CN105836082A - Motion posture control device for underwater glider - Google Patents

Abstract

The invention provides a motion attitude control device of an underwater glider, which comprises a tubular pressure-resistant shell, a bow fairing arranged at the front end of the pressure-resistant shell, and a stern tail arranged at the rear end of the pressure-resistant shell. A front fairing is arranged between the pressure-resistant shell and the bow fairing, a rear sealing plate is arranged between the pressure-resistant shell and the stern fairing, and the motion attitude control device includes a motion mechanism, oil distribution system and control mechanism. The present invention can simultaneously control the pitching motion and rolling motion of the underwater glider and can provide additional buoyancy for the underwater glider so that the underwater glider can surface at an accelerated rate, and the present invention can also control the pitching motion or rolling of the underwater glider separately The invention can also realize the pitching motion and rolling motion of the underwater glider when only the hydraulic cylinder is working in the oil distribution system, so it has the advantages of convenient operation and reliable control.

Description

A motion attitude control device for an underwater glider

technical field

The invention belongs to the technical field of underwater glider, and relates to a motion attitude control device of an underwater glider.

Background technique

The underwater glider is a new type of underwater robot. Because it uses net buoyancy and attitude angle adjustment to obtain propulsion, energy consumption is extremely small, and only a small amount of energy is consumed when adjusting net buoyancy and attitude angle, and it has the characteristics of high efficiency and large endurance (up to thousands of kilometers). Although the sailing speed of the underwater glider is slow, its manufacturing cost and maintenance cost are low, it can be reused, and it can be launched in large quantities, which meets the needs of long-term and large-scale ocean exploration.

The movement mode of an underwater glider underwater can be decomposed into pitching, rolling, and ups and downs. The underwater glider realizes gliding motion by changing its own buoyancy state and attitude angle, that is, keeping its own gravity constant. Next, change the displacement volume of the glider, thereby changing the buoyancy state of the glider; change the position of the center of gravity by changing the position of the internal components of the glider, thereby changing the attitude angle (pitch angle and roll angle) of the carrier. When the underwater glider is in a negative buoyancy state And when the pitch angle is negative, the glider starts to perform the diving movement; when the underwater glider is in a positive buoyancy state and the pitch angle is positive, the glider starts to perform the upward movement; continuous execution of the diving and floating movements forms a zigzag gliding trajectory . In the process of diving and floating, the control of the heading of the glider can be realized by changing the roll angle of the carrier.

The pitch angle and roll angle of the underwater glider are all realized through its internal attitude adjustment device, so the underwater glider motion attitude control device is one of the key devices to control the motion state of the underwater glider. Since the internal parts of the glider are relatively precise, the parts that can change the position are relatively light, resulting in little change in the position of the overall center of gravity of the glider, which affects the angle of pitch and roll.

Contents of the invention

The purpose of the present invention is to solve the above-mentioned problems in the existing technology, and proposes a motion attitude control device for an underwater glider. The present invention can simultaneously control the pitching motion and rolling motion of the underwater glider and can provide additional The buoyancy enables the underwater glider to surface at an accelerated rate, and the present invention can also control the pitching or rolling motion of the underwater glider independently, and when only the hydraulic cylinder works in the oil distribution system, the present invention can also realize underwater The pitching motion and rolling motion of the glider have the advantages of convenient operation and reliable control.

The object of the present invention can be achieved through the following technical solutions: a motion attitude control device of an underwater glider, which comprises a tubular pressure-resistant casing, a bow fairing arranged at the front end of the pressure-resistant casing and a device In the stern fairing at the rear end of the pressure hull, a front sealing plate is arranged between the pressure hull and the bow fairing, and a rear sealing plate is arranged between the pressure hull and the stern fairing, The motion attitude control device includes a motion mechanism, an oil distribution system and a control mechanism;

