CN109305312A - The variable underwater vehicle of motion mode - Google Patents
The variable underwater vehicle of motion mode Download PDFInfo
- Publication number
- CN109305312A CN109305312A CN201811107666.1A CN201811107666A CN109305312A CN 109305312 A CN109305312 A CN 109305312A CN 201811107666 A CN201811107666 A CN 201811107666A CN 109305312 A CN109305312 A CN 109305312A
- Authority
- CN
- China
- Prior art keywords
- fish tail
- shell
- bolted
- underwater vehicle
- guide rail
- 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
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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
- B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
-
- 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
- B63G8/16—Control of attitude or depth by direct use of propellers or jets
-
- 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
- B63G8/18—Control of attitude or depth by hydrofoils
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H1/00—Propulsive elements directly acting on water
- B63H1/30—Propulsive elements directly acting on water of non-rotary type
- B63H1/36—Propulsive elements directly acting on water of non-rotary type swinging sideways, e.g. fishtail type
-
- 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
- B63G2008/002—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned
Abstract
This application discloses the underwater vehicles that a kind of motion mode can be changed, including infrared flow measurement part, shell and the wing that shell two sides are arranged in；The infrared flow measurement part is arranged on the shell；The shell two sides are additionally provided with propeller；It is equipped with sealed compartment in the shell, regulating mechanism of buoyancy and center of gravity swing mechanism are equipped in the sealed compartment, the regulating mechanism of buoyancy is for adjusting the net buoyancy amount of submariner device in water, and the center of gravity swing mechanism is for adjusting the pitch angle posture of submariner device in water.The present invention combines three kinds of motion modes, and applicable situation is wider, has the advantages that vdiverse in function.
Description
Technical field
This application involves a kind of submariner devices, and in particular to a kind of underwater vehicle that motion mode is variable.
Background technique
To the developmental research of ocean need it is more nobody paddle equipment.At present there are mainly three types of motion mode: band cable without
People's submariner device (ROV), untethered autonomous underwater vehicle (AUV), underwater glider (Glider) and Biomimetic Fish.Wherein ROV and AUV mostly band
Propeller promotes, and underwater glider utilizes flank and buoyancy regulating device that floating dive is driven to complete movement more；Biomimetic Fish is multi-purpose
Fish tail is driven.
Existing motion mode is single, and single motion mode meaning use occasion and effect are restricted；Using spiral
Paddle propulsive efficiency is high, but energy consumption is high；Using gliding poor controllability；It is low using fish tail swing propulsive efficiency.
Summary of the invention
In view of drawbacks described above in the prior art or deficiency, it is intended to provide that a kind of applicable situation is wider, fortune vdiverse in function
The variable underwater vehicle of flowing mode.
To achieve the goals above, the technical solution adopted by the present invention is that:
A kind of underwater vehicle that motion mode is variable, including infrared flow measurement part, shell and the wing that shell two sides are arranged in；
The infrared flow measurement part is arranged on the shell；
The shell two sides are additionally provided with propeller；
It is equipped with sealed compartment in the shell, is equipped with regulating mechanism of buoyancy and center of gravity swing mechanism in the sealed compartment, is used for
The difference of power and buoyancy is thought highly of in adjustment submariner, and the center of gravity swing mechanism is for adjusting the pitch angle posture of submariner device in water.
It further, further include fish tail propulsive mechanism, the fish tail propulsive mechanism is located at the rear portion of the shell, the fish
Tail propulsive mechanism by the way of movement of wagging the tail for realizing forward movement；The front end of the fish tail propulsive mechanism is equipped with load
Cabin.
The fish tail propulsive mechanism includes fish tail skeleton, fish tail, steering engine sealed compartment, steering engine and fixing piece；
The fixing piece is circular shape, and buckle is fixed on steering engine sealed compartment in pairs, and the fixing piece is solid by screw thread
It is scheduled on the end cap of load cabin；The steering engine is located in the steering engine sealed compartment, and the axis of the steering engine stretches out steering engine sealed compartment
Sealing cover, coupling part seal waterproof using mechanical sealing member；The steering engine connects fish tail skeleton, and the fish tail skeleton makes in pairs
With the rear end of the fish tail skeleton connects fish tail.
The fish tail skeleton includes square hole, connecting hole and card tail seam；
The axis upper end of the steering engine be it is rectangular, be caught in the square hole on fish tail skeleton, the two-piece unit of the fish tail skeleton
It is bolted and fixed by connecting hole；The fish tail is thin plate, is bolted after insertion card tail seam.
The regulating mechanism of buoyancy includes oil cylinder, oil cylinder piston, peristaltic pump, range sensor, piston collisions switch, sensing
Device lid, oil nozzle, oil sac, oil sac bracket, peristaltic pump oil nozzle, peristaltic pump bracket；
The oil cylinder is located at one end of sealed compartment, and the oil cylinder is fixed on supporting plate, and the supporting plate is fixed by the bracket
In sealed compartment, the oil cylinder piston is located inside oil cylinder；
The oil nozzle connects oil sac by screw thread one end, and the other end connects oil cylinder；The oil nozzle is connected compacted by oil pipe
Dynamic pump oil mouth, the oil sac are threadedly attached on the end cap of sealed compartment；
The open end of the oil cylinder has been bolted sender unit cap, is fixed with piston collisions on the sender unit cap
Switch, range sensor and peristaltic pump bracket are fixed with peristaltic pump on the peristaltic pump bracket, and the peristaltic pump, which is equipped with, wriggles
Pump oil mouth.
