CN106184664B - Couple the glider adjusting means of roll regulation and buoyancy adjustment - Google Patents

Abstract

The invention provides a glider adjustment device coupled with roll adjustment and buoyancy adjustment, which includes an outer frame and an inner frame, the inner frame is hingedly installed in the outer frame through two short shafts, and a stepping motor is installed on one side of the outer frame. The output end of the stepping motor is connected with a worm, the end of a short shaft passes through the outer frame and a worm gear is installed on it, the worm gear meshes with the worm, and a DC motor is installed on the inner frame, and the output end of the DC motor is connected to the oil pump, the oil pump The output end of the valve block is connected with a valve block, and the valve block is provided with two oil delivery ports, and one oil delivery port is connected to the inner oil tank provided in the inner frame through a hose, and the other oil delivery port is connected to the turbine flowmeter through a hose. One end is connected, the other end of the turbine flowmeter is connected with the bladder through a flexible pipe, and a battery pack is also arranged in the middle of the internal frame. The invention has the advantages of compact structure design, high space utilization efficiency and reliable control, and is suitable for the gliding submersible of the rotating body shell.

Description

Glider adjustment device coupling roll adjustment and buoyancy adjustment

technical field

The invention relates to a drive and motion control device of a gliding submersible, in particular to a glider adjustment device coupled with roll adjustment and buoyancy adjustment.

Background technique

The gliding submersible combines the technical characteristics of underwater unmanned submersibles and buoys, and is a typical ocean exploration platform. Its movement is provided by the difference between buoyancy and gravity. With the adjustment of the center of gravity and the function of the main wing and tail, it can glide forward in a zigzag shape. It has the advantages of low cost, low noise, and long range, and can be used to measure the salinity of seawater in a wide range , temperature, current, and even the sound of marine life can be recorded, and online transmission of marine environmental data can be realized.

The fundamental driving force of the gliding submersible comes from the difference between gravity and buoyancy, so there must be a corresponding adjustment mechanism. The adjustment mechanism generally realizes floating or diving by adjusting the buoyancy or gravity of the submersible. In order to ensure a certain degree of maneuverability, the gliding submersible needs a corresponding roll adjustment mechanism. The existing roll adjustment mainly includes changing the position of the center of gravity in the lateral direction and empennage adjustment. In order to simplify the complexity of the gliding submersible system design, the former is generally selected as the roll adjustment method. Therefore, the watertight compartment of a general gliding submersible includes a buoyancy adjustment system and a roll adjustment system, but the existing gliding submersibles are designed independently of the two, and the space is not fully utilized. This has a certain adverse effect on the load capacity of the gliding submersible. In order to reduce the redundancy of the internal structure of the gliding submersible, the present invention utilizes the buoyancy adjustment system for optimal design, and proposes a glider adjustment device coupled with buoyancy adjustment and roll adjustment. Specifically, on the basis of satisfying the buoyancy adjustment, the internal execution structure of the buoyancy adjustment system is used for roll adjustment.

Contents of the invention

The purpose of the present invention is to provide a glider adjustment device that can simultaneously adjust the buoyancy of the glider submersible and the position of the center of gravity in the lateral direction, which is coupled with roll adjustment and buoyancy adjustment, and can drive the glider submersible to float up or down. dive, and can control the rolling motion of the gliding submersible, and can make full use of the effective space.

The object of the present invention is achieved like this: comprise the outer frame that is made of two outer layer boards and the connecting rod that is arranged between two outer layer boards, two inner layer boards and be arranged between two inner layer boards The internal frame is composed of connecting rods, the internal frame is hingedly installed in the external frame through two short shafts, a stepping motor is installed on one side of the external frame, the output end of the stepping motor is connected with a worm, and a short The end of the shaft passes through the outer frame and a worm gear is installed on it, the worm gear meshes with the worm, a DC motor is installed on the inner frame, the output end of the DC motor is connected to the oil pump, the output end of the oil pump is connected to a valve block, and the valve block is provided with two One oil delivery port is connected to the inner oil tank arranged in the inner frame through a hose, the other oil delivery port is connected to one end of the turbine flowmeter through a hose, and the other end of the turbine flowmeter is connected to the turbine flowmeter through a hose. The skin bag is connected, and a battery pack is also arranged in the middle of the inner frame.