The motion mechanism includes a battery pack, a hydraulic cylinder, and a lead screw. The hydraulic cylinder includes a cylinder body, a piston is arranged in the cylinder body, a piston rod is fixedly connected to one side of the piston, and the free end of the piston rod is positioned at the cylinder body. The outside and the piston rod are movably arranged at one end of the cylinder body, the other end of the cylinder body is provided with a main oil pipe, and two rails are arranged in parallel on the inner wall of the pressure-resistant shell, and the length direction of the rails and the pressure-resistant shell The direction of the body axis is the same, the track is slidably provided with a mobile platform, the upper side of the mobile platform is provided with a battery pack, the lower side of the movable platform is provided with a lead screw nut, and the lead screw is set on the lead screw through threads. In the screw nut, one end of the lead screw 1 is fixedly connected with a power part capable of driving the lead screw 1 to rotate, and the other end is fixedly connected with the free end of the piston rod;

The oil distribution system includes an oil tank, two oil bags and three oil bags, the left and right oil tanks are respectively arranged on the left and right sides of the rear end of the pressure-resistant shell, the second oil bag is arranged in the left oil tank, The oil bag three is arranged in the right oil tank, the oil bag two communicates with the main oil pipe through the oil pipe two, the oil bag three communicates with the main oil pipe through the oil pipe three, and the oil pipe two is provided with a solenoid valve two. The oil pipe 3 is provided with a solenoid valve 4, the main oil pipe is provided with a solenoid valve 3, and the fuel tank is communicated with the main oil circuit through the main pipeline, the main pipeline is located on the outlet side of the solenoid valve 3, and the main pipeline is connected to the main oil pipeline. Solenoid valve 1 is set, branch pipelines are set on the main main line, the two ends of the branch pipelines are located at the two ends of solenoid valve 1 respectively, oil pumps and check valves are set on the branch pipelines, behind the pressure-resistant housing There are several water holes 1 on the left side of the end, the water hole 1 communicates with the outer wall of the pressure shell, and the right side of the pressure shell rear end is provided with a number of water holes 2, The second water passage connects the right oil tank with the outer wall of the pressure shell;

The control mechanism includes a microcomputer and a gyroscope, and the microcomputer and the gyroscope are electrically connected, and the second solenoid valve, the third solenoid valve, the fourth solenoid valve, the first solenoid valve, the oil pump and the power parts are all connected to the microcomputer electronically by wires. connect.

In the above-mentioned motion attitude control device of an underwater glider, the power part is a stepping motor one, and the stepping motor one is arranged on the front sealing plate, and the outer wall of the housing of the stepping motor one passes through several A support frame two is fixedly connected with the inner wall of the pressure-resistant housing, and the stepping motor one is electrically connected with a microcomputer through a wire.

In the motion attitude control device of the above-mentioned a kind of underwater glider, two slide grooves are arranged in parallel along the transverse direction of the pressure-resistant shell on the said mobile platform, and a slide block is arranged in the slide groove, and a slide block is arranged on the slide block. The installation platform is fixedly connected, the battery pack is fixedly connected on the installation platform, the cross-section of the chute and the slider is T-shaped, and the moving platform is also provided with a device for driving the installation platform to move back and forth along the chute. Drive mechanism.

In the motion attitude control device of the above-mentioned a kind of underwater glider, the described driving mechanism comprises stepping motor 2, fixed block and lead screw 2, and described stepping motor 2 and fixed block are all fixed on the mobile platform and relatively arranged, The second lead screw is connected on the installation platform by threads, one end of the second lead screw is fixedly connected to the output shaft of the stepping motor two, and the other end is connected to the fixed block in rotation, and the second stepping motor is connected to the micro Computer electrical connection.

In the motion attitude control device of the above-mentioned a kind of underwater glider, the left and right sides of the mobile platform are respectively provided with several connecting posts, and the free ends of each of the connecting posts are rotatably connected with rollers, and the opposite sides of the two guide rails The guide rails are provided with lateral grooves along the length direction, the lateral grooves communicate with the guide grooves, the rollers are set in the guide grooves, and the connecting columns are located in the lateral grooves. .

In the aforementioned motion attitude control device for an underwater glider, the hydraulic cylinder and the pressure-resistant housing are arranged coaxially, and the cylinder body of the hydraulic cylinder is fixedly connected to the inner wall of the pressure-resistant housing through the support frame one.