The center of gravity swing mechanism includes battery flat, stepper motor, shaft coupling, screw rod, flange nut, screw rod base, again
Block impact switch, bearing block, guide rail fixed plate, guide rail, guide rail snap-gauge；
The stepper motor is bolted on supporting plate；The shaft of the stepper motor passes through the shaft coupling and silk
Bar one end is fixedly connected；The screw rod is bolted to connection by internal screw thread connection wire rod base, the flange nut
In screw rod base, the screw rod base is bolted on the upper lid of battery flat；The screw rod other end is fixed on bearing
On seat；The bearing block is bolted on supporting plate；The lower part of the battery flat has been bolted guide rail snap-gauge and has existed；
On guide rail, the guide rail is bolted in guide rail fixed plate the guide rail card board；The guide rail fixed plate both ends
It is bolted on supporting plate；Pouring weight impact switch has been bolted on the supporting plate.
The shell be it is streamlined, the wing is bolted the middle part for being installed on shell in pairs.
The propeller is mounted by means of bolts in pairs on the paddle seat of shell middle and back stretching, and the propeller is located at
The rear of the wing.
The infrared flow measurement part is bumped into the forefront of shell, is bolted to connection the shell.
Described further include load cabin bracket, and the end cap and load cabin of sealed compartment is bolted in the load cabin bracket
On end cap.
Compared with prior art, the beneficial effects of the present invention are:
The present invention combines three kinds of motion modes, and applicable situation is wider, has the advantages that vdiverse in function.
The present invention can be achieved three kinds of motor patterns rationally switch according to different operating conditions: such as hydrostatic region can using the wing, float
Power and centre of buoyancy adjust gliding, this state will greatly reduce energy consumption；Enhancing machine is promoted using propeller in water flow large area
Dynamic property；The nearly shoal of fish is using motion mode of wagging the tail.The flexible conversion of Different Exercise Mode can reduce energy consumption, extend cruise-ability
Energy；Also its movement controllability as underwater glider when can be improved.
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 external structure schematic diagram for the underwater vehicle that motion mode provided in an embodiment of the present invention can be changed；
Fig. 2 is the installation site structural schematic diagram of infrared flow measurement part provided in an embodiment of the present invention；
Fig. 3 is the schematic diagram of internal structure for the underwater vehicle that motion mode provided in an embodiment of the present invention can be changed；
Fig. 4 is the decomposition texture schematic diagram of fish tail propulsive mechanism provided in an embodiment of the present invention；
Fig. 5 is the structural schematic diagram of fish tail skeleton provided in an embodiment of the present invention；
Fig. 6 is the structural schematic diagram of regulating mechanism of buoyancy provided in an embodiment of the present invention；
Fig. 7 is the decomposition texture schematic diagram of regulating mechanism of buoyancy provided in an embodiment of the present invention；
Fig. 8 is the structural schematic diagram that the members of regulating mechanism of buoyancy provided in an embodiment of the present invention assemble；
Fig. 9 is the decomposition texture schematic diagram of center of gravity swing mechanism provided in an embodiment of the present invention.
In figure:
1 shell；
2 wings；
3 propellers；
4 fish tail propulsive mechanisms, fish tail skeleton 4.1, fish tail 4.2,4.3 steering engine sealed compartments, 4.4 steering engines, 4.5 fixing pieces,
4.1.1 square hole, 4.1.2 connecting hole, 4.1.3 card tail seam；
5 infrared flow measurement parts；
6 regulating mechanisms of buoyancy, 6.1 oil cylinders, 6.2 oil cylinder pistons, 6.3 peristaltic pumps, 6.4 range sensors, 6.5 piston collisions
Switch, 6.6 sender unit caps, 6.7 oil nozzles, 6.8 oil sacs, 6.9 oil sac brackets, 6.10 peristaltic pump oil nozzles, 6.11 peristaltic pump brackets；
7 center of gravity swing mechanisms, 7.1 battery flats, 7.2 stepper motors, 7.3 shaft couplings, 7.4 screw rods, 7.5 flange nuts, 7.6
Screw rod base, 7.7 pouring weight impact switches, 7.8 bearing blocks, 7.9 guide rail fixed plates, 7.10 guide rails, 7.11 guide rail snap-gauges.
8 sealed compartments, 8.1 supporting plates, 8.2 brackets；
9 load cabin brackets；
10 load cabins.
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.
Referring to figure 1, figure 2 and figure 3, the variable underwater vehicle of a kind of motion mode, including infrared flow measurement part, 1 and of shell
The wing 2 of 1 two sides of shell is set；
Infrared flow measurement part 5 is arranged on shell 1；Infrared flow measurement part is for detecting underwater obstacle.