Compared with the prior art, the beneficial effect of the present invention is: the present invention is a kind of not only changing the buoyancy of the gliding submersible under the condition of not changing the total mass of the gliding submersible, but also utilizing the internal adjustment of the buoyancy adjustment system The structure acts as a means for roll adjustment by the eccentric mass. Moreover, the present invention can adjust the gravity and buoyancy difference of the gliding submersible, drive the gliding submersible to float or dive, and simultaneously change the position of the center of gravity of the gliding submersible in the lateral direction, so that the gliding submersible produces a rolling motion. The invention has the advantages of compact structure design, high space utilization efficiency and reliable control, and is suitable for the gliding submersible of the rotating body shell.

Description of drawings

Fig. 1 (a) is the structural representation of internal actuator of the present invention, and Fig. 1 (b) is the enlarged schematic view of part A in Fig. 1 (a), and Fig. 1 (c) is the enlargement of part B in Fig. 1 (a) schematic diagram;

Fig. 2 is a connection schematic diagram of the buoyancy adjustment system of the present invention;

Figure 3 is the watertight treatment method of the stainless steel ferrule straight-through plate joint;

Fig. 4 is a working flow chart of the present invention.

detailed description

The present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.

1 (a) to FIG. 4, the main components of the present invention include: a stepping motor 1, a worm 2, a turbine 3, a short shaft 4-1, a short shaft 4-2, bearings 5-1 and 5-2, Outer acrylic plates 6-1 and 6-2, shaft fixed ends 7-1 and 7-2, inner acrylic plates 8-1 and 8-2, turbine flowmeter 9, DC motor 10, battery pack 11-1 . , connecting the hose 20 and the watertight casing.

The skin bag 16 is located outside the watertight casing, is in contact with the water medium, and is exposed in the water medium. The inner fuel tank 14 is located inside the watertight cabin and is fixed above the oil pump 13 . The output end of the DC motor 10 is connected to the oil pump 13 through the valve block. The output end of the oil pump 13 is connected to the valve block 12, and the valve block 12 is provided with two oil delivery ports 19. The four components constitute a common reciprocating hydraulic power unit. The two oil delivery ports 19 on the valve block 12 are respectively connected with the bladder 16 and the inner oil tank 14 through connecting hoses 20 to form a closed buoyancy adjustment mechanism. Through the forward and reverse rotation of the DC motor 10, the liquid oil can be reciprocated between the inner tank 14 and the skin bag 16, changing the volume of the skin bag 16, thereby changing the buoyancy of the gliding submersible.