In the above-mentioned motion attitude control device of an underwater glider, an oil bag one is arranged in the fuel tank, and the oil bag one communicates with the main oil pipe through the main pipeline, and the fuel tank is located between the left oil tank and the right oil tank And it is centrally arranged in the lateral direction of the pressure-resistant casing.

In the aforementioned motion attitude control device for an underwater glider, the bow fairing is conical.

Compared with the prior art, the present invention can simultaneously control the pitching motion and rolling motion of the underwater glider and can provide additional buoyancy for the underwater glider so that the underwater glider can surface at an accelerated rate. The present invention can also control the underwater glider separately. The pitching motion or rolling motion of the glider, and under the condition that only the hydraulic cylinder works in the oil distribution system, the present invention can also realize the pitching motion and rolling motion of the underwater glider, so it has the advantages of convenient operation and reliable control.

Description of drawings

Fig. 1 is a structural cross-sectional view of the present invention when viewed from above.

Fig. 2 is a structural cross-sectional view of the present invention when viewed from the side.

Fig. 3 is a cross-sectional view at A-A in Fig. 1 .

Fig. 4 is an enlarged view at B in Fig. 2 .

Fig. 5 is an enlarged view at point C in Fig. 2 .

FIG. 6 is an enlarged view at D in FIG. 3 .

In the figure, 1. Pressure shell; 1a, bow fairing; 1b, stern fairing; 1c, rear sealing plate; 1d, front sealing plate; 1e, water hole 1; 1e1, water hole 2; 1f, left oil tank; 1g, right oil tank; 2, hydraulic cylinder; 2a, cylinder body; 2b, piston; 2c, support frame 1; 2d, piston rod; 3, stepper motor 1; 3a, support frame 2; 4. Lead screw 1; 5. Gyroscope; 6. Oil bag 2; 7. Oil bag 3; 8. Main oil circuit; 8a. Solenoid valve 3; 9. Oil pipe 2; 9a. Solenoid valve 2; 10. Oil pipe 3 ; 10a, solenoid valve four; 11, oil tank; 11a, main pipe; 11b, branch pipe; 11c, solenoid valve one; 11d, oil pump; 11e, one-way valve; 11f, oil bag one; Track; 14, stepper motor two; 15, lead screw two; 16, mobile platform; 16a, roller; 16b, chute; 16c, screw nut; 16d, fixed block; 16e, guide groove; 16f, lateral groove ; 16g, connecting column; 17, installation platform; 17a, slider; 18, microcomputer.

detailed description

The following are specific embodiments of the present invention and in conjunction with the accompanying drawings, the technical solutions of the present invention are further described, but the present invention is not limited to these embodiments.

Embodiment one

As shown in Figures 1 to 6, a motion attitude control device for an underwater glider, the underwater glider includes a tubular pressure-resistant shell 1, a bow fairing 1a arranged at the front end of the pressure-resistant shell 1 and a set In the stern fairing 1b at the rear end of the pressure-resistant shell 1, a front sealing plate 1d is arranged between the pressure-resistant shell 1 and the bow fairing 1a, between the pressure-resistant shell 1 and the stern fairing 1b There is a rear sealing plate 1c between them, and the movement posture control device includes a movement mechanism, an oil distribution system and a control mechanism;

The motion mechanism includes a battery pack 12, a hydraulic cylinder 2, and a lead screw 4. The hydraulic cylinder 2 includes a cylinder body 2a, a piston 2b is arranged in the cylinder body 2a, and a piston rod 2d is fixedly connected to one side of the piston 2b. , the free end of the piston rod 2d is located outside the cylinder 2a and the piston rod 2d is movably arranged at one end of the cylinder 2a, the other end of the cylinder 2a is provided with a main oil pipe 8, and the inner wall of the pressure housing 1 is parallel Two rails 13 are provided, and the length direction of the rails 13 is consistent with the axial direction of the pressure-resistant casing 1. A mobile platform 16 is slidably arranged on the rails 13, and a battery pack 12 is provided on the upper side of the mobile platform 16. The underside of described moving platform 16 is provided with lead screw nut 16c, and described lead screw-4 is arranged in lead screw nut 16c by screw thread, and one end of described lead screw-4 and a power that can drive lead screw-4 to rotate Parts are fixedly connected, and the other end is fixedly connected with the free end of piston rod 2d;

