adjusted, the load-carrying number of blocks by adjusting participation adjustment process and position,
Robot center of gravity is accurately adjusted to target deviation position.
When 100 center of gravity of bearing platform needs to make fine tuning, that is, when being finely adjusted to the center of gravity of robot, method for trimming
It is as follows：
The position of the second sliding block is adjusted, third reading head feeds back the position of the second sliding block, and ginseng is determined according to required trim locations
Weight with the load-carrying block 200 of adjustment process and its adjustment position, then according to the calculated load-carrying block for participating in adjustment process
200 weight that is to say that the quantity of load-carrying block 200, the second sliding block of control are moved to 200 origin bottom of load-carrying block, control lifting
Mechanism lift side rising stretches in the through hole 210, until elevating mechanism lift side height just with corresponding number
Load-carrying block 200 it is highly consistent, according to the target adjustment position of load-carrying block 200, the second sliding block of driving is moved to this target location,
It that is to say and the load-carrying block 200 of quantification is moved to the target location on the second uniaxial slide unit 150, to be adjusted to participation
200 centre-of gravity shift of the load-carrying block adjustment of journey finishes, and other load-carrying blocks 200 are maintained at load table center, to complete to robot
The fine tuning of center of gravity further improves the accuracy to robot center of gravity and pose adjustment.
From the above mentioned, the present invention can facilitate the center of gravity of adjustment underwater robot by adjusting the centre-of gravity shift of bearing platform,
And then the underwater center of gravity of underwater robot and posture are adjusted, regulated efficiency and precision are high；Meanwhile flow is effectively offset to machine
People shakes caused by impacting；Further, robot center of gravity can be finely adjusted, is further improved to machine by load-carrying block
The center of gravity of device people and the accuracy of pose adjustment.
Although the embodiments of the present invention have been disclosed as above, but its is not only in the description and the implementation listed
With it can be fully applied to various fields suitable for the present invention, for those skilled in the art, can be easily
Realize other modification, therefore without departing from the general concept defined in the claims and the equivalent scope, the present invention is simultaneously unlimited
In specific details and legend shown and described herein.
Claims (10)
1. a kind of underwater robot center of gravity regulating system, which is characterized in that including：
Pedestal is mounted in robot, and the base center protrusion is provided with a positioning rotating shaft, and the positioning rotating shaft is outer with one heart
The pedestal in week offers a circular groove；
Support base, centre bottom open up a positioning circular hole, and the support base of the concentric periphery of positioning round orifice, which protrudes above, to be set
It is equipped with a sliding rail, the sliding rail is rotatably arranged in the circular groove, and the positioning rotating shaft rotation is plugged in the setting circle
Kong Zhong；
Balance mechanism is inclined outwardly the elastic component being arranged on the support base by several bottoms and constitutes, several elasticity
Part is symmetrically distributed in the support base peripheral surface；
Turntable is arranged in the balance mechanism upper end, and the turntable periphery is provided with a linkage mechanism, the turntable
Outside is provided with a driving mechanism being drivingly connected with the linkage mechanism, and the first uniaxial slide unit is provided on the turntable,
The first uniaxial slide unit be arranged the turntable one diametrically, on the turntable of the described first uniaxial slide unit both sides
A sliding slot is opened up respectively, and the sliding slot is arranged in parallel with the described first uniaxial slide unit；
Bearing platform is slidably mounted on the first sliding block on the described first uniaxial slide unit, and the bearing platform bottom is arranged in parallel
There are a pair of support arms, the support arm to be slidably arranged in the sliding slot；
Center of gravity micro-adjusting mechanism is arranged at the top of the bearing platform, one second sliding block, institute is provided on the center of gravity micro-adjusting mechanism
It states and an elevating mechanism is set on the second sliding block；
Several load-carrying blocks, are slidably disposed in the bearing platform upper end, and the load-carrying block frame be located at it is described heavy
Heart micro-adjusting mechanism upper end, load-carrying block center are not less than the lifting through pass through aperture, the internal diameter of the through hole is opened up
The lift side of the outer diameter of mechanism lift side, the elevating mechanism selectively stretches in the through hole；And
Control mechanism is connect with the described first uniaxial slide unit, telescoping mechanism and center of gravity micro-adjusting mechanism respectively.
2. underwater robot center of gravity regulating system as described in claim 1, which is characterized in that the balance mechanism includes：
Four connecting seats, are symmetrically distributed in support base upper surface periphery, and one the is tiltedly installed on the inside of the connecting seat
One card interface；
Four elastic components, the elastic component are compression spring, and the both ends of the compression spring are respectively arranged with a buckle, and the compression spring bottom is logical
Cross described snap connection in first card interface；
Wherein, the angle of inclination of the compression spring is between 10 °~50 °.
