CN108945356A - A kind of flexible modularized underwater glider of microminiature - Google Patents
A kind of flexible modularized underwater glider of microminiature Download PDFInfo
- Publication number
- CN108945356A CN108945356A CN201810637205.9A CN201810637205A CN108945356A CN 108945356 A CN108945356 A CN 108945356A CN 201810637205 A CN201810637205 A CN 201810637205A CN 108945356 A CN108945356 A CN 108945356A
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- CN
- China
- Prior art keywords
- connector
- section
- underwater glider
- microminiature
- steering engine
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
-
- 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
- B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
Abstract
The present invention provides a kind of flexible modularized underwater gliders of microminiature, belong to underwater robot technical field, including head sections, energy section, Navigation Control section, end segment and antenna, it further include charging hole and horizontal wings, it is connected between the head sections, energy section, Navigation Control section and end segment by constituting revolute pair with connector II by connector I respectively, waterproof twin shaft steering engine is installed, steering engine axis carries out by cross link block and hex screw with connector II connected in connector I.The invention has the benefit that having the series of advantages such as small weight, low cost, practical and convenient, using modular design method, structure exchange and electrical interconnection between module can be achieved, improve the ability of function combination and extension, the needs of various situations are met, while modularized design improves the reliability of complete machine；Furthermore the adjusting that turning radius and course are carried out by waterproof twin shaft steering engine, can effectively reduce turning radius, improve the flexibility of movement.
Description
Technical field
The present invention relates to underwater robot technical field more particularly to a kind of flexible modularized underwater gliders of microminiature.
Background technique
It is limited by microelectric technique development, domestic and international research institution's preferential development has succeeded underwater glider.Although existing
Some underwater gliders can satisfy underwater environment detection and the requirement of ocean environment observation, but due to the shell of its rigidity
So that turning radius is larger, it is difficult to complete detection requirement in the sea area of some narrow spaces.In addition, existing underwater glider by
In complete machine sealing the reason of, usually because a certain component failure and cause complete machine to be not normally functioning, integral seal design
Reduce the reliability of underwater glider.
Summary of the invention
The present invention provides a kind of flexible modularized underwater glider of microminiature, there is small weight, low cost, practical and convenient
Etc. series of advantages, using modular design method, it can be achieved that between module structure exchange and electrical interconnection, improve function
The ability of combination and extension, meets the needs of various situations, while modularization improves the reliability of complete machine；Furthermore pass through rudder
Machine carries out the adjusting of course and turning radius, can effectively reduce turning radius, improve the flexibility of movement.
In order to solve the above technical problems, the embodiment of the present application provides a kind of flexible modularized underwater glider of microminiature,
Including head sections, energy section, Navigation Control section, end segment and antenna, which is characterized in that it further include charging hole and horizontal wings,
Turned between the head sections, energy section, Navigation Control section and end segment by being made up of respectively connector I and connector II
Dynamic pair connects, and waterproof twin shaft steering engine is equipped in connector I, and steering engine axis passes through cross link block and hex screw and connector
II carries out connected.
As the preferred embodiment of this programme, the shell of the flexible modularized underwater glider is aluminum alloy materials,
Maximum gauge is 150mm, total length 1600mm, quality 20-26kg.
As the preferred embodiment of this programme, the head sections are equipped with outer leather bag and interior fuel tank, outer leather bag and external sea
Water directly contacts, and adjusts complete machine buoyancy by changing crust capsule volume.
As the preferred embodiment of this programme, the energy intersegmental part is equipped with mobile charging battery pack, outside bay section
It is fixed by flange fixed frame with horizontal wings.
As the preferred embodiment of this programme, the sealing cover being flexibly connected is equipped with outside the charging hole.
As the preferred embodiment of this programme, complete machine control unit and satellite communication mould are equipped in the Navigation Control section
Block.
As the preferred embodiment of this programme, the connector I and connector II constitute revolute pair between each bay section
Connection.
As the preferred embodiment of this programme, the horizontal wings are symmetrically installed, and section is NACA airfoil structure, length
For the one third of fuselage total length.
As the preferred embodiment of this programme, the waterproof twin shaft steering engine is fixed in connector I, is turned by motor shaft
The dynamic rotation for driving next bay section, to adjust course and the turning radius of complete machine.
One or more technical solutions provided in the embodiments of the present application have at least the following technical effects or advantages:
The series of advantages such as, low cost small with weight, practical and convenient, using modular design method, it can be achieved that module
Between structure exchange and electrical interconnection, improve function combination and extension ability, meet the needs of various situations, simultaneously
Modularization improves the reliability of complete machine；Furthermore the adjusting that course and turning radius are carried out by steering engine, can effectively subtract
Tight turn radius improves the flexibility of movement.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this hair
Bright some embodiments for those of ordinary skill in the art without any creative labor, can be with
It obtains other drawings based on these drawings.