The oil distribution system includes an oil tank 11, an oil bag two 6 and an oil bag three 7, the left and right sides of the rear end of the pressure-resistant housing 1 are respectively provided with a left oil tank 1f and a right oil tank 1g, and the oil bag two 6 It is arranged in the left oil tank 1f, the oil bag three 7 is arranged in the right oil tank 1g, the oil bag two 6 communicates with the main oil pipe 8 through the oil pipe two 9, and the oil bag three 7 communicates with the main oil pipe 10 through the oil pipe three 10 The oil pipe 8 is connected, the oil pipe two 9 is provided with a solenoid valve two 9a, the oil pipe three 10 is provided with a solenoid valve four 10a, the main oil pipe 8 is provided with an electromagnetic valve three 8a, and the oil tank 11 passes through the main pipeline 11a communicates with the main oil passage 8, the main passage 11a is located on the outlet side of the solenoid valve three 8a, the main passage 11a is provided with a solenoid valve one 11c, the main passage 11a is provided with a branch pipe 11b, the The two ends of the branch pipeline 11b are respectively located at the two ends of the electromagnetic valve 11c, the oil pump 11d and the one-way valve 11e are arranged on the branch pipeline 11b, and several water holes are arranged on the left side of the rear end of the pressure-resistant casing 1 One 1e, the water hole one 1e connects the left oil tank 1f with the outer wall of the pressure-resistant shell 1, and the right side of the rear end of the pressure-resistant shell 1 is provided with several water holes two 1e1, the water holes Two 1e1 connect the right oil tank 1g with the outer wall of the pressure shell 1;

Described control mechanism comprises microcomputer 18 and gyroscope 5, and described microcomputer 18 and gyroscope 5 are electrically connected, and described electromagnetic valve two 9a, electromagnetic valve three 8a, electromagnetic valve four 10a, electromagnetic valve one 11c, oil pump 11d and The power parts are all electrically connected with the microcomputer 18 through wires.

All electrical equipment in the underwater glider is powered by the storage battery pack 12, that is, the storage battery pack 12 and all electrical equipment are electrically connected by wires.

The gyroscope 5 can provide signals such as the accurate orientation, level, position, speed and acceleration of the underwater glider, and transmit relevant information to the microcomputer 18, and the microcomputer 18 controls the solenoid valve one 11c, the solenoid valve two 9a, and the solenoid valve three 8a, solenoid valve four 10a, oil pump 11d, and power parts work.

Specifically, the function of the left oil tank 1f and the right oil tank 1g is to fix and protect the oil bag 2 6 and the oil bag 3 7, and prevent the oil bag 2 6 and the oil bag 3 7 from being damaged by other equipment in the pressure shell 1. Contact to prevent oil bag two 6 and oil bag three 7 from being damaged, and also prevent oil bag two 6 and oil bag three 7 from damaging other equipment of the pressure-resistant shell 1;

At the same time, the left oil tank 1f and the right oil tank 1g also function as ballast tanks, that is, the buoyancy of the underwater glider can be adjusted through the left oil tank 1f and the right oil tank 1g, and the left oil tank 1f and the right oil tank 1g can be connected through the water hole 1e. The external water body is connected, so that the external water body can enter and leave the left oil tank 1f through the water hole 1e, and the water hole 2 1e1 connects the right oil tank 1g with the external water body, so that the external water body can enter and exit the right oil tank through the water hole 2 1e1 1g, when the amount of oil in oil capsule 2 6 and oil capsule 3 7 increases, the volume of oil capsule 2 6 and oil capsule 3 7 increases, and the water bodies in left oil tank 1f and right oil tank 1g pass through the water holes respectively One 1e and water hole two 1e1 are discharged outside the underwater glider, and now the buoyancy of the underwater glider increases to help the underwater glider to float, whereas the buoyancy of the underwater glider reduces, which helps the underwater glider to dive.

During the initial state of the motion attitude control device of the underwater glider, there is an appropriate amount of hydraulic oil in the oil bag two 6, the oil bag three 7, the fuel tank 11 and the hydraulic cylinder 2, so that the underwater glider is in a state where buoyancy is equal to gravity.