3. underwater robot center of gravity regulating system as claimed in claim 2, which is characterized in that turntable lower surface periphery
It is correspondingly arranged there are four the second card interface, the compression spring top is snapped connection by described in second card interface；Wherein,
The turntable is a disc structure with the support base, and the turntable is arranged with the support base parallel interval, and described
The symmetrical centre at turntable center, support base center and four connecting seats is on a straight line.
4. underwater robot center of gravity regulating system as claimed in claim 3, which is characterized in that the linkage mechanism is an annular
The teeth of rack, the annular rack are arranged downward in turntable periphery bottom, and the turntable periphery is provided with a circle
Annular angle displacement measuring scale, sliding sleeve is equipped with one first reading head, first reading on the circular ring shape angle displacement measurement ruler
The output end of head is connect with the control mechanism.
5. underwater robot center of gravity regulating system as claimed in claim 4, which is characterized in that the driving mechanism is fixed on institute
State in robot, in the drive shaft of the driving mechanism setting there are one with the annular rack meshed gears, described first
Reading head bottom is fixed in the driving mechanism.
6. underwater robot center of gravity regulating system as claimed in claim 5, which is characterized in that on the first sliding block upper side wall
It is provided with a first straight line displacement measuring scale, sliding sleeve is equipped with one second reading head, institute on the first straight line displacement measuring scale
The output end for stating the second reading head is connect with the control mechanism.
7. underwater robot center of gravity regulating system as claimed in claim 6, which is characterized in that the described first uniaxial slide unit crosses institute
Turntable upper surface center is stated, and the length of the described first uniaxial slide unit is not less than the diameter of the turntable；The bearing platform
On be provided through several mounting holes.
8. underwater robot center of gravity regulating system as claimed in claim 7, which is characterized in that the center of gravity micro-adjusting mechanism packet
It includes：
Second uniaxial slide unit is arranged in the bearing platform upper surface, and the described second excessively described bearing platform center of uniaxial slide unit；
Second straight line displacement measuring scale is arranged on second slider side wall, sliding on the second straight line displacement measuring scale
Dynamic to be arranged with a third reading head, the output end of the third reading head is connect with the control mechanism；And
Elevating mechanism is arranged on the second sliding block of the described second uniaxial slide unit, and the third reading head is fixed on described the
On two sliding blocks.
9. underwater robot center of gravity regulating system as claimed in claim 8, which is characterized in that the described second uniaxial slide unit both sides
The bearing platform on be respectively arranged with a supporting rack, it is longitudinally spaced on support frame as described above to be provided with several guide rods, it is described to lead
To bar higher than the described second uniaxial slide unit certain distance, the guide rod is arranged in parallel with the second single shaft slide unit, and described the
The guide rod of two uniaxial slide unit both sides corresponds, several load-carrying block stacked on top settings, each load-carrying block with it is same
The guide rod of one height and position corresponds, and load-carrying block both sides laterally open up a through-hole, each load-carrying block respectively
It is set on the guide rod of both sides by the through-hole, is provided with positioning protrusion on the load-carrying block side wall, described
It is vertically installed with a positioning seat on bearing platform on the outside of two uniaxial slide unit centers, several and institute is vertically arranged on the positioning seat
State the limited bayonet of positioning protrusion cooperation.
10. a kind of underwater robot center of gravity adjusting method as claimed in claim 9, which is characterized in that include the following steps：
Step 1: the target for calculating regulating system center of gravity according to the bias of posture residing for robot and targeted attitude deviates position
It sets；
Step 2: according to the target deviation position of regulating system center of gravity be sequentially adjusted in bearing platform center of gravity motion direction and it is mobile away from
From adjusting the swing arm of force of bearing platform center of gravity with this；
Step 3: mobile bearing platform center of gravity is until by bearing platform gravity motion to the target deviation position, with this by adjusting
Bearing platform center of gravity adjusts the center of gravity and posture of robot；
Step 4: the position of centre of gravity to robot is finely adjusted, the load-carrying number of blocks by adjusting participation adjustment process and position,
Robot center of gravity is accurately adjusted to target deviation position.
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| CN112339948A (en) * | 2020-10-27 | 2021-02-09 | 广州黄船海洋工程有限公司 | Gravity center adjusting method for saturated diving bell |
| CN112339949A (en) * | 2020-10-27 | 2021-02-09 | 广州黄船海洋工程有限公司 | Gravity-center-adjustable saturated diving bell support |
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| CN108657398B (en) | 2019-10-11 |
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