CN106184664B - Couple the glider adjusting means of roll regulation and buoyancy adjustment - Google Patents
Couple the glider adjusting means of roll regulation and buoyancy adjustment Download PDFInfo
- Publication number
- CN106184664B CN106184664B CN201610487758.1A CN201610487758A CN106184664B CN 106184664 B CN106184664 B CN 106184664B CN 201610487758 A CN201610487758 A CN 201610487758A CN 106184664 B CN106184664 B CN 106184664B
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- inner frame
- frame
- flexible pipe
- output end
- external frame
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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
- B63G8/22—Adjustment of buoyancy by water ballasting; Emptying equipment for ballast tanks
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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
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Other Liquid Machine Or Engine Such As Wave Power Use (AREA)
Abstract
The present invention provides a kind of glider adjusting means for coupling roll regulation and buoyancy adjustment, including external frame, inner frame, inner frame is hingedly mounted in external frame by two short axles, the side of external frame is provided with stepper motor, the output end of stepper motor is connected with worm screw, the end of a piece short axle is through external frame and is provided with worm gear thereon, worm gear and worm engaging, direct current generator is installed on inner frame, the output end connection oil pump of direct current generator, the output end of oil pump is connected with valve block, valve block is provided with two oil transportation mouths, and an oil transportation mouth is connected by flexible pipe with the interior fuel tank being arranged in inner frame, another oil transportation mouth is connected by one end of flexible pipe and turbine flowmeter, the other end of turbine flowmeter is connected by flexible pipe with leather bag, battery pack is additionally provided among the inner frame.Structure design of the present invention is compact, and space efficiency utilization is high, and control is reliable, the gliding type submersible suitable for rotating body case.
Description
Technical field
The present invention relates to a kind of driving of gliding type submersible and motion control device, more particularly to a kind of coupling roll to adjust
The glider adjusting means of section and buoyancy adjustment.
Background technology
Gliding type submersible combines the technical characterstic of underwater unmanned submersible and buoy, is a kind of typical marine exploration
Platform.It is moved is provided by buoyancy and gravitational difference, coordinates the adjustment of center of gravity and the effect of main wing and empennage, realize zigzag to
Preceding gliding, it has the advantages that low cost, low noise, long voyage, available for the salinity, temperature, sea for measuring a wide range of maritime interior waters
Stream, it might even be possible to record marine organisms sound, and the on-line normalization of marine environment data can be realized.
The fundamental driving force of gliding type submersible motion comes from the difference of gravity and buoyancy, it is therefore necessary to has corresponding regulation machine
Structure.Governor motion typically realizes floating or dive by the buoyancy that adjusts submersible or gravity.In order to ensure certain machine
Dynamic property, gliding type submersible need corresponding roll governor motion.Existing roll regulation, which then mainly has, changes center of gravity in transverse direction
On position and empennage regulation two ways.And in order to simplify the complexity of gliding type submersible system design, it can typically select
The former is as roll regulative mode.So all include buoyancy regulating system and horizontal stroke in the watertight compartment of in general gliding type submersible
Regulating system is rolled, but existing gliding type submersible is all that both independent designs, space are not obtained into sufficient profit
With.This load capacity to gliding type submersible causes certain adverse effect.In order to reduce gliding type submersible internal structure
Redundancy, the present invention using buoyancy regulating system optimizes design, it is proposed that one kind has coupled buoyancy adjustment and roll tune
The glider adjusting means of section.Specifically, exactly on the basis of buoyancy adjustment is met, the inside of buoyancy regulating system is utilized
Perform structure and carry out roll regulation.
The content of the invention
The invention aims to provide one kind to adjust gliding type submersible natural buoyancy and center of gravity simultaneously in transverse direction
On position coupling roll regulation and buoyancy adjustment glider adjusting means, can drive gliding type submersible floating or
Dive, and the roll motion of gliding type submersible can be controlled, moreover it is possible to make full use of effective space.
The object of the present invention is achieved like this：Including by two pieces of lamina rara externas and the company being arranged between two pieces of lamina rara externas
The external frame of bar composition, the inner frame being made up of two pieces of inner platings and the connecting rod being arranged between two pieces of inner platings, institute
Inner frame to be stated to be hingedly mounted in external frame by two short axles, the side of the external frame is provided with stepper motor,
The output end of stepper motor is connected with worm screw, and the end of a short axle is provided with through external frame and thereon worm gear, worm gear with
Worm engaging, direct current generator, the output end connection oil pump of direct current generator are provided with inner frame, and the output end of oil pump is connected with
Valve block, valve block are provided with two oil transportation mouths, and an oil transportation mouth be connected by flexible pipe with the interior fuel tank being arranged in inner frame,
Another oil transportation mouth is connected by one end of flexible pipe and turbine flowmeter, and the other end of turbine flowmeter is connected by flexible pipe and leather bag
Connect, battery pack is additionally provided among the inner frame.