The motion attitude control device of the underwater glider has the following working states;

1. Perform pitching movement, solenoid valve 2 9a, solenoid valve 4 10a are closed, solenoid valve 3 8a and solenoid valve 1 11c are opened, the power part drives the lead screw 1 4 to rotate, when the mobile platform 16 drives the battery pack 12 to the stern fairing 1b direction, and the lead screw 14 pushes the piston 2b to move in the direction of the stern fairing 1b through the piston rod 2d, so that the hydraulic oil in the cylinder 2a flows into the oil tank 11 through the solenoid valve 3 8a and the solenoid valve 11c, thereby The center of gravity of the underwater glider is moved backward, the position of the bow fairing 1a is raised, the position of the stern fairing 1b is lowered, and the underwater glider begins to climb; otherwise, the power part drives the mobile platform 16 and the battery pack 12 through the lead screw 14 Moving toward the bow fairing 1a, the oil pump 11d transports the hydraulic oil in the oil tank 11 to the cylinder body 2a through the branch pipeline 11b, so that the center of gravity of the underwater glider moves forward, the position of the bow fairing 1a is lowered, and the stern rectification The cover 1b position rises, and the underwater glider starts to dive at this moment.

2. In another case of pitching motion, solenoid valve 1 11c is closed, solenoid valve 2 9a, solenoid valve 3 8a and solenoid valve 4 10a are opened, at this time when lead screw 1 4 drives mobile platform 16 and battery pack 12 to the stern When the inner fairing 1b moves, the piston 2b pushes the hydraulic oil in the cylinder 2a to flow into the oil bag 2 6 and the oil bag 3 7 in equal amounts respectively. At this time, the center of gravity of the underwater glider moves backward, and with With the increase of the hydraulic oil volume in the second 6 and oil bag three 7, the buoyancy of the underwater glider also gradually increases, so the underwater glider begins to climb, and gradually begins to accelerate with the increase of buoyancy; otherwise, when the screw one 4 drives the mobile platform 16 When the battery pack 12 moves toward the bow fairing 1a, the hydraulic oil in the oil bag two 6 and the oil bag three 7 is sucked back into the cylinder body 2a by the piston 2b, and the center of gravity of the underwater glider moves forward at this moment, And along with the reduction of the hydraulic oil volume in the oil bag two 6 and the oil bag three 7, the buoyancy of the underwater glider also gradually decreases, and the underwater glider starts to dive and gradually starts to accelerate along with the reduction of the buoyancy.

3. Simultaneously perform pitching motion and rolling motion, solenoid valve 4 10a and solenoid valve 1 11c are closed, solenoid valve 2 9a, solenoid valve 3 8a are opened, at this time when lead screw 1 4 drives the mobile platform 16 and battery pack 12 to the stern When the inner fairing 1b moves, the piston 2b pushes the hydraulic oil in the cylinder 2a to flow into the oil bag 2 6. At this time, the center of gravity of the underwater glider moves backward and to the left, so the underwater glider starts to climb and Turn to the left as a whole; In addition, solenoid valve two 9a and solenoid valve one 11c are closed, and solenoid valve four 10a and solenoid valve three 8a are opened. When moving in the direction, the piston 2b pushes the hydraulic oil in the cylinder 2a to flow into the oil bag 3 7. At this time, the center of gravity of the underwater glider moves backward and to the right, so the underwater glider starts to climb and turn right as a whole move;

When the center of gravity of the underwater glider needs to move forward and to the left, that is, when the underwater glider starts to dive and turn left as a whole, the mobile platform 16 moves in the direction of the bow fairing 1a, and the oil tank 11 moves to the hydraulic cylinder 2 through the oil pump 11d. Convey hydraulic oil in oil bag two 6.

When the center of gravity of the underwater glider needs to move forward and to the right, that is, when the underwater glider starts to dive and turn to the right as a whole, the mobile platform 16 moves in the direction of the bow fairing 1a, and the fuel tank 11 moves to the hydraulic cylinder 2 through the oil pump 11d. Convey hydraulic oil in oil bag three 7.

