CN105730655A - Small underwater vehicle sinking and floating device - Google Patents
Small underwater vehicle sinking and floating device Download PDFInfo
- Publication number
- CN105730655A CN105730655A CN201610246643.3A CN201610246643A CN105730655A CN 105730655 A CN105730655 A CN 105730655A CN 201610246643 A CN201610246643 A CN 201610246643A CN 105730655 A CN105730655 A CN 105730655A
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- Prior art keywords
- piston
- support plate
- underwater vehicle
- piston cylinder
- motor
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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
Abstract
The invention discloses a small underwater vehicle sinking and floating device. In the device, a stepping motor is used as a driving mechanism, wherein the stepping motor drives a lead screw to rotate; the lead screw is matched with a nut to drive an intermediate support plate to move; the intermediate support plate drives two piston mechanisms to suck or drain water synchronously while moving, so that water storage capacities in two piston cylinders are changed. Diameters of a water suction port and a water drainage port of the piston cylinders are small; water flows through piston rods and drives rubber pistons to act, so that water is rapidly sucked in or drained from the piston cylinders to change the gravity of the underwater vehicle; acting forces are generated when the water is sucked or drained, and the posture adjustment and the sinking and floating speed for the underwater vehicle are controlled, to change the gravity of the underwater vehicle so that the underwater vehicle generates an upward or downward acceleration to realize the sinking and floating of the underwater vehicle. The underwater vehicle sinking and floating device is small in structural dimension and light in weight, can precisely control the water suction and drainage capacities, and enhances the adaptability and operation capability of an unmanned underwater vehicle in a complex environment. The sinking and floating device is strong in expansibility, and is applicable to small underwater robots and other small underwater transporting devices.
Description
Technical field
The present invention relates to submarine navigation device technical field, specifically, relate to a kind of small-scale underwater vehicle device sink-float device.
Background technology
In recent years, UAV navigation technical development is rapid, and various types of submarine navigation devices are widely used in ocean environment monitoring, dykes and dams exploration and other prospecting ocean mineral reserve, protection marine resources field.The research and development of submarine navigation device, especially small-scale underwater vehicle device its operation submerged depth as a rule is not deep, it is possible to be widely used in pipe detection, underwater camera, safety are searched and rescued, entertainment teaching and archaeological work under water.
The sink-float of submarine navigation device realizes including increasing aircraft self gravitation and aircraft oblique attitude, and sink-float adjustment device includes gravity adjustment and center of gravity regulates, and is the important component part of submarine navigation device sink-float device.Sink-float regulates device and is arranged on inside aircraft, regulates gravity and attitude by the quality and aircraft center of gravity changing aircraft, it is achieved the sinking of aircraft and floating.Existing sink-float governor motion mostly is single center of gravity or weight apparatus for adjusting force, or center of gravity, gravity regulate two devices and work simultaneously, center of gravity regulates and adopts driven by motor more, realize by changing the front and back position of balancing weight on leading screw, gravity regulates the mode adopting high-pressure hydraulic pump to promote cylinder body discharging water to change aircraft quality to sump discharging water or piston more, thus changing aircraft gravity.The big multimass of sink-float mechanism being applied on submarine navigation device in prior art is overweight, larger in size.Proposing a kind of sink-float being made up of motor and piston cylinder in patent CN2868840Y and regulate device, be adjusted merely by aircraft gravity and change aircraft attitude, effect is poor, and aircraft is moved about dumb.Disclosed in patent of invention CN104044717A " a kind of sink-float device for submarine navigation device ", this device adopts gear drive, rack and pinion drive mechanism by piston plumbing, but due to gear-driven restriction, employing level Four is slowed down, gear shaft friction is big, power loss is big, and speed reducing ratio causes greatly plumbing speed slow, and this device can not accurately control the discharge water yield.Relating in patent CN202429333U " a kind of sink-float device ", this device regulates internal compression liquid by pressure or gas flowing changes active piston two ends pressure, promotes piston to change cavity volume volume and realizes the change of buoyancy.But mechanism's excessively complexity causes that overall size increases, and control difficulty increase.This sink-float device is big with deadweight ratio for requiring accurately to control sink-float, the sink-float discharge water yield, for detecting a flaw for dykes and dams, the small unmanned underwater aircraft of pipeline detection or small underwater robot inapplicable.