Compared with prior art, the beneficial effects of the invention are as follows：The present invention is a kind of not change gliding type submersible total
It in the case of quality, can both change gliding type submersible buoyancy, the internal regulation structure of buoyancy regulating system can be utilized again
Serve as the device that eccentric massblock carries out roll regulation.And the present invention can adjust the gravity and buoyancy of gliding type submersible
Difference, drives floating or the dive of gliding type submersible, while changes the position of gliding type submersible center of gravity in the horizontal so that sliding
Xiang formula submersible produces roll motion.Structure design of the present invention is compact, and space efficiency utilization is high, and control is reliable, suitable for rotation
The gliding type submersible of body case.
Brief description of the drawings
Fig. 1 (a) is the structural representation of the inside executing agency of the present invention, and Fig. 1 (b) is the amplification of part A in Fig. 1 (a)
Schematic diagram, Fig. 1 (c) are the enlarged diagrams of part B in Fig. 1 (a)；
Fig. 2 is the connection diagram of the buoyancy regulating system of the present invention；
Fig. 3 is the watertight processing mode that stainless steel cutting ferrule leads directly to BULKHEAD UNION；
Fig. 4 is the workflow diagram of the present invention.
Embodiment
The present invention is described in further detail with embodiment below in conjunction with the accompanying drawings.
With reference to Fig. 1 (a) to Fig. 4, main composition part of the invention includes：Stepper motor 1, worm screw 2, turbine 3, short axle 4-
1st, short axle 4-2, bearing 5-1 and 5-2, outer layer acrylic board 6-1 and 6-2, connecting shaft fixing end 7-1 and 7-2, internal layer acrylic board 8-
1 and 8-2, turbine flowmeter 9, direct current generator 10, battery pack 11-1,11-2,11-3 and 11-4, valve block 12, oil pump 13, interior fuel tank
14th, connecting rod 15, leather bag 16, stainless steel cutting ferrule lead directly to BULKHEAD UNION 17, stainless steel ferrule fitting 18, oil transportation hole 19, connection flexible pipe
20 and watertight case.
Leather bag 16 is located at outside watertight case, is contacted with aqueous medium, exposed in aqueous medium.Interior fuel tank 14 is then located at watertight
Inside cabin, the top of oil pump 13 is fixed on.The output end of direct current generator 10 is connected through valve block with oil pump 13, the output of oil pump 13
End is connected with valve block 12, and two oil transportation mouths 19 are provided with valve block 12, and described four form common reciprocating hydraulic power list
Member.Two oil transportation mouths 19 on valve block 12, by connection flexible pipe 20, are connected with leather bag 16 and interior fuel tank 14 respectively, form one
The regulating mechanism of buoyancy of closure.By the rotating of direct current generator 10, it can cause liquid oil between interior fuel tank 14 and leather bag 16
Move back and forth, change the volume of leather bag 16, so as to play the effect for changing gliding type submersible buoyancy size.