Four small-diameter connecting rods 15 are evenly distributed around the circle, fixing two semicircular inner acrylic plates 8-1 and 8-2, so that the two inner acrylic plates 8-1 and 8-2 cannot have any relative displacement , forming an internal frame. In addition, four small-diameter connecting rods 15 are evenly distributed around the circle to fix two circular outer acrylic plates 6-1 and 6-2, so that the two outer acrylic plates 6-1 and 6-2 cannot have any The relative displacement constitutes an external frame. The inner frame is set in the space enclosed by the outer frame. One end of the shaft fixed ends 7-1 and 7-2 is respectively fixed on the inner acrylic plates 8-1 and 8-2, and the other end is respectively connected to one end of the short shaft 4-1 and the short shaft 4-2. The other ends of the short axis 4-1 and the short axis 4-2 pass through the center of the outer acrylic plates 6-1 and 6-2, and are fixed by the bearings 5-1 and 5-2, so that the entire internal frame can rotate around the axis turn. Wherein the minor axis 4-1 is slightly longer, and completely passes through the outer layer acrylic plate 8-1, and the worm wheel 3 is installed on its protruding end, and the worm wheel 3 meshes with the worm screw 2 to realize the transmission of motion. The worm 2 is connected with the output end of the stepping motor 1 . The reciprocating hydraulic power unit composed of DC motor 10, oil pump 13 and valve block 12 and the inner oil tank 14 are fixed on the inner frame, and four battery packs 11-1, 11-2, 11-3 and 11 are installed in the remaining space -4, as a rotating eccentric mass block, which improves the space utilization rate and the total energy capacity of the system, and increases the ballast to expand the range of roll angle adjustment. The stepper motor 1 drives the worm 2, and the worm 2 and the worm gear 3 are meshed for transmission, so that the ballast composed of the battery pack 11-1, 11-2, 11-3 and 11-4, the reciprocating hydraulic power unit and the inner oil tank 14 is wound around The shaft rotates, thereby changing the position of the center of gravity of the gliding submersible in the lateral direction, so as to achieve the rolling effect of the gliding submersible. The stepper motor 1 can achieve high control precision without accumulative errors. Through the high transmission ratio worm gear pair composed of worm 2 and worm gear 3, the minimum control angle of rotation eccentricity is further reduced, and can provide greater torque, and can also form a self-locking effect to avoid damage to the stepper motor 1 .

In conjunction with Fig. 2, the connection methods of the inner oil tank 14, the oil delivery hole 19, the turbine flowmeter 9, the stainless steel ferrule straight-through plate joint 17, the stainless steel quick-twist hose joint 18, the connecting hose 20 and the bladder 16 are introduced.

There are two oil delivery holes 19 on the valve block 12, one oil delivery port is connected with the inner oil tank 14, and the other oil delivery port is connected with the turbine flowmeter 9 through the connecting hose 20. The other end of the turbine flowmeter 9 is connected to the stainless steel ferrule straight-through plate joint 17 through a connecting hose 20 . The leather bag 16 is directly connected with the other end of the stainless steel ferrule straight-through plate joint 17 through threads. Except for the stainless steel ferrule straight-through plate joint 17, the connecting hose 20 is connected with other parts through a stainless steel quick twist hose joint 18. Through the forward rotation of the DC motor 10, the liquid oil in the inner oil tank 14 can be pumped into the skin bag 16 to increase the volume of the skin bag 16, thereby achieving the effect of increasing the buoyancy of the gliding submersible; The liquid oil in the skin bag 16 is pumped into the inner oil tank 14 to reduce the volume of the skin bag 16, thereby reducing the buoyancy of the gliding submersible. In order to avoid the free liquid surface after the reduction of liquid oil in the inner oil tank 14, the inner oil tank 14 does not use a rigid material, but a flexible material with shrinkage function. The turbine flowmeter 9 is connected to the control system, and its function is to measure the movement variation of liquid oil, so as to achieve the effect of accurately controlling the variation of buoyancy; at the same time, it monitors the variation of the rotating eccentric mass to provide a more accurate measurement for the control system. Eccentric mass value for precise control of roll motion.

The watertight treatment process of the end face does not belong to the scope of the present invention, so the present invention only introduces the watertight treatment method for the opening of the stainless steel ferrule straight through the plate-through joint 17 . With reference to FIG. 3 , the detailed introduction is as follows: the main body of the stainless steel ferrule straight-through plate-through joint 17 has a thread 23 , which can be screwed into the plate-through threaded opening. Its one side has fixed hexagonal stop flange 26, has opened an " O " type groove 24 on the flange, can carry out the opening sealing of one side of hatch cover inside by " O " type ring. The width and thickness of the movable nut 25 are relatively large, and an "O" groove 24 has been opened on both sides, which can be sealed by an "O" ring, and multiple seals are performed by using the "O" ring, wherein one end seals the bladder 16 The other end seals the hatch opening from the outside.