Summary of the invention
In order to avoid the deficiency that prior art exists, the present invention proposes a kind of small-scale underwater vehicle device sink-float device, this sink-float apparatus structure is simple, light weight, and is accurately controlled the discharge water yield, strengthens UAV navigation adaptability under complex environment and performance capacity.
The technical solution adopted for the present invention to solve the technical problems is: include motor, leading screw, shaft coupling, two piston cylinders, two piston rods, support plate, base plate, it is characterized in that: described motor is fixed on base plate inside the first support plate middle part by motor cabinet, described leading screw one end is connected with stepper motor output shaft through clutch shaft bearing seat by shaft coupling, the middle support plate of leading screw other end traverse and nut screw connection, and be connected with the second bearing block, second bearing block is fixed on the second middle part, support plate medial wall, nut is connected with middle support plate, step motor drive leading screw drives nut to move with middle support plate；Described first piston cylinder is identical with described second piston cylinder structure, piston cylinder opening end coordinates with piston rod, piston cylinder seals has the discharging water mouth of pipe in the middle of end, first piston cylinder and the second piston cylinder lay respectively at the lateral symmetry of motor and install, and it being fixed on base plate by the first bearing and the second bearing, the discharging water mouth of pipe of two piston cylinder ends is each passed through the first support plate and leads to outside；Described first piston bar is identical with described second piston rod construction, and piston rod is four pieces of plate sheet welding across shapes, and piston rod one end is connected with rubber piston and is positioned at piston cylinder, and the piston rod other end is fixed on middle support plate by end installing plate.
Described leading screw is generally aligned in the same plane parallel installation with first piston bar, the second piston rod.
The helical pitch of described leading screw is 1mm, and pitch is 1mm.
Described motor adopts 42BYGH3401 type motor.
Beneficial effect
The small-scale underwater vehicle device sink-float device that the present invention proposes, adopting and absorbs water or draining during two piston mechanism motions, making the water yield in two piston cylinders change, thus changing aircraft gravity.The gravity changing aircraft makes aircraft produce acceleration downward or upward；In aircraft running, the change of attitude can make aircraft produce velocity component downwards or upwards, thus realizing the sink-float of aircraft.
Small-scale underwater vehicle device of the present invention sink-float device original state is the middle part that piston is positioned at piston cylinder, piston cylinder has had the water yield of half, when motor rotates clockwise, drive nut forward, middle support plate drives first piston bar, the second piston rod movement, piston cylinder water suction gravity increases, and produces the speed of sinking.Secondly aircraft center of gravity turns forward, and produces negative angle of attack, thus producing downward power.The discharging water mouth of pipe absorbs water, and due to the effect of pressure difference, aircraft entirety is subject to downward difference force, and triple role effect can make aircraft accelerate to sink.Otherwise motor rotates forward, triple role effect promotes motor floating upward quickly.
Small-scale underwater vehicle device of the present invention sink-float device adopts motor as driving mechanism, and pitch and the helical pitch of leading screw are 1mm.Motor rotates the rotation driving leading screw, it is determined that the position of first piston and the second piston, thus being more accurately controlled the speed of sink-float and the attitude of aircraft.
Small-scale underwater vehicle device of the present invention sink-float device has that physical dimension is little, light weight, is accurately controlled the discharge water yield, enhances UAV navigation adaptability under complex environment and performance capacity.The discharging water mouth of pipe bore of sink-float device is little, and water flows through rubber piston effect and quickly sucks from piston cylinder or discharge, and produces active force and promote the attitude regulation of aircraft when water suction, draining.
Small-scale underwater vehicle device of the present invention sink-float device expansion is strong, can be applicable to small underwater robot and other small underwater carrying device.
Accompanying drawing explanation
Below in conjunction with drawings and embodiments, one small-scale underwater vehicle device of the present invention sink-float device is described in further detail.
Fig. 1 is submarine navigation device of the present invention sink-float apparatus structure schematic diagram.
Fig. 2 is submarine navigation device of the present invention sink-float assembly axis mapping.
Fig. 3 is first piston bar and the piston schematic diagram of submarine navigation device of the present invention sink-float device.