4 minor diameter connecting rods 15 fix internal layer the acrylic board 8-1 and 8-2 of two pieces of class semicircles, make two around circle equal distribution
Block internal layer acrylic board 8-1 and 8-2 can not have any relative displacement, form an inner frame.In addition, 4 minor diameters connect
Bar 15 fixes two pieces of round outer layer acrylic board 6-1 and 6-2, makes two pieces of outer layer acrylic boards 6-1 and 6- around circle equal distribution
2 can not have any relative displacement, form an external frame.Inner frame is arranged in the space that external frame is included.Even
Axle fixing end 7-1 and 7-2 one end are separately fixed on internal layer acrylic board 8-1 and 8-2, and the other end then connects short axle 4- respectively
1 and short axle 4-2 one end.And short axle 4-1 and short axle the 4-2 other end then pass through outer layer acrylic board 6-1 and the 6-2 center of circle,
Fixed by bearing 5-1 and 5-2 so that whole inner frame can be with pivoting.Its short-and-medium axle 4-1 is slightly long, and passes completely through
Outer layer acrylic board 8-1, its jag installation worm gear 3, worm gear 3 engage the transmission for realizing motion with worm screw 2.Worm screw 2 and stepping
The output end connection of motor 1.The reciprocating hydraulic power unit and interior fuel tank being made up of direct current generator 10, oil pump 13 and valve block 12
14 are fixed on inner frame, and remaining space installs 4 battery packs 11-1,11-2,11-3 and 11-4 additional, serves as rotating eccentricity matter
Gauge block, improves the energy total capacity of space availability ratio and system, and increases ballast, expands the scope of roll angle regulation.Step
Stepper motor 1 drives worm screw 2, worm screw 2 and the engaged transmission of worm gear 3 so that battery pack 11-1,11-2,11-3 and 11-4, reciprocating liquid
The ballast pivoting that pressure power unit and interior fuel tank 14 form, so as to change the position of gliding type submersible center of gravity in the horizontal
Put, reach the effect of gliding type submersible roll.Stepper motor 1 can reach higher control accuracy, without cumulative errors.It is logical
The high transmission ratio worm couple being made up of worm screw 2 and worm gear 3 is crossed, the minimum control angle of rotating eccentricity further diminishes, and
Bigger moment of torsion can be provided, moreover it is possible to form self-locking effect, avoid that stepper motor 1 is caused to damage.
With reference to Fig. 2 describe interior fuel tank 14, oil transportation hole 19, turbine flowmeter 9, stainless steel cutting ferrule lead directly to BULKHEAD UNION 17,
Stainless steel twists the connected mode of hose coupling 18, connection flexible pipe 20 and leather bag 16 soon.
12 have two oil transportation holes 19 on valve block, and by connection flexible pipe 20, an oil transportation mouth is connected with interior fuel tank 14, another defeated
Hydraulic fluid port is connected with turbine flowmeter 9.And the other end of turbine flowmeter 9 is then led directly to stainless steel cutting ferrule by connection flexible pipe 20 and worn
Plate joint 17 connects.The other end that leather bag 16 then directly leads directly to BULKHEAD UNION 17 by screw thread with stainless steel cutting ferrule is connected.Except
Stainless steel cutting ferrule leads directly to BULKHEAD UNION 17, and connection flexible pipe 20 is all to twist the phase of hose coupling 18 soon by stainless steel with other each several parts
Even.By the rotating forward of direct current generator 10, the liquid oil of the interior the inside of fuel tank 14 can be extracted among leather bag 16, increase the body of leather bag 16
Product, so as to reach the effect of increase gliding type submersible buoyancy；Direct current generator 10 inverts, and can take out the liquid oil of the inside of leather bag 16
To among interior fuel tank 14, reduce the volume of leather bag 16, so as to reach the effect for reducing gliding type submersible buoyancy.In order to avoid interior
The free surface that liquid oil occurs after reducing in fuel tank 14, interior fuel tank 14 does not use rigid material, but using has contractile function
Flexible material.Turbine flowmeter 9 is connected with control system, and its effect is exactly to measure the mobile variable quantity of liquid oil, so as to reach
To the effect of the variable quantity of accurate control buoyancy；The situation of change of rotating eccentricity mass is supervised simultaneously, is provided for control system
One more accurately eccentric mass value, accurately controls roll motion.
The watertight processing procedure of end face is not belonging to scope of the invention, therefore the present invention describe only stainless steel cutting ferrule and lead directly to
The opening watertight processing method of BULKHEAD UNION 17.With reference to Fig. 3, it is described in detail as follows：Stainless steel cutting ferrule leads directly to BULKHEAD UNION 17
There is screw thread 23 in main body, threading screw thread mouth can be screwed into.Its side has fixed hexagonal stop flange 26, is opened on flange
One " O " type groove 24, can pass through "O"-ring and carry out the opening of side inside hatchcover and seal.And the width of traveling nut 25
Larger with thickness, " O " type groove 24 has all been opened in both sides, can be sealed by "O"-ring, and is carried out using "O"-ring
It is multi-sealed, the wherein interface of one end sealing leather bag 16, other end plug hatch opening from the outside.
The Principles of Regulation of the present invention are introduced with reference to Fig. 4：
The actuator of the present invention is stepper motor 1 and direct current generator 10, and controlled device is the variable quantity of liquid oil in leather bag 16
With the roll angle of gliding type submersible, its specified rate is the roll angle of the variable quantity of liquid oil and gliding type submersible in leather bag, is controlled
The angle that amount processed rotates for the flow and stepper motor 1 of turbine flowmeter 9.Control system mainly include signal acquisition circuit and
The modules such as motor-drive circuit.