1 two sides of shell are additionally provided with propeller 3；
It is equipped with sealed compartment 8 in shell 1, is equipped with regulating mechanism of buoyancy 6 and center of gravity swing mechanism 7, buoyancy adjustment in sealed compartment 8
Mechanism 6 is for adjusting the net buoyancy amount of submariner device in water, i.e., the submariner difference of thinking highly of power and buoyancy, center of gravity swing mechanism 7 are used
In the pitch angle posture of adjustment submariner device in water.
The present invention can be achieved two kinds of motor patterns rationally switch according to different operating conditions: such as hydrostatic region can using the wing, float
Power and centre of buoyancy adjust gliding, this state will greatly reduce energy consumption；Enhancing machine is promoted using propeller in water flow large area
Dynamic property.
It further include fish tail propulsive mechanism further, fish tail propulsive mechanism is located at shell 1 referring to Fig. 1, Fig. 3 and Fig. 4
Rear portion, fish tail propulsive mechanism by the way of movement of wagging the tail for realizing forward movement；The front end of fish tail propulsive mechanism is equipped with
Load cabin 10.
By increase fish tail propulsive mechanism, switch the achievable three kinds of motor patterns of the present invention rationally according to different operating conditions,
The nearly shoal of fish is using motion mode of wagging the tail.The flexible conversion of Different Exercise Mode of the present invention can reduce energy consumption, extend cruise-ability
Energy；Also its movement controllability as underwater glider when can be improved.
Referring to fig. 4 and Fig. 5, on the basis of the above embodiments, fish tail propulsive mechanism includes fish tail skeleton to the present embodiment
4.1, fish tail 4.2, steering engine sealed compartment 4.3, steering engine 4.4 and fixing piece 4.5；
Fixing piece 4.5 is circular shape, and buckle is fixed on steering engine sealed compartment 4.3 in pairs, and fixing piece 4.5 is solid by screw thread
It is scheduled on the end cap of load cabin 9；Steering engine 4.4 is located in steering engine sealed compartment 4.3, and the axis of steering engine 4.4 stretches out steering engine sealed compartment 4.4
Sealing cover, coupling part seal waterproof using mechanical sealing member；Steering engine 4.4 connects fish tail skeleton, and fish tail skeleton 4.1 makes in pairs
With the rear end of fish tail skeleton 4.1 connects fish tail 4.2.
For the ease of connection, fish tail skeleton 4.1 includes that square hole 4.1.1, connecting hole 4.1.2 and card tail stitch 4.1.3；
The axis upper end of steering engine 4.4 be it is rectangular, be caught in the square hole 4.1.1 on fish tail skeleton 4.1, fish tail skeleton 4.1 it is upper
Lower fission is bolted and fixed by connecting hole 4.1.2；Fish tail 4.2 is thin plate, passes through bolt after insertion card tail seam 4.1.3
It is fixed.
Referring to Fig. 6, Fig. 7 and Fig. 8, on the basis of the above embodiments, regulating mechanism of buoyancy 6 includes oil cylinder to the present embodiment
6.1, oil cylinder piston 6.2, peristaltic pump 6.3, range sensor 6.4, piston collisions switch 6.5, sender unit cap 6.6, oil nozzle 6.7,
Oil sac 6.8, oil sac bracket 6.9, peristaltic pump oil nozzle 6.10, peristaltic pump bracket 6.11；
Oil cylinder 6.1 is located at one end of sealed compartment 8, and oil cylinder 6.1 is single radial cut shape；Oil cylinder 6.1 is bolted on supporting plate
On 8.1, supporting plate 8.1 is fixed in sealed compartment 8 by bracket 8.2, and oil cylinder piston 6.2 is located inside oil cylinder 6.1；
Oil nozzle 6.7 connects oil sac 6.8 by screw thread one end, and the other end connects oil cylinder 6.1；Oil sac 6.8 is mounted on oil sac
On bracket 6.9；Oil nozzle 6.7 connects peristaltic pump oil nozzle 6.10 by oil pipe, and oil sac 6.8 is threadedly attached in the end of sealed compartment 8
It covers；
The open end of oil cylinder 6.1 has been bolted sender unit cap 6.6, is fixed with piston on sender unit cap 6.6 and touches
Pass 6.5, range sensor 6.4 and peristaltic pump bracket 6.11 are rushed open, peristaltic pump 6.3 is fixed on peristaltic pump bracket 6.11, is wriggled
Pump 6.3 is equipped with peristaltic pump oil nozzle 6.10.
Referring to Fig. 9, on the basis of the above embodiments, center of gravity swing mechanism 7 includes battery flat 7.1, stepping to the present embodiment
Motor 7.2, shaft coupling 7.3, screw rod 7.4, flange nut 7.5, screw rod base 7.6, pouring weight impact switch 7.7, bearing block 7.8,
Guide rail fixed plate 7.9, guide rail 7.10, guide rail snap-gauge 7.11；
Stepper motor 7.2 is bolted on supporting plate 8.1；The shaft of stepper motor 7