Generally speaking, the rolling motion of the underwater glider is controlled by the oil bladder 2 6 and the oil bladder 2 7, that is, turning left and right, and the temporarily redundant hydraulic oil in the oil distribution system is collected or distributed by the oil tank 11 The system replenishes hydraulic oil, the distribution of hydraulic oil is realized through the opening and closing of various solenoid valves, and the delivery of hydraulic oil is realized by driving the piston 2b of the hydraulic cylinder 2 and the operation of the oil pump 11d through the screw 14.

The situation in the above 3 is only used to illustrate that various motion states of the underwater glider can be realized through the mutual cooperation of each solenoid valve, oil pump 11d, and power parts, but these motion states are not limited to the above-mentioned types, and also include other possible motion states. The various states achieved.

Specifically, the power part is a stepper motor one 3, and the stepper motor one 3 is arranged on the front sealing plate 1d, and the outer wall of the housing of the stepper motor one 3 passes through several support frames two 3a and The inner wall of the pressure-resistant housing 1 is fixed, and the stepper motor one 3 is electrically connected to the microcomputer 18 through wires. The stepper motor is an open-loop control element stepper motor that converts electrical pulse signals into angular displacement or linear displacement. In the case of non-overload, the speed and stop position of the motor only depend on the frequency and number of pulses of the pulse signal, and are not affected by the load change. When the stepper driver receives a pulse signal, it will drive the stepper motor to press The set direction rotates a fixed angle, which is called "step angle", and its rotation runs step by step at a fixed angle. The angular displacement can be controlled by controlling the number of pulses, so as to achieve the purpose of accurate positioning; at the same time, the speed and acceleration of the motor rotation can be controlled by controlling the pulse frequency, so as to achieve the purpose of speed regulation.

Specifically, two sliding slots 16b are arranged in parallel along the transverse direction of the pressure-resistant casing 1 on the mobile platform 16, and a sliding block 17a is arranged in the sliding slots 16b, and a mounting bracket is fixedly connected to the sliding block 17a. Platform 17, the storage battery pack 12 is fixedly connected on the installation platform 17, the cross-sections of the chute 16b and the slider 17a are T-shaped, and the mobile platform 16 is also provided with a driving installation platform 17 along the chute 16b is a driving mechanism that moves back and forth, and the cross sections of the chute 16b and the slide block 17a are T-shaped to prevent the slide block 17a from breaking away from the chute 16b.

The driving mechanism drives the installation platform 17 to move back and forth along the chute 16b, so that the underwater glider can roll, and when only the hydraulic cylinder 2 works in the oil distribution system, the underwater glider can roll. The back and forth motion of the mobile platform 16 on the track 13 realizes the pitching motion of the underwater glider.

Specifically, the drive mechanism includes a stepper motor 2 14, a fixed block 16d and a lead screw 15, and the stepper motor 2 14 and the fixed block 16d are fixed on the mobile platform 16 and are arranged oppositely. Two 15 are screwed on the mounting platform 17, one end of the leading screw 15 is fixedly connected with the output shaft of the stepping motor 14, and the other end is rotatably connected to the fixed block 16d, and the stepping motor 14 is connected by a wire It is electrically connected with the microcomputer 18.

Specifically, the left and right sides of the mobile platform 16 are respectively provided with a plurality of connecting columns 16g, the free ends of each of the connecting columns 16g are rotatably connected with rollers 16a, and the opposite sides of the two guide rails 13 are provided with side rails 16g. To the groove 16f, the guide rail 13 is provided with a guide groove 16e along the length direction, the lateral groove 16f communicates with the guide groove 16e, the roller 16a is arranged in the guide groove 16e, and the connecting column 16g is located on the side to the groove 16f.

The mobile platform 16 is arranged in the guide groove 16e through the rollers 16a, so that when the mobile platform 16 moves back and forth along the track 13, the frictional force it receives is small and the movement is smooth.

Specifically, the hydraulic cylinder 2 and the pressure-resistant housing 1 are arranged coaxially, and the cylinder body 2a of the hydraulic cylinder 2 is fixedly connected to the inner wall of the pressure-resistant housing 1 through the support frame 1 2c.