When carrying out Buoyance adjustment, controller controls direct current generator 10 according to the volume change of liquid oil in given leather bag 9
Rotate forward or reversion, turbine flowmeter 9 detect the flow of liquid oil movement, and the result detected is fed back into comparator and compared,
Closed loop is adjusted, so as to play the effect of accurate control leather bag Volume Changes.Meanwhile the detected value of turbine flowmeter 9 can also lead to
The quality for further calculating eccentric ballast is crossed, feeds back to control system, so as to the control of roll regulation.
When carrying out roll regulation, controller is according to given roll angle, the rotation direction and angle of rotation of control stepper motor 1
Degree, magnetic compass detect the roll angle of gliding type submersible, and testing result is fed back into comparator and compared, closed loop regulation, from
And reach the effect of accurate control roll angle.
The course of work of the present invention is as follows：
The buoyancy adjustment of gliding type submersible and roll regulation are two relatively independent regulation processes, and its course of work is divided
Open description.
After gliding type submersible emerges transmission data, direct current generator 10 inverts, the liquid oil quilt in leather bag 16
It is pressed onto among interior fuel tank 14.The volume of leather bag 16 reduces, and the buoyancy of gliding type submersible also reduces gravity and is more than buoyancy therewith, sliding
Xiang formula submersible dive, realized and glided by trim regulating.When gliding type submersible reaches predetermined depth, direct current generator 10 is just
Turn, the liquid oil in interior fuel tank 14 is forced among leather bag 16.The volume increase of leather bag 16, the buoyancy of gliding type submersible is also therewith
Increase, buoyancy are more than gravity, and gliding type submersible floats, and is realized and glided by trim regulating.The present invention is exactly by so
Mode controls the buoyancy of gliding type submersible, controls floating or the dive of gliding type submersible.During buoyancy adjustment, whirlpool
Flowmeters 9 measure the liquid oil variable quantity of leather bag 16 and interior fuel tank 14, the size of control buoyancy change.
After gliding type submersible emerges, current location is determined by GPS location, deviation is calculated, in gliding type
During submersible dive, the rotational angle of the forward or reverse of stepper motor 1 is controlled so that ballast rotating eccentricity, change
Become the position of gliding type submersible center of gravity in the horizontal so that it does roll motion, so as to change the course of gliding type submersible
Angle.
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.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610487758.1A CN106184664B (en) | 2016-06-28 | 2016-06-28 | Couple the glider adjusting means of roll regulation and buoyancy adjustment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610487758.1A CN106184664B (en) | 2016-06-28 | 2016-06-28 | Couple the glider adjusting means of roll regulation and buoyancy adjustment |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106184664A CN106184664A (en) | 2016-12-07 |
| CN106184664B true CN106184664B (en) | 2017-11-21 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201610487758.1A Active CN106184664B (en) | 2016-06-28 | 2016-06-28 | Couple the glider adjusting means of roll regulation and buoyancy adjustment |
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| CN (1) | CN106184664B (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108454809B (en) * | 2017-12-28 | 2019-11-15 | 中国船舶重工集团公司第七一0研究所 | A kind of automatic buoyancy of double-pump type and attitude regulating mechanism |
| CN111516839B (en) * | 2020-05-26 | 2021-01-29 | 中国船舶科学研究中心 | Comprehensive adjusting mechanism for underwater glider |
| CN111532404A (en) * | 2020-05-28 | 2020-08-14 | 山西汾西重工有限责任公司 | Roll adjusting device of small and medium-sized underwater vehicle |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102079375B (en) * | 2009-11-27 | 2013-11-06 | 中国科学院沈阳自动化研究所 | Bidirectional oil discharge type buoyancy regulating device for underwater robot |
| CN202175183U (en) * | 2011-05-13 | 2012-03-28 | 浙江大学 | Buoyancy regulating device for underwater glider |
| CN103587665B (en) * | 2013-11-15 | 2015-12-09 | 华中科技大学 | A kind of buoyancy regulating device of deep sea glider and method |
| CN104670444B (en) * | 2013-11-30 | 2017-03-15 | 中国科学院沈阳自动化研究所 | A kind of unidirectional buoyancy regulating device for Autonomous Underwater aircraft |
| US20160107736A1 (en) * | 2014-10-16 | 2016-04-21 | Shelby Kathleen Andersson | Systems and methods for remote buoyancy control |
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| CN106184664A (en) | 2016-12-07 |
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