Fig. 4 is submarine navigation device of the present invention the sink-float leading screw of device, nut installation position schematic diagram.
In figure:
1. the second bearing 2. second piston cylinder 3. clutch shaft bearing seat 4. leading screw 5. second piston rod 6. base plate 7. nut 8. second bearing block 9. second support plate 10. middle support plate 11. first piston bar 12. first bearing 13. first piston cylinder 14. first support plate 15. motor cabinet 16. motor 17. shaft coupling 18. discharging water mouth of pipe
Detailed description of the invention
The present embodiment is a kind of small-scale underwater vehicle device sink-float device.
Consulting Fig. 1～Fig. 4, the present embodiment small-scale underwater vehicle device sink-float device is made up of base plate the 6, first support plate the 14, second support plate 9, middle support plate the 10, first bearing the 12, second bearing 1, clutch shaft bearing seat the 3, second bearing block 8 and leading screw 4, nut the 7, second piston rod the 5, second piston cylinder 2, first piston bar 11, first piston cylinder 13, motor cabinet 15, motor 16, shaft coupling 17, the discharging water mouth of pipe 18；First support plate 14 and the second support plate are respectively and vertically fixed at base plate 6 both upper ends thereof, and the first support plate 14 and the second parallel installation of support plate.Motor 16 is fixed on base plate 6 inside the first support plate 14 middle part by motor cabinet 15.Leading screw 4 one end is connected with motor 16 output shaft through clutch shaft bearing seat 3 by shaft coupling 17, and leading screw 4 other end coordinates through middle support plate 10 with nut 7, and is connected with the second bearing block 8；Second bearing block 8 is arranged on middle part on the medial wall of the second support plate 9 by bolt, and nut 7 is bolted to connection with middle support plate 10, and motor 16 drives leading screw 4 to rotate, and between leading screw 4 and nut 7 mating band disorder of internal organs, support plate 10 moves.In the present embodiment, the helical pitch of thick stick 4 is 1mm, and pitch is 1mm.
In the present embodiment, first piston cylinder 13 is identical with the second piston cylinder 2 structure, piston cylinder opening end coordinates with piston rod, piston cylinder seals has the discharging water mouth of pipe 18 in the middle of end, first piston cylinder 13 and the second piston cylinder 2 lay respectively at the lateral symmetry of motor 16 and install, and it being fixed on base plate 6 by the first bearing 12 and the second bearing 1, the discharging water mouth of pipe 18 of two piston cylinder ends is each passed through the first support plate 14 and leads to outside.First piston bar 11 is identical with the second piston rod 5 structure, and piston rod is four block length side's plate sheet welding across shapes, and piston rod one end is connected with rubber piston and is positioned at piston cylinder, and rubber piston and piston cylinder inwall are interference fit, to ensure sealing effectiveness；The piston rod other end is fixed on middle support plate 10 by end installing plate.Leading screw 4 is generally aligned in the same plane parallel installation with first piston bar the 11, second piston rod 5.Motor 16 adopts 42BYGH3401 type motor.
During submarine navigation device sink-float device work, nut 7 is in the centre position of leading screw 4.When motor 16 drives leading screw 4 to rotate, when between leading screw 4 and nut 7 mating band disorder of internal organs, support plate 10 moves and is close to the first support plate 14, first piston bar 11 and rubber piston coordinate with first piston cylinder 13, second piston rod 5 and rubber piston and the second piston cylinder 2 coordinate, first piston bar 11 and the second piston rod 5 synchronizing moving, the water in first piston cylinder 13 and the second piston cylinder 2 is promoted to discharge, so that submarine navigation device obtains positive buoyancy, it is achieved aircraft floats.When motor 16 drives leading screw 4 to rotate, when between leading screw 4 and nut 7 mating band disorder of internal organs, support plate 10 moves and is close to the second support plate 9, first piston bar 11 and rubber piston coordinate with first piston cylinder 13, second piston rod 5 and rubber piston and the second piston cylinder 2 coordinate, first piston bar 11 and the second piston rod 5 synchronizing moving, promote to absorb water in first piston cylinder 13 and the second piston cylinder 2, make submarine navigation device obtain negative buoyancy force, it is achieved aircraft is sunk.
