CN109050848A - Underwater glider gravity adjusting device - Google Patents
Underwater glider gravity adjusting device Download PDFInfo
- Publication number
- CN109050848A CN109050848A CN201811210472.4A CN201811210472A CN109050848A CN 109050848 A CN109050848 A CN 109050848A CN 201811210472 A CN201811210472 A CN 201811210472A CN 109050848 A CN109050848 A CN 109050848A
- Authority
- CN
- China
- Prior art keywords
- supporting plate
- battery pack
- adjusting device
- underwater glider
- gravity adjusting
- Prior art date
- 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.)
- Pending
Links
- 230000005484 gravity Effects 0.000 title claims abstract description 41
- 238000007789 sealing Methods 0.000 claims description 8
- 230000033001 locomotion Effects 0.000 claims description 7
- 230000005611 electricity Effects 0.000 claims description 4
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 abstract description 11
- 238000010586 diagram Methods 0.000 description 6
- 238000009434 installation Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 206010020651 Hyperkinesia Diseases 0.000 description 1
- 208000000269 Hyperkinesis Diseases 0.000 description 1
- 208000032370 Secondary transmission Diseases 0.000 description 1
- 238000005299 abrasion Methods 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000002706 hydrostatic effect Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 230000001960 triggered effect Effects 0.000 description 1
Classifications
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Battery Mounting, Suspending (AREA)
Abstract
This application discloses a kind of underwater glider gravity adjusting devices, including pressure-resistant cabin, battery pack and guide rail are provided in pressure-resistant cabin, guide rail is slidably connected with battery pack, the top of battery pack is arranged in guide rail, by the top that guide rail is arranged in battery pack, enable battery pack more close to the downside of pressure-resistant cabin, battery pack is close to the bottom of pressure-resistant cabin, reduce the center of gravity of underwater glider, it ensure that underwater glider water stability, be able to solve existing gravity adjusting device and need to increase counterweight or other means come the problem of guaranteeing aerodone water stability.
Description
Technical field
The present invention relates generally to underwater unmanned plane fields, and in particular to underwater glider field, more particularly to it is a kind of underwater
Aerodone gravity adjusting device.
Background technique
Adjusting when underwater glider is run by buoyancy and center of gravity generates lower bundle and upper impulsion is made, general electric using adjusting
The way of pond group changes center of gravity.But when battery pack quantity is more, as a whole, taken up space diameter is big.At present
The scheme generallyd use is: guide rail is installed in battery pack lower part, and top uses screw nut driving scheme, and lower part installation guide rail can be lifted
High battery pack causes aerodone center of gravity to move up, and center of gravity, which moves up, causes aerodone unstability, needs to increase counterweight or takes other means
To guarantee aerodone water stability.
Summary of the invention
In view of drawbacks described above in the prior art or deficiency, be intended to provide it is a kind of guide rail is mounted on it is underwater on the upside of battery
Aerodone gravity adjusting device.
In a first aspect, underwater glider gravity adjusting device of the invention, including pressure-resistant cabin, electricity is provided in pressure-resistant cabin
Pond group and guide rail, guide rail are slidably connected with battery pack, and guide rail is arranged in the top of battery pack, and battery pack is close to the bottom of pressure-resistant cabin
Portion.
According to technical solution provided by the embodiments of the present application, by the way that guide rail to be arranged in the top of battery pack, so that battery
Group can reduce the center of gravity of underwater glider, ensure that underwater glider water stability more close to the downside of pressure-resistant cabin,
It is able to solve existing gravity adjusting device and needs to increase counterweight or other means to guarantee asking for aerodone water stability
Topic.
Detailed description of the invention
By reading a detailed description of non-restrictive embodiments in the light of the attached drawings below, the application's is other
Feature, objects and advantages will become more apparent upon:
Fig. 1 is the structural schematic diagram of the underwater glider gravity adjusting device of the embodiment of the present invention；
Fig. 2 is the structural schematic diagram of the underwater glider gravity adjusting device of the embodiment of the present invention；
Fig. 3 is the structural schematic diagram of the tension plug of the underwater glider gravity adjusting device of the embodiment of the present invention；
Fig. 4 is the structural schematic diagram of the underwater glider gravity adjusting device of the embodiment of the present invention；
Fig. 5 is the structural schematic diagram of the underwater glider gravity adjusting device of the embodiment of the present invention；
Fig. 6 is the structural schematic diagram of the underwater glider gravity adjusting device of the embodiment of the present invention.
