CN103448895B - Rotor wing adjusting type underwater glider motion control mechanism - Google Patents
Rotor wing adjusting type underwater glider motion control mechanism Download PDFInfo
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- CN103448895B CN103448895B CN201310380249.5A CN201310380249A CN103448895B CN 103448895 B CN103448895 B CN 103448895B CN 201310380249 A CN201310380249 A CN 201310380249A CN 103448895 B CN103448895 B CN 103448895B
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- glider
- flank
- rotor wing
- motor
- motion control
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- 238000005096 rolling process Methods 0.000 abstract 1
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- 238000005516 engineering process Methods 0.000 description 5
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Abstract
The invention discloses a motion control mechanism of a rotor wing adjustable underwater glider, and belongs to the technical field of ocean engineering. The mechanism comprises: a pair of flanks, airfoil selection NACA 4412; a set of flank brackets for connecting the tail cone section and the flanks; the motor is used for controlling the rotation of the tail cone section so as to adjust the posture of the side wing through the wing-shaped bracket; a sealing ring and a motor fixing bracket. Has the advantages that: 1. the invention directly utilizes the rotor wing to adjust the posture of the glider, and further utilizes the component of the lifting force of the rotor wing in the horizontal direction to change the turning radius and the moving direction of the glider by changing the angle of the rotor wing; 2. the invention abandons the traditional internal rolling adjusting mechanism, so that the glider has smaller size, more novel control scheme, simplicity and reliability, and simultaneously lightens the weight of the glider, so that the glider moves more flexibly and consumes less energy.
Description
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 utilizing rotor to regulate, belong to field of ocean engineering.
Background technology
Underwater glider is a kind of device being controlled its motion by built-in actuating unit adjustment center-of-gravity position and net buoyancy, under-water robot technology combines with buoy technology by it, there is the features 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 throwing in use in a large number, the aspect such as detection, investigation, detection for marine environment on a large scale has broad application prospects.1989, Stammel first proposed the imagination utilizing the buoy of gliding to carry out marine environment investigation, and this is the initial concept of underwater glider.Since nineteen ninety-five, the U.S. have developed the multiple underwater spectroradiometer such as SLOCUM, Seaglider and Spray in succession.In recent years, the U.S. started the research of multiple underwater glider work compound.In addition, Japan and France also have developed the underwater glider of ALBAC and STERNE by name in succession.Visible, the development of underwater glider is very fast abroad.Domestic aspect, start late about underwater glider research, current Shenyang Inst of Automation, Chinese Academy of Sciences, University Of Tianjin's robot and the unit such as automotive technology research institute and Zhejiang University have also carried out the research of underwater spectroradiometer correlation technique, although achieved suitable progress, but major part still rests on the stage of foreign imitation, its mode, physical construction novelty are lower, and the constraint by foreign technology is comparatively serious.
Summary of the invention
The object of the invention is: design a kind of novel structure, control underwater glider motion control mechanism that is simple, practical, reliable in function, aerodone operating efficiency is improved, energy resource consumption is less, cost is lower, novelty and practicality 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 applying.
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 flank, flank along the distribution of aerodone axisymmetrical, and is in same level, and aerofoil profile selects NACA4412, for aerodone provides lift;
A set of lateral wing support, for connecting tail cone section and flank, is connected by screw between any two;
A motor, for controlling the rotation of tail cone section, and then regulates flank attitude by foil support, makes flank lift produce the component of horizontal direction, thus realizes the change of the overall attitude of aerodone;
A seal ring, is installed on motor and shell junction, prevents the infiltration of outside water;
A motor fixed rack, for fixed electrical machinery, is connected by screw between the two.
The present invention compared to the prior art tool has the following advantages:
1. the present invention directly utilizes rotor to regulate 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, and make aerodone build less, control program is more novel, and simple and reliable, alleviates aerodone weight simultaneously, and make it move more flexible, energy resource consumption is less.
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.
Detailed description of the invention
As depicted in figs. 1 and 2, this rotor regulating mechanism 2 is installed in aerodone tail cone section 4, be connected by lateral wing support 7 between tail cone section 4 and flank 5, the aerofoil profile of flank 5 selects NACA4412, suitable lift can be produced, be connected by screw 28 between tail cone section 4 and lateral wing support 7, be connected by screw 1 between lateral wing support 7 and flank 5, aerodone cylindrical section is provided with internal stent 10, motor fixing plate 11 is fixed in internal stent 10, for fixed electrical machinery 3, be connected by screw 39 between motor 3 and motor fixing plate 11, the rotor of motor 3 is connected by coupler with tail cone section 4, it installs packing seal 12, prevent entering of outside water, ensure the normal work of internal mechanism, by controlling the rotation of motor 3, the rotation of tail cone section 4 can be controlled, change the angle of inclination of flank 5, and then change aerodone lift direction, regulate the state of kinematic motion of aerodone.
