CN103448895A - Movement control mechanism of rotor adjusting type underground glider - Google Patents

Abstract

The invention discloses a movement control mechanism of a rotor adjusting type underground glider, and belongs to the technical field of marine engineering. The mechanism comprises a pair of side wings, a set of side wing bracket, a motor, a sealing ring and a motor fixing bracket, wherein the side wings adopt NACA4412 type, the side wing bracket is used for connecting a tail cone section and the side wings, and the motor is used for controlling the rotation of the tail cone section to further adjust the attitudes of the side wings through the side wing bracket. The mechanism has the beneficial effects that 1, the attitudes of the glider are adjusted by directly using rotors, and by changing the angles of the rotors, the steering radius and the movement direction of the glider are changed by utilizing the components of the lift force in the horizontal direction; and 2, the traditional interior roll adjusting mechanism is saved, the size of the glider is smaller, the control scheme is more novel, and the simplicity and the reliability are realized and the weight of the glider is reduced, so the movement is more flexible, and the consumption of energy sources is less.

Description

A kind of rotor adjustable type underwater glider motion control mechanism

Technical field

The present invention relates to a kind of underwater glider project of motion control, particularly relate to a kind of underwater glider motion control mechanism that utilizes rotor to regulate, belong to field of ocean engineering.

Background technology

Underwater glider is a kind of device of controlling its motion by built-in actuating unit adjustment center-of-gravity position and net buoyancy, it combines the under-water robot technology with the buoy technology, there are the characteristics such as low cost of manufacture, maintenance cost is low, input is reclaimed conveniently, flying power is strong, energy resource consumption is minimum, noise is low, be applicable to a large amount of the input and use, have broad application prospects for aspects such as the detection of marine environment on a large scale, investigation, detections.1989, at first Stammel proposed to utilize the buoy of gliding to carry out the imagination of marine environment investigation, and this is the initial concept of underwater glider.Since nineteen ninety-five, the U.S. has developed the multiple underwater gliding machine people such as SLOCUM, Seaglider and Spray in succession.In recent years, the U.S. had started the research of a plurality of underwater glider work compound.In addition, Japan and France have also developed the underwater glider of ALBAC by name and STERNE in succession.Visible, the development of underwater glider is very fast abroad.Domestic aspect, about underwater glider, research is started late, Shenyang Inst of Automation, Chinese Academy of Sciences, University Of Tianjin's robot and the units such as automotive technology research institute and Zhejiang University have also carried out the research of underwater gliding machine people correlation technique at present, although obtained suitable progress, but major part still rests on the stage of foreign imitation, its mode, physical construction novelty are lower, are subject to the constraint of foreign technology comparatively serious.

Summary of the invention

The objective of the invention is: design a kind of novel structure, control underwater glider motion control mechanism simple, practical, reliable in function, make the aerodone operating efficiency improve, energy resource consumption still less, cost is lower, novelty and practicality are stronger, for the research of domestic association area provides new approaches, overcome the deficiency of domestic underwater glider development aspect, make underwater glider more be conducive to apply.

For achieving the above object, the present invention takes following design plan:

A kind of rotor adjustable type underwater glider motion control mechanism, this mechanism comprises:

A pair of flank, flank is symmetrical along the aerodone axis, and, on same level, aerofoil profile is selected NACA4412, for aerodone provides lift;

A set of lateral wing support, for connecting tail cone section and flank, be connected by screw between any two;

A motor, for controlling the rotation of tail cone section, and then regulate the flank attitude by foil support, makes flank lift produce the component of horizontal direction, thereby realize the change of the whole attitude of aerodone;

A seal ring, be installed on motor and shell junction, prevents the infiltration of outside water;

A motor fixed rack, for fixed electrical machinery, be connected by screw between the two.

Compared to the prior art the present invention has following advantage:

1. the present invention directly utilizes rotor to regulate the aerodone attitude, by changing the angle of rotor, and then utilizes its lift component in the horizontal direction to change turn radius and the sense of motion of aerodone;

2. the present invention has given up traditional inside roll regulating mechanism, makes the aerodone build less, and control program is more novel, and simple and reliable, has alleviated aerodone weight simultaneously, makes its motion more flexible, and energy resource consumption still less.

The accompanying drawing explanation

Fig. 1 is the motion control mechanism installation site axis side view that the present invention proposes

Fig. 2 is the motion control mechanism inner structure birds-eye view that the present invention proposes

Fig. 3 is the motion control mechanism inner structure lateral plan that the present invention proposes

In figure: 1-aerodone, 2-rotor regulating mechanism, 3-motor, 4-tail cone section, 5-flank, 6-screw, 7-lateral wing support, 8-screw two, 9-screw three, 10-internal stent, 11-motor fixing plate, 12-seal ring.

Below in conjunction with accompanying drawing, the present invention is described in further detail.

The specific embodiment

As depicted in figs. 1 and 2, this rotor regulating mechanism 2 is installed on aerodone tail cone section 4, between tail cone section 4 and flank 5, by lateral wing support 7, be connected, the aerofoil profile of flank 5 is selected NACA4412, can produce suitable lift, between tail cone section 4 and lateral wing support 7, by screw 28, be connected, between lateral wing support 7 and flank 5, by screw 1, be connected, the aerodone cylindrical section is equipped with internal stent 10, motor fixing plate 11 is fixed on internal stent 10, for fixed electrical machinery 3, between motor 3 and motor fixing plate 11, by screw 39, be connected, the rotor of motor 3 is connected by coupler with tail cone section 4, packing seal 12 is installed on it, prevent entering of outside water, guarantee the normal operation of internal mechanism, by controlling the rotation of motor 3, can control the rotation of tail cone section 4, change the angle of inclination of flank 5, and then change aerodone lift direction, regulate the state of kinematic motion of aerodone.

While utilizing this rotor mechanism, the whole motion process of aerodone is: when initial, flank 5 is positioned at level attitude, and system is in state of equilibrium; During sinking, aerodone is adjusted to the negative lift state, and rotor mechanism 2 is by an angle that is greater than 90 ° of flank 5 upsets, and flank 5 produces downward lift, accelerates the sinking of aerodone; During floating, aerodone is adjusted to the positive buoyancy state, and rotor mechanism 2 rotates flank 5 to normal condition, and flank 5 produces lift upwards, the aerodone floating; While turning to, motor 3 is controlled flank 5 rotations, and lift component in the horizontal direction will make aerodone turn to, and turn radius increases with the increase of the anglec of rotation, turn radius maximum when flank 5 rotates to 90 ° of positions.

Design concept novelty of the present invention, utilize the rotor regulating mechanism to carry out the control of aerodone, replaced traditional roll mechanism, controls more simple and reliablely, makes the aerodone volume less, and weight is lighter, moves more flexible, and energy resource consumption still less.Therefore, novelty of the present invention, practicality are stronger, for the research of domestic association area provides new approaches, contribute to overcome the deficiency of domestic underwater glider development aspect.

Claims (1)

1. a rotor adjustable type underwater glider motion control mechanism, it is characterized in that: this mechanism comprises:

A pair of flank, flank is symmetrical along the aerodone axis, and, on same level, aerofoil profile is selected NACA4412;

A set of lateral wing support, for connecting tail cone section and flank, be connected by screw between any two;

A motor, for controlling the rotation of tail cone section, and then regulate the flank attitude by foil support;

A seal ring, be installed on motor and shell junction;

A motor fixed rack, for fixed electrical machinery.

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