Specifically, the bow fairing 1a is conical. The conical bow fairing 1a is beneficial to reduce the resistance of the water body to the underwater glider, reduce the energy consumption of the underwater glider, and increase the voyage.

The second oil bag 6 and the third oil bag 7 are contractible, and when the piston in the hydraulic cylinder 2 moves toward the bow fairing, when the solenoid valve two 9a, the solenoid valve four 10a and the solenoid valve three 8a are opened, no Additional operations are required to automatically suck the hydraulic oil in the second oil bag 6 and the third oil bag 7 into the hydraulic cylinder 2

Embodiment two

The content of the second embodiment is basically the same as that of the first embodiment, except that the oil tank 11 is provided with an oil bag one 11f, and the oil bag one 11f communicates with the main oil pipe 8 through the main pipeline 11a, and the oil tank 11 is located at It is centrally arranged between the left oil tank 1f and the right oil tank 1g and in the transverse direction of the pressure casing 1 .

The oil tank 11 plays the role of fixing and protecting the oil bag one 11f. The oil bag one 11f has contractility. When the piston in the hydraulic cylinder 2 moves toward the bow fairing, when the solenoid valve one 11c and the solenoid valve three 8a are opened Under normal circumstances, the hydraulic oil in the oil bag 11f can be automatically sucked into the hydraulic cylinder 2 without the oil pump 11d. The structure is simple, energy is saved, and it is beneficial to improve the endurance of the underwater glider.

The specific embodiments described herein are merely illustrative of the spirit of the invention. Those skilled in the art to which the present invention belongs can make various modifications or supplements to the described specific embodiments or adopt similar methods to replace them, but they will not deviate from the spirit of the present invention or go beyond the definition of the appended claims range.

Claims (8)