When utilizing this rotor mechanism, the whole motion process of aerodone is: time initial, flank 5 is positioned at level attitude, and system is in state of equilibrium; During sinking, aerodone is adjusted to negative lift state, and flank 5 is overturn the angle that is greater than 90 ° by rotor mechanism 2, and flank 5 produces downward lift, accelerates the sinking of aerodone; During floating, aerodone is adjusted to positive buoyancy state, and flank 5 rotates to normal condition by rotor mechanism 2, and flank 5 produces lift upwards, and aerodone floats; When turning to, motor 3 controls flank 5 and rotates, and lift component in the horizontal direction will make aerodone turn to, and turn radius increases with the increase of the anglec of rotation, and flank 5 rotates to turn radius during 90 ° of positions maximum.
Design concept of the present invention is novel, utilizes rotor regulating mechanism to carry out the control of aerodone, instead of traditional roll mechanism, control more simple and reliable, make aerodone volume less, and weight is lighter, and motion is more flexible, and energy resource consumption is less.Therefore, novelty of the present invention, practicality are stronger, for the research of domestic association area provides new approaches, contribute to the deficiency overcoming domestic underwater glider development aspect.
Claims (1)
1. a rotor adjustable type underwater glider motion control mechanism, is characterized in that: this mechanism comprises:
A pair flank, flank along the distribution of aerodone axisymmetrical, and is in same level, and aerofoil profile selects NACA4412;
A set of lateral wing support, for connecting tail cone section and flank, is connected by screw between any two;
A motor, for controlling the rotation of tail cone section, and then regulates flank attitude by foil support;
A seal ring, is installed on motor and shell junction;
A motor fixed rack, for fixed electrical machinery.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310380249.5A CN103448895B (en) | 2013-08-27 | 2013-08-27 | Rotor wing adjusting type underwater glider motion control mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310380249.5A CN103448895B (en) | 2013-08-27 | 2013-08-27 | Rotor wing adjusting type underwater glider motion control mechanism |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103448895A CN103448895A (en) | 2013-12-18 |
| CN103448895B true CN103448895B (en) | 2016-02-17 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201310380249.5A Expired - Fee Related CN103448895B (en) | 2013-08-27 | 2013-08-27 | Rotor wing adjusting type underwater glider motion control mechanism |
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Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104443322A (en) * | 2014-06-19 | 2015-03-25 | 山东东宝重工科技有限公司 | Novel manned submersible |
| CN106005323A (en) * | 2016-06-30 | 2016-10-12 | 深圳乐智机器人有限公司 | Bionic underwater glider and propelling method thereof |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE69822056T2 (en) * | 1997-09-18 | 2005-01-27 | Mitsubishi Heavy Industries, Ltd. | Underwater vehicle |
| CN101549744A (en) * | 2009-05-14 | 2009-10-07 | 天津大学 | Hybrid multifunctional ocean monitoring independent platform |
| CN202863745U (en) * | 2012-10-29 | 2013-04-10 | 中国船舶重工集团公司第七一○研究所 | Submarine variant glider |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6681711B2 (en) * | 2001-07-26 | 2004-01-27 | American Systems Corporation | System for deploying cable |
| US20120312221A1 (en) * | 2007-12-07 | 2012-12-13 | iRobot Corpoartion | Submersible vehicles and methods for propelling and/or powering the same in an underwater environment |
| US8671868B2 (en) * | 2009-01-29 | 2014-03-18 | Awsabe Shifferaw | Underwater vessel with above-water propulsion |
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2013
- 2013-08-27 CN CN201310380249.5A patent/CN103448895B/en not_active Expired - Fee Related
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE69822056T2 (en) * | 1997-09-18 | 2005-01-27 | Mitsubishi Heavy Industries, Ltd. | Underwater vehicle |
| CN101549744A (en) * | 2009-05-14 | 2009-10-07 | 天津大学 | Hybrid multifunctional ocean monitoring independent platform |
| CN202863745U (en) * | 2012-10-29 | 2013-04-10 | 中国船舶重工集团公司第七一○研究所 | Submarine variant glider |
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| CN103448895A (en) | 2013-12-18 |
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Granted publication date: 20160217 Termination date: 20160827 |