Introduce the adjustment principle of the present invention in conjunction with Fig. 4:

The executor of the present invention is a stepper motor 1 and a DC motor 10, and the controlled object is the change amount of liquid oil in the skin bag 16 and the roll angle of the gliding type submersible, and its given amount is the change amount of liquid oil in the skin bag and the gliding angle. The roll angle of type submersible, control amount is the flow of turbine flow meter 9 and the angle that stepper motor 1 rotates. The control system mainly includes modules such as signal acquisition circuit and motor drive circuit.

When adjusting the buoyancy, the controller controls the forward or reverse rotation of the DC motor 10 according to the volume change of the liquid oil in the given bladder 9, and the turbine flowmeter 9 detects the flow rate of the liquid oil and feeds back the detected results to Comparator comparison, closed-loop adjustment, so as to achieve the effect of precisely controlling the volume change of the bladder. At the same time, the detection value of the turbine flowmeter 9 can also be fed back to the control system by further calculating the mass of the eccentric ballast, so as to control the roll adjustment.

When adjusting the roll, the controller controls the rotation direction and angle of the stepper motor 1 according to the given roll angle, the magnetic compass detects the roll angle of the gliding submersible, and feeds back the detection result to the comparator for comparison, and the closed loop Adjustment, so as to achieve the effect of precise control of roll angle.

Working process of the present invention is as follows:

The buoyancy adjustment and roll adjustment of the gliding submersible are two relatively independent adjustment processes, and their working processes are described separately.

After the gliding submersible surfaced and transmitted data, the DC motor 10 reversed, and the liquid oil in the skin bag 16 was pressed into the middle of the inner oil tank 14 . The volume of skin bag 16 reduces, and the buoyancy of gliding type submersible also reduces thereupon and gravity is greater than buoyancy, and gliding type submersible dives, realizes gliding by trim adjustment. When the gliding submersible reaches a predetermined depth, the DC motor 10 rotates forward, and the liquid oil in the inner fuel tank 14 is pressed into the middle of the skin bag 16 . As the volume of the skin bag 16 increases, the buoyancy of the gliding submersible also increases thereupon, and the buoyancy is greater than gravity, so the gliding submersible floats up and realizes gliding by pitch adjustment. The present invention controls the buoyancy of the gliding type submersible in such a way, and controls the floating or diving of the gliding type submersible. During the buoyancy adjustment process, the turbine flowmeter 9 measures the amount of liquid oil change in the bladder 16 and the inner oil tank 14 to control the change in buoyancy.

When the gliding submersible surfaced, the current position is determined by GPS positioning, and the deviation value is calculated. During the diving process of the gliding submersible, the forward or reverse rotation angle of the stepper motor 1 is controlled to make the ballast The eccentric rotation of the object changes the position of the center of gravity of the gliding submersible in the lateral direction, making it do a rolling motion, thereby changing the heading angle of the gliding submersible.

Claims (1)

1. couple the glider adjusting means of roll regulation and buoyancy adjustment, it is characterised in that：Including by two pieces of lamina rara externas and It is arranged on external frame that connecting rod between two pieces of lamina rara externas forms, by two pieces of inner platings and is arranged between two pieces of inner platings The inner frame that forms of connecting rod, the inner frame is hingedly mounted in external frame by two short axles, the external frame The side of frame is provided with stepper motor, and the output end of stepper motor is connected with worm screw, and the end of a short axle passes through external frame And worm gear is installed in short axle, worm gear and worm engaging are provided with direct current generator on inner frame, and the output end of direct current generator connects Oil pump is connect, the output end of oil pump is connected with valve block, and valve block is provided with two oil transportation mouths, and an oil transportation mouth passes through flexible pipe and setting Internally the interior fuel tank connection in framework, another oil transportation mouth are connected by one end of flexible pipe and turbine flowmeter, turbine flow The other end of meter leads directly to BULKHEAD UNION by flexible pipe and stainless steel cutting ferrule and is connected with leather bag, is also set up among the inner frame There is battery pack.