Fig. 1 is the overlooking structure diagram of the embodiment of the present application；
Fig. 2 is the connector overlooking structure diagram of the embodiment of the present application；
Fig. 3 is the connecting-piece structure schematic diagram of the embodiment of the present application.
In Fig. 1-Fig. 3,1, head sections, 2, charging hole, 3, horizontal wings, 4, energy section, 5, control navigation section, 6, tail portion
Section, 7, antenna, 8, connector I, 9, cross link block, 10, hex screw, 11, connector II, 12, twin shaft steering engine.
Specific embodiment
The present invention provides a kind of flexible modularized underwater gliders of microminiature, have structure simple, and design is reasonable, reliably
Property it is high the advantages that, sealed by different bay section modularization, improve the reliability and service life of complete machine；Using between bay section
The mode of revolute pair connection, and minor radius screw can be realized by controlling waterproof steering engine rotational angle, improve underwater gliding
The kinematic dexterity of machine.
In order to better understand the above technical scheme, in conjunction with appended figures and specific embodiments to upper
Technical solution is stated to be described in detail.
As shown in Figure 1, a kind of flexible modularized underwater glider of microminiature, including head sections 1, energy section 4, Navigation Control
Section 5, end segment 6 and antenna 7, further include charging hole 2 and horizontal wings 3, the head sections 1, energy section 4, Navigation Control section 5
It is connected between end segment 6 by constituting revolute pair with connector II 11 by connector I 8 respectively, is installed in connector I 8
There is waterproof twin shaft steering engine 12, steering engine axis carries out connected by cross link block 9 and hex screw 10 and connector II 11.
Wherein, in practical applications, the shell of the flexible modularized underwater glider of the microminiature is aluminum alloy materials,
Maximum gauge is 150mm, total length 1600mm, quality 20-26kg, and structural strength is high, and light weight is small in size, low cost,
Without special deployment device, an adult can be laid, easy to use.
Wherein, in practical applications, outer leather bag and interior fuel tank, outer leather bag and external sea are equipped with inside the head sections 1
Water directly contacts, and the buoyancy of complete machine is adjusted by the oil mass ratio in fuel tank and outer leather bag in changing.
Wherein, in practical applications, mobile charging battery pack and horizontal guide rail are equipped with inside the energy section 4,
Change the dive and floating posture of complete machine by battery pack moving horizontally in cabin；Pass through flange fixed frame outside energy section 4
It is fixed with horizontal wings 3.
Wherein, in practical applications, the sealing cover being flexibly connected is equipped with outside the charging hole 2, without taking battery
Out, it can easily charge, it is easy to use.
Wherein, in practical applications, complete machine control unit and Beidou satellite communication mould are equipped in the Navigation Control section 5
Autonomous navigation and telecommunication and manipulation may be implemented in block.
Wherein, in practical applications, the connector I 8 and connector II 11 constitute revolute pair between each bay section
Connection, when design, guarantee the rotation for having horizontal direction ± 60 ° between each bay section, to meet the needs of rotational angle.
Wherein, in practical applications, the horizontal wings 3 are symmetrically installed, and section is NACA airfoil structure, can be as far as possible
Smaller resistance, wingspan length are the one third of fuselage total length, and horizontal wings 3 can guarantee that complete machine is transported with steady glide
It is dynamic.
Wherein, in practical applications, the waterproof twin shaft steering engine 12 is fixed in connector I 8, is turned by motor shaft
The dynamic rotation for driving next bay section, to adjust complete machine course and turning radius；Waterproof twin shaft steering engine 12 is by Switzerland Maxon public affairs
Department's customization, underwater pressure resistance depth 25Mpa, steering engine torque is 13kg/cm.
The above described is only a preferred embodiment of the present invention, be not intended to limit the present invention in any form, though
So the present invention has been disclosed as a preferred embodiment, and however, it is not intended to limit the invention, any technology people for being familiar with this profession
Member, without departing from the scope of the present invention, when the technology contents using the disclosure above make a little change or modification
For the equivalent embodiment of equivalent variations, but anything that does not depart from the technical scheme of the invention content, according to the technical essence of the invention
Any simple modification, equivalent change and modification to the above embodiments, all of which are still within the scope of the technical scheme of the invention.