Workflow: motor is as driving mechanism.Screw turns is driven by shaft coupling when motor rotates, leading screw and nut screw connection drive middle support plate to move, when middle support plate drives two piston mechanism motions, two piston mechanisms are synchronously performed water suction or draining respectively through the respective discharging water mouth of pipe, make the moisture storage capacity in two piston cylinders change.Rubber piston in two piston cylinders and piston cylinder are that interference fit realizes movable sealing.The discharging water mouth of pipe bore of piston cylinder is little, and piston rod drives rubber piston effect to make the water yield in piston cylinder quickly suck or discharge, and changes aircraft gravity；Producing active force during discharging water and control the speed of the floating of aircraft, sinking attitude regulation and sink-float, the gravity changing aircraft makes aircraft produce acceleration downward or upward to realize aircraft floating, to sink.
Claims (4)
1. a small-scale underwater vehicle device sink-float device, including motor, leading screw, shaft coupling, two piston cylinders, two piston rods, support plate, base plate, it is characterized in that: described motor is fixed on base plate inside the first support plate middle part by motor cabinet, described leading screw one end is connected with stepper motor output shaft through clutch shaft bearing seat by shaft coupling, the middle support plate of leading screw other end traverse and nut screw connection, and be connected with the second bearing block, second bearing block is fixed on the second middle part, support plate medial wall, nut is connected with middle support plate, step motor drive leading screw drives nut to move with middle support plate；Described first piston cylinder is identical with described second piston cylinder structure, piston cylinder opening end coordinates with piston rod, piston cylinder seals has the discharging water mouth of pipe in the middle of end, first piston cylinder and the second piston cylinder lay respectively at the lateral symmetry of motor and install, and it being fixed on base plate by the first bearing and the second bearing, the discharging water mouth of pipe of two piston cylinder ends is each passed through the first support plate and leads to outside；Described first piston bar is identical with described second piston rod construction, and piston rod is four pieces of plate sheet welding across shapes, and piston rod one end is connected with rubber piston and is positioned at piston cylinder, and the piston rod other end is fixed on middle support plate by end installing plate.
2. submarine navigation device according to claim 1 sink-float device, it is characterised in that: described leading screw is generally aligned in the same plane parallel installation with first piston bar, the second piston rod.
3. submarine navigation device according to claim 1 sink-float device, it is characterised in that: the helical pitch of described leading screw is 1mm, and pitch is 1mm.
4. submarine navigation device according to claim 1 sink-float device, it is characterised in that: described motor adopts 42BYGH3401 type motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610246643.3A CN105730655A (en) | 2016-04-20 | 2016-04-20 | Small underwater vehicle sinking and floating device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610246643.3A CN105730655A (en) | 2016-04-20 | 2016-04-20 | Small underwater vehicle sinking and floating device |
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| CN105730655A true CN105730655A (en) | 2016-07-06 |
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| CN201610246643.3A Pending CN105730655A (en) | 2016-04-20 | 2016-04-20 | Small underwater vehicle sinking and floating device |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106494596A (en) * | 2016-11-28 | 2017-03-15 | 浙江大学 | A kind of sink-float device based on intelligent soft material |
| CN106494595A (en) * | 2016-11-28 | 2017-03-15 | 浙江大学 | A kind of adjustable sink-float platform of attitude based on software intellectual material |