Specific embodiment
The application is described in further detail with reference to the accompanying drawings and examples.It is understood that this place is retouched
The specific embodiment stated is used only for explaining related invention, rather than the restriction to the invention.It also should be noted that in order to
Convenient for description, part relevant to invention is illustrated only in attached drawing.
It should be noted that in the absence of conflict, the features in the embodiments and the embodiments of the present application can phase
Mutually combination.The application is described in detail below with reference to the accompanying drawings and in conjunction with the embodiments.
Please refer to Fig. 1 to 6, underwater glider gravity adjusting device of the invention, including pressure-resistant cabin, setting in pressure-resistant cabin
There are battery pack 20 and guide rail 31, guide rail 31 is slidably connected with battery pack 20, and the top of battery pack 20, battery pack is arranged in guide rail 31
20 close to the bottom of pressure-resistant cabin.
In an embodiment of the present invention, by the relative position of regulating cell group and guide rail, reach adjusting underwater glider
The purpose of center of gravity, it is when aerodone needs to rush under water, battery pack is mobile to tail, so that after the center of gravity of underwater glider
It moves, nose-high is lifted, rushed in completion；It is when aerodone needs lower prick under water, battery pack is mobile to head, so that underwater sliding
The center of gravity of Xiang machine moves forward, and tail is lifted up, and completes lower prick.Guide rail is arranged in the top of battery pack, is set relative to by guide rail
It sets in the lower section of battery pack, for battery pack close to the bottom of pressure-resistant cabin, the position of centre of gravity of underwater glider is lower, can guarantee underwater
Aerodone water stability, and do not need to increase counterweight, structure is simple, reduces the manufacturing cost of underwater glider.
Further, the first supporting plate 40 and the second supporting plate 50 are fixedly connected in pressure-resistant cabin, the first supporting plate 40 and second
Plate 50 is fixedly connected with 31 both ends of guide rail respectively.
In an embodiment of the present invention, the first supporting plate and the second supporting plate are fixedly connected with guide rail both ends respectively, so that battery
Group is slided between the first supporting plate and the second supporting plate, and the first supporting plate and the second supporting plate separate the inner wall of battery pack and pressure-resistant cabin,
The inner wall for colliding pressure-resistant cabin in battery pack motion process can be prevented, the reliability of gravity adjusting device is improved.
Further, driving device 11 and screw pair are provided in pressure-resistant cabin, screw pair includes 12 He of lead screw
The nut 13 being spirally connected with lead screw 12, the first supporting plate 40 and the second supporting plate 50 are rotatablely connected with lead screw 12 respectively, and the setting of lead screw 12 exists
Between first supporting plate 40 and the second supporting plate 50, battery pack 20 is fixedly connected with nut 13, and driving device 11 drives lead screw 12 to rotate.
In an embodiment of the present invention, by driving device drive screw pair in lead screw rotate so that nut along
The direction of lead screw is for linear motion so that the battery pack for being fixed with nut is slided on guide rail, driving device can with but not only
For driving motor, driving device can be fixed on side or second supporting plate of first supporting plate far from the second supporting plate far from first
The side of plate prevents driving device interference battery pack movement, and the first supporting plate and the second supporting plate are respectively fixed with bearing block, lead screw
Both ends are fixedly connected with the bearing seat respectively, to realize that the first supporting plate and the second supporting plate are rotatablely connected with lead screw respectively.Lead screw spiral shell
Female secondary transmission efficiency is high, and abrasion loss is small, and movement is steady, no creeping phenomenon, high transmission accuracy.Control screw rod can be passed through
Rotational angle accurately to adjust the move distance of battery pack, to realize the position of centre of gravity of accurate adjustment underwater glider.
Further, the first supporting plate 40 is provided with the first impact switch 41, the second supporting plate 50 towards the side of battery pack 20
Side towards battery pack 20 is provided with the second impact switch 51, and the first impact switch 41 and the second impact switch 51 are arranged at
On the motion path of battery pack 20.
In an embodiment of the present invention, by the way that the first impact switch is arranged in the first supporting plate, the second supporting plate setting second is touched
Rush open pass, when battery pack hyperkinesia, the first impact switch or the second impact switch can be collided, the first impact switch or
After the second impact switch of person is triggered, the power supply of driving device can be cut off, battery pack runs out of steam, so that battery pack stops fortune
It is dynamic, improve the reliability and safety of gravity adjusting device.