Claims (9)
1. a kind of flexible modularized underwater glider of microminiature, including head sections (1), energy section (4), Navigation Control section (5), tail
Section (6) and antenna (7), which is characterized in that further include charging hole (2) and horizontal wings (3), the head sections (1), the energy
Turned between section (4), Navigation Control section (5) and end segment (6) by being made up of respectively connector I (8) and connector II (11)
Dynamic pair connects, and waterproof twin shaft steering engine (12) is equipped in connector I (8), and steering engine axis passes through cross link block (9) and hexagonal spiral shell
Nail (10) carries out connected with connector II (11).
2. the flexible modularized underwater glider of a kind of microminiature according to claim 1, which is characterized in that the flexibility
The shell of modularization underwater glider is aluminum alloy materials, maximum gauge 150mm, total length 1600mm, quality 20-
26kg。
3. the flexible modularized underwater glider of a kind of microminiature according to claim 1, which is characterized in that the head
Section (1) is equipped with outer leather bag and interior fuel tank, and outer leather bag is directly contacted with external seawater, is adjusted by change crust capsule volume whole
Machine buoyancy.
4. the flexible modularized underwater glider of a kind of microminiature according to claim 1, which is characterized in that the energy
It is equipped with mobile charging battery pack inside section (4), is fixed by flange fixed frame with horizontal wings (3) outside bay section.
5. the flexible modularized underwater glider of a kind of microminiature according to claim 1, which is characterized in that the charging
The sealing cover being flexibly connected is equipped with outside hole (2).
6. the flexible modularized underwater glider of a kind of microminiature according to claim 1, which is characterized in that the navigation
Complete machine control unit and satellite communication module are equipped in control section (5).
7. the flexible modularized underwater glider of a kind of microminiature according to claim 1, which is characterized in that the connection
Part I (8) and connector II (11) constitutes revolute pair connection between each bay section.
8. the flexible modularized underwater glider of a kind of microminiature according to claim 1, which is characterized in that the level
Wing (3) is symmetrically installed, and section is NACA airfoil structure, and length is the one third of fuselage total length.
9. the flexible modularized underwater glider of a kind of microminiature according to claim 1, which is characterized in that the waterproof
Twin shaft steering engine (12) is fixed in connector I (8), the rotation of next bay section is driven by motor shaft rotation, to adjust complete machine
Course and turning radius.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810637205.9A CN108945356A (en) | 2018-06-20 | 2018-06-20 | A kind of flexible modularized underwater glider of microminiature |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810637205.9A CN108945356A (en) | 2018-06-20 | 2018-06-20 | A kind of flexible modularized underwater glider of microminiature |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108945356A true CN108945356A (en) | 2018-12-07 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810637205.9A Pending CN108945356A (en) | 2018-06-20 | 2018-06-20 | A kind of flexible modularized underwater glider of microminiature |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101070092A (en) * | 2007-06-11 | 2007-11-14 | 天津大学 | Hybrid driven under-water self-navigation device |
| CN103507929A (en) * | 2013-09-27 | 2014-01-15 | 中国船舶重工集团公司第七一〇研究所 | Combination wing anti-stream-pattern underwater glider |
| CN203557925U (en) * | 2013-11-30 | 2014-04-23 | 中国科学院沈阳自动化研究所 | Bionic amphibious robot under combined drive of wheel feet and tail fin |
| KR20160015935A (en) * | 2014-08-01 | 2016-02-15 | 부경대학교 산학협력단 | Attachable moving mass unit for Autonomous underwater vehicle having gliding capability |
| CN105711777A (en) * | 2016-01-26 | 2016-06-29 | 河北工业大学 | Micro-miniature modularized AUV (autonomous underwater vehicle) |
-
2018
- 2018-06-20 CN CN201810637205.9A patent/CN108945356A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101070092A (en) * | 2007-06-11 | 2007-11-14 | 天津大学 | Hybrid driven under-water self-navigation device |
| CN103507929A (en) * | 2013-09-27 | 2014-01-15 | 中国船舶重工集团公司第七一〇研究所 | Combination wing anti-stream-pattern underwater glider |
| CN203557925U (en) * | 2013-11-30 | 2014-04-23 | 中国科学院沈阳自动化研究所 | Bionic amphibious robot under combined drive of wheel feet and tail fin |
| KR20160015935A (en) * | 2014-08-01 | 2016-02-15 | 부경대학교 산학협력단 | Attachable moving mass unit for Autonomous underwater vehicle having gliding capability |
| CN105711777A (en) * | 2016-01-26 | 2016-06-29 | 河北工业大学 | Micro-miniature modularized AUV (autonomous underwater vehicle) |
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Application publication date: 20181207 |