1. a kind of motion attitude control device of underwater glider, described underwater glider comprises tubular pressure-resistant casing (1), is arranged on the bow fairing (1a) of pressure-resistant casing (1) front end and is arranged on The stern fairing (1b) at the rear end of the pressure hull (1), a front sealing plate (1d) is arranged between the pressure hull (1) and the bow fairing (1a), and the pressure hull A rear sealing plate (1c) is arranged between the body (1) and the stern fairing (1b), and it is characterized in that the motion attitude control device includes a motion mechanism, an oil distribution system and a control mechanism; The motion mechanism includes a storage battery pack (12), a hydraulic cylinder (2), and a leading screw (4). The hydraulic cylinder (2) includes a cylinder (2a), and a piston (2a) is arranged in the cylinder (2a). 2b), one side of the piston (2b) is fixedly connected with a piston rod (2d), the free end of the piston rod (2d) is located outside the cylinder (2a) and the piston rod (2d) is movably arranged at one end of the cylinder (2a) , the other end of the cylinder (2a) is provided with a main oil pipe (8), and two rails (13) are arranged in parallel on the inner wall of the pressure-resistant casing (1), and the length direction of the rails (13) Consistent with the axial direction of the pressure-resistant housing (1), a mobile platform (16) is slidably arranged on the track (13), and a battery pack (12) is provided on the upper side of the mobile platform (16), and the mobile platform The lower side of (16) is provided with lead screw nut (16c), and described lead screw one (4) is arranged in lead screw nut (16c) by screw thread, and one end of described lead screw one (4) and one can drive wire The rotating power part of lever one (4) is fixedly connected, and the other end is fixedly connected with the free end of the piston rod (2d); The oil distribution system includes an oil tank (11), two oil bags (6) and three oil bags (7), and the left and right oil tanks (1f) and right Oil tank (1g), said oil bag two (6) is arranged in the left oil tank (1f), said oil bag three (7) is arranged in the right oil tank (1g), said oil bag two (6) The second oil pipe (9) communicates with the main oil pipe (8), the oil bag three (7) communicates with the main oil pipe (8) through the oil pipe three (10), and the second oil pipe (9) is provided with a solenoid valve two ( 9a), the oil pipe three (10) is provided with an electromagnetic valve four (10a), the main oil pipe (8) is provided with an electromagnetic valve three (8a), and the oil tank (11) passes through the main pipeline (11a) and The main oil circuit (8) is connected, the main circuit (11a) is located on the outlet side of the solenoid valve three (8a), the main circuit (11a) is provided with a solenoid valve one (11c), and the main circuit (11a ) is provided with a branch pipeline (11b), the two ends of the branch pipeline (11b) are respectively located at the two ends of the solenoid valve one (11c), and the oil pump (11d) and a check valve are arranged on the branch pipeline (11b) (11e), the left side of the rear end of the pressure casing (1) is provided with several water holes (1e), and the water holes (1e) connect the left oil tank (1f) and the pressure casing The outer wall of (1) is connected, and the right side of the rear end of the pressure casing (1) is provided with a number of two water holes (1e1), and the two water holes (1e1) connect the right oil tank (1g) and the resistant The outer wall of the pressure housing (1) is connected; Described control mechanism comprises microcomputer (18) and gyroscope (5), described microcomputer (18) and gyroscope (5) are electrically connected, and described electromagnetic valve two (9a), electromagnetic valve three (8a), electromagnetic valve Valve four (10a), electromagnetic valve one (11c), oil pump (11d) and power parts are all electrically connected with microcomputer (18) by wire. 2. the motion attitude control device of a kind of underwater glider according to claim 1, is characterized in that, described power part is stepping motor one (3), and described stepping motor one (3) is arranged on front seal On the board (1d), the outer wall of the housing of the stepper motor one (3) is fixedly connected with the inner wall of the pressure-resistant housing (1) through several support frames two (3a), and the stepper motor one (3 ) is electrically connected with a microcomputer (18) by a wire. 3. The motion attitude control device of a kind of underwater glider according to claim 1 or 2, it is characterized in that, on the described mobile platform (16), there are two horizontal parallels along the pressure-resistant housing (1). A chute (16b), a slide block (17a) is arranged in the chute (16b), an installation platform (17) is fixedly connected to the slide block (17a), and the battery pack (12) is fixedly connected to the On the platform (17), the cross-sections of the chute (16b) and the slide block (17a) are T-shaped, and the mobile platform (16) is also provided with a driving installation platform (17) along the chute (16b). ) drive mechanism that moves back and forth. 4. the motion attitude control device of a kind of underwater glider according to claim 3, is characterized in that, described driving mechanism comprises stepping motor two (14), fixed block (16d) and leading screw two (15), Said stepper motor two (14) and fixed block (16d) are all fixed on the mobile platform (16) and set oppositely, and said leading screw two (15) are connected on the mounting platform (17) by thread, and said screw One end of the bar two (15) is fixedly connected with the output shaft of the stepper motor two (14), and the other end is rotatably connected on the fixed block (16d), and the second stepper motor (14) is connected with the microcomputer (18) by wires. electrical connection. 5. the motion attitude control device of a kind of underwater glider according to claim 4, it is characterized in that, the left and right sides of mobile platform (16) are respectively provided with several connecting columns (16g), each described connecting column The free ends of (16g) are all rotatably connected with rollers (16a), and lateral grooves (16f) are all provided on the opposite sides of the two guide rails (13), and the guide rails (13) are provided with along the length direction. guide groove (16e), the lateral groove (16f) communicates with the guide groove (16e), the roller (16a) is arranged in the guide groove (16e), and the connecting column (16g) is located in the lateral groove (16f )Inside. 6. the motion attitude control device of a kind of underwater glider according to claim 5, is characterized in that, described hydraulic cylinder (2) and pressure-resistant shell (1) coaxial arrangement, described hydraulic cylinder (2) The cylinder body (2a) is fixedly connected with the inner wall of the pressure-resistant housing (1) through a support frame one (2c). 7. The motion attitude control device of a kind of underwater glider according to claim 1, characterized in that, an oil bag one (11f) is provided in the fuel tank (11), and the oil bag one (11f) passes through the main pipe The passage (11a) communicates with the main oil pipe (8), and the oil tank (11) is located between the left oil tank (1f) and the right oil tank (1g) and is centrally arranged in the transverse direction of the pressure casing (1). 8. The motion attitude control device of an underwater glider according to claim 1, characterized in that, the bow fairing (1a) is conical.