| CN107089300A (en) * | 2017-04-26 | 2017-08-25 | 中国人民解放军海军潜艇学院 | A kind of controllable electric spiral adsorbent equipment under water |
| CN107902058A (en) * | 2017-12-18 | 2018-04-13 | 天津瀚海蓝帆海洋科技有限公司 | A kind of microminiature underwater robot buoyancy regulating system |
| CN110125950A (en) * | 2019-05-28 | 2019-08-16 | 哈尔滨工程大学 | A kind of underwater caterpillar type robot for becoming appearance |
| CN110550168A (en) * | 2019-08-22 | 2019-12-10 | 南京信息工程大学 | Intelligent counterweight device of underwater robot |
| CN113320666A (en) * | 2021-05-20 | 2021-08-31 | 黑龙江工程学院 | Hybrid driving type unmanned underwater vehicle |
| CN114590376A (en) * | 2022-03-01 | 2022-06-07 | 江苏科技大学 | Integrative glider under water is pounded in cun based on bionical chelonian |
| CN115092367A (en) * | 2022-04-24 | 2022-09-23 | 西北工业大学 | Small-size AUV's buoyancy adjusting device |
| CN115092366A (en) * | 2022-04-24 | 2022-09-23 | 西北工业大学 | Buoyancy adjusting device and application |
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| CN1836972A (en) * | 2006-03-07 | 2006-09-27 | 上海大学 | Microminiature underwater robot submerging and surfacing device |
| US20090178603A1 (en) * | 2007-12-27 | 2009-07-16 | Alaska Native Technologies, Llc | Buoyancy control systems and methods |
| CN104044717A (en) * | 2014-06-27 | 2014-09-17 | 西北工业大学 | Diving and floating device used for small underwater vehicle |
| CN104443324A (en) * | 2014-08-06 | 2015-03-25 | 刘光 | Submarine and buoyancy tube |
| CN205707252U (en) * | 2016-04-20 | 2016-11-23 | 西北工业大学 | A kind of small-scale underwater vehicle device sink-float device |
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Patent Citations (5)
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| CN1836972A (en) * | 2006-03-07 | 2006-09-27 | 上海大学 | Microminiature underwater robot submerging and surfacing device |
| US20090178603A1 (en) * | 2007-12-27 | 2009-07-16 | Alaska Native Technologies, Llc | Buoyancy control systems and methods |
| CN104044717A (en) * | 2014-06-27 | 2014-09-17 | 西北工业大学 | Diving and floating device used for small underwater vehicle |
| CN104443324A (en) * | 2014-08-06 | 2015-03-25 | 刘光 | Submarine and buoyancy tube |
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Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106494595A (en) * | 2016-11-28 | 2017-03-15 | 浙江大学 | A kind of adjustable sink-float platform of attitude based on software intellectual material |
| CN106494596B (en) * | 2016-11-28 | 2018-05-11 | 浙江大学 | A kind of sink-float device based on intelligent soft material |
| CN106494595B (en) * | 2016-11-28 | 2018-09-21 | 浙江大学 | A kind of adjustable sink-float platform of the posture based on software intellectual material |
| CN106494596A (en) * | 2016-11-28 | 2017-03-15 | 浙江大学 | A kind of sink-float device based on intelligent soft material |
| CN107089300A (en) * | 2017-04-26 | 2017-08-25 | 中国人民解放军海军潜艇学院 | A kind of controllable electric spiral adsorbent equipment under water |
| CN107902058B (en) * | 2017-12-18 | 2024-03-08 | 天津瀚海蓝帆海洋科技有限公司 | Buoyancy adjusting system of microminiature underwater robot |
| CN107902058A (en) * | 2017-12-18 | 2018-04-13 | 天津瀚海蓝帆海洋科技有限公司 | A kind of microminiature underwater robot buoyancy regulating system |
| CN110125950A (en) * | 2019-05-28 | 2019-08-16 | 哈尔滨工程大学 | A kind of underwater caterpillar type robot for becoming appearance |
| CN110550168A (en) * | 2019-08-22 | 2019-12-10 | 南京信息工程大学 | Intelligent counterweight device of underwater robot |
| CN113320666A (en) * | 2021-05-20 | 2021-08-31 | 黑龙江工程学院 | Hybrid driving type unmanned underwater vehicle |
| CN113320666B (en) * | 2021-05-20 | 2022-03-29 | 黑龙江工程学院 | Hybrid driving type unmanned underwater vehicle |
| CN114590376A (en) * | 2022-03-01 | 2022-06-07 | 江苏科技大学 | Integrative glider under water is pounded in cun based on bionical chelonian |
| CN114590376B (en) * | 2022-03-01 | 2023-09-22 | 江苏科技大学 | Sliding and flapping integrated underwater glider based on bionic turtle |
| CN115092367A (en) * | 2022-04-24 | 2022-09-23 | 西北工业大学 | Small-size AUV's buoyancy adjusting device |
| CN115092366A (en) * | 2022-04-24 | 2022-09-23 | 西北工业大学 | Buoyancy adjusting device and application |
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Application publication date: 20160706 |