Further, the first supporting plate 40 and/or the second supporting plate 50 are fixedly connected with encoder 32, the rotary shaft of encoder 32
It is rotatablely connected with screw rod 12 by gear pair.
In an embodiment of the present invention, the first supporting plate and/or the second supporting plate are fixedly connected with encoder, the rotation of encoder
Axis and screw rod are rotatablely connected by gear pair, and the rotational angle of screw rod is accurately controlled by encoder, thus accurately control electricity
The moving direction and moving distance of pond group, to accurately adjust the position of centre of gravity and accurate adjustment underwater glider of underwater glider
Posture, improve the adjusting accuracy of gravity adjusting device.
Further, including battery fixing component, battery fixing component are used to fix battery pack, and battery fixing component includes
Fixed frame 21 and fixed plate 22, battery pack 20 are set as semi-cylindrical, fixed frame 21 along 20 circular arc side of battery pack circumferential direction
Setting, fixed plate 22 are close to the plane of battery pack 20, and the both ends of fixed frame 21 are removably secured with fixed plate 22 connect respectively,
The top of fixed plate 22 is arranged in guide rail 31.
In an embodiment of the present invention, battery pack is fixed by battery fixing component, then by battery fixing component with
The lead screw of screw pair is fixedly connected, and battery fixing component and guide rail are slidably connected, and further protects battery pack, battery
Group is set as semi-cylindrical, so that the distance between lower half portion of cabin of battery surface and pressure-resistant cabin is identical, as far as possible
Ground reduces the center of gravity of underwater glider, ensure that underwater glider water stability.It can be in fixed plate backwards to the one of battery pack
Fixing seat is fixed in side, and fixing seat is provided with cylindrical hole, and guide rail passes through cylindrical hole, and battery pack is slided relative to guide rail,
Two guide rails are at least set, so that battery pack can be slided along the length direction of guide rail.
Further, pressure-resistant cabin includes first end cover 14, second end cover 15 and cabin 16, first end cover 14 and second end cover
15 are tightly connected with cabin 16 respectively, and the second supporting plate 50 is fixedly connected with second end cover 15, and the first supporting plate 40 is towards first end cover
14 side is provided with the first protrusion 42, and first end cover 14 is provided with first through hole 17, and first through hole 17 is sealedly connected with tension
Plug 43, tension plug 43 is removably affixed with the first protrusion 17 to be connect.
In an embodiment of the present invention, first end cover and second end cover are closed with cabin lid respectively, can first end cover with
Sealing strip is set between cabin and between second end cover and cabin, to improve between first end cover, second end cover and cabin
Sealing performance.Pressure-resistant cabin includes first end cover, second end cover and cabin, and first end cover and second end cover are sealed with cabin respectively to be connected
It connects, the second supporting plate is fixedly connected with second end cover, and the first supporting plate is provided with the first protrusion, first end towards the side of first end cover
Lid is provided with first through hole, and first through hole is sealedly connected with tension plug, tenses plug and the first protrusion is removably affixed company
It connects, so that pressure-resistant cabin is the entirety of a sealing, when aerodone dives into the water under water, prevents high undersea hydrostatic pressures from destroying in pressure-resistant cabin
Battery pack and other component.The second supporting plate and second end cover can be fixed by screw.
With reference to Fig. 3, further, tenses plug 43 and be spirally connected with the first protrusion 42, it is convex to be provided with second in first through hole 17
It rises, the second protrusion tenses plug 43 for backstop, tenses plug 43 and is provided at least one clamping groove 44, clamping groove 44 is connected with
Sealing ring tenses plug 43 backwards to the side of second end cover 15 and is provided with slot 45.
In an embodiment of the present invention, it tenses plug to be spirally connected with the first protrusion, and the second protrusion is tensed for backstop and blocked up
Head can tense plug pulling by adjusting the depth for tensing the first protrusion of plug precession to pressure-resistant cabin internal motion to adjust
The pulling force of first protrusion enables tension plug to tense or loosen so as to adjust plug is tensed to the pulling force of the first supporting plate
First protrusion, so that first end cover and second end cover press cabin respectively, to improve the sealing performance of pressure-resistant cabin.It tenses stifled
Head is provided at least one clamping groove, is connected with sealing ring in clamping groove, and tension plug and first through hole is enabled to seal and match
It closes, completes the sealed connection of pressure-resistant cabin.Can with but be not only to tense plug to be arranged in parallel there are two clamping groove, two clamping grooves
It is inside clamped sealing ring respectively, is tightly connected with guaranteeing to tense plug and first through hole.Plug is tensed backwards to the side of second end cover
Be provided with slot, slot can with but not just for flat recess, cross recess, plum blossom trough, tightened by the screwdriver of correspondingly-shaped or
Unscrew tension plug.
Further, it is removably secured between the first supporting plate 40 and the second supporting plate 50 and is connected at least three struts 33,
Battery pack 20 is arranged in the space that strut 33 encloses.
In an embodiment of the present invention, it is removably secured between the first supporting plate and the second supporting plate and is connected at least three branch
Bar, battery pack are arranged in the space that strut encloses, and the first supporting plate and the second supporting plate are fixed by strut, guarantee first
The distance between plate and the second supporting plate further increase the fixing intensity of strut, can also set by the way that at least three struts are arranged
It sets the first supporting plate and the second supporting plate to be rotatablely connected with strut respectively, to reduce installation difficulty, the stress reduced on strut is concentrated, and is mentioned
The high reliability and service life of strut.
Further, the both ends of strut 33 are provided with third protrusion, and the first supporting plate 40 and the second supporting plate 50 are provided with second
Through-hole, third protrusion stick into the second through-hole, and bolt passes through the second through-hole and is spirally connected with third protrusion.
In an embodiment of the present invention, cooperated by third protrusion and the second through-hole, play the role of location supporting rod position,
Convenient for the installation of strut, the first supporting plate and strut and the second supporting plate and strut are fixed by bolt, structure is simple, convenient for peace
Dress and maintenance.
Above description is only the preferred embodiment of the application and the explanation to institute's application technology principle.Those skilled in the art
Member is it should be appreciated that invention scope involved in the application, however it is not limited to technology made of the specific combination of above-mentioned technical characteristic
Scheme, while should also cover in the case where not departing from the inventive concept, it is carried out by above-mentioned technical characteristic or its equivalent feature
Any combination and the other technical solutions formed.Such as features described above has similar function with (but being not limited to) disclosed herein
Can technical characteristic replaced mutually and the technical solution that is formed.
Claims (10)
1. a kind of underwater glider gravity adjusting device, which is characterized in that including pressure-resistant cabin, be provided with electricity in the pressure-resistant cabin
Pond group and guide rail, the guide rail are slidably connected with the battery pack, and the top of the battery pack, the electricity is arranged in the guide rail
Pond group is close to the bottom of the pressure-resistant cabin.
2. underwater glider gravity adjusting device according to claim 1, which is characterized in that fixed in the pressure-resistant cabin
It is connected with the first supporting plate and the second supporting plate, first supporting plate and second supporting plate are fixed with the guide rail both ends respectively to be connected
It connects.
3. underwater glider gravity adjusting device according to claim 2, which is characterized in that setting in the pressure-resistant cabin
There are a driving device and screw pair, the screw pair includes lead screw and the nut that is spirally connected with the lead screw, and described first
Supporting plate and second supporting plate are rotatablely connected with the lead screw respectively, and the lead screw is arranged in first supporting plate and described second
Between supporting plate, the battery pack is fixedly connected with the nut, and the driving device drives the lead screw rotation.
4. underwater glider gravity adjusting device according to claim 3, which is characterized in that first supporting plate towards
The side of the battery pack is provided with the first impact switch, and second supporting plate is provided with second towards the side of the battery pack
Impact switch, first impact switch and second impact switch are arranged on the motion path of the battery pack.
5. underwater glider gravity adjusting device according to claim 3, which is characterized in that first supporting plate and/
Or second supporting plate is fixedly connected with encoder, the rotary shaft of the encoder and the screw rod and is rotated by gear pair and connected
It connects.
6. underwater glider gravity adjusting device according to claim 2, which is characterized in that including the fixed group of battery
Part, for the battery fixing component for fixing the battery pack, the battery fixing component includes fixed frame and fixed plate, described
Battery pack is set as semi-cylindrical, and the fixed frame is arranged along the circumferential direction of battery pack circular arc side, and the fixed plate is tight
The plane of the battery pack is pasted, the both ends of the fixed frame are removably secured with the fixed plate connect respectively, the guide rail
The top of the fixed plate is set.
7. underwater glider gravity adjusting device according to claim 2, which is characterized in that the pressure-resistant cabin includes the
One end cap, second end cover and cabin, the first end cover and the second end cover are tightly connected with the cabin respectively, and described the
Two supporting plates are fixedly connected with the second end cover, and it is convex that first supporting plate towards the side of the first end cover is provided with first
It rises, the first end cover is provided with first through hole, and the first through hole is sealedly connected with tension plug, the tension plug and institute
It states the first protrusion and is removably affixed connection.
8. underwater glider gravity adjusting device according to claim 7, which is characterized in that the tension plug and institute
It states the first protrusion to be spirally connected, the second protrusion is provided in the first through hole, second protrusion is used to tense plug described in backstop,
The tension plug is provided at least one clamping groove, and the clamping groove is connected with sealing ring, and the tension plug is backwards to described
The side of second end cover is provided with slot.
9. underwater glider gravity adjusting device according to claim 2, which is characterized in that first supporting plate and institute
It states to be removably secured between the second supporting plate and is connected at least three struts, the battery pack is arranged in what the strut enclosed
In space.
10. underwater glider gravity adjusting device according to claim 9, which is characterized in that the both ends of the strut
It is provided with third protrusion, first supporting plate and second supporting plate are provided with the second through-hole, and the third protrusion sticks into described
In second through-hole, bolt passes through second through-hole and is spirally connected with the third protrusion.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811210472.4A CN109050848A (en) | 2018-10-17 | 2018-10-17 | Underwater glider gravity adjusting device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811210472.4A CN109050848A (en) | 2018-10-17 | 2018-10-17 | Underwater glider gravity adjusting device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109050848A true CN109050848A (en) | 2018-12-21 |
Family
ID=64764971
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811210472.4A Pending CN109050848A (en) | 2018-10-17 | 2018-10-17 | Underwater glider gravity adjusting device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109050848A (en) |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2008120304A (en) * | 2006-11-14 | 2008-05-29 | Mitsui Eng & Shipbuild Co Ltd | Underwater sailing body and moving method for underwater sailing body |
| CN102050218A (en) * | 2009-11-04 | 2011-05-11 | 中国科学院沈阳自动化研究所 | Gesture adjusting device for underwater glider |
| CN106394832A (en) * | 2015-07-30 | 2017-02-15 | 国家电网公司 | Sealing cylinder for underwater controller |
| CN106926997A (en) * | 2015-12-30 | 2017-07-07 | 中国科学院沈阳自动化研究所 | A kind of underwater robot centroid adjustment device |
| CN107571983A (en) * | 2017-07-12 | 2018-01-12 | 河海大学 | A kind of depth control method of three joint bionic machine fish |
| CN108438183A (en) * | 2018-04-28 | 2018-08-24 | 上海交通大学 | Oceanographic observation submersible |
| CN108482623A (en) * | 2018-02-02 | 2018-09-04 | 中国舰船研究设计中心 | A kind of joint attitude regulating mechanism for underwater glider |
| CN209037817U (en) * | 2018-10-17 | 2019-06-28 | 中电科海洋信息技术研究院有限公司 | Underwater glider gravity adjusting device |
-
2018
- 2018-10-17 CN CN201811210472.4A patent/CN109050848A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2008120304A (en) * | 2006-11-14 | 2008-05-29 | Mitsui Eng & Shipbuild Co Ltd | Underwater sailing body and moving method for underwater sailing body |
| CN102050218A (en) * | 2009-11-04 | 2011-05-11 | 中国科学院沈阳自动化研究所 | Gesture adjusting device for underwater glider |
| CN106394832A (en) * | 2015-07-30 | 2017-02-15 | 国家电网公司 | Sealing cylinder for underwater controller |
| CN106926997A (en) * | 2015-12-30 | 2017-07-07 | 中国科学院沈阳自动化研究所 | A kind of underwater robot centroid adjustment device |
| CN107571983A (en) * | 2017-07-12 | 2018-01-12 | 河海大学 | A kind of depth control method of three joint bionic machine fish |
| CN108482623A (en) * | 2018-02-02 | 2018-09-04 | 中国舰船研究设计中心 | A kind of joint attitude regulating mechanism for underwater glider |
| CN108438183A (en) * | 2018-04-28 | 2018-08-24 | 上海交通大学 | Oceanographic observation submersible |
| CN209037817U (en) * | 2018-10-17 | 2019-06-28 | 中电科海洋信息技术研究院有限公司 | Underwater glider gravity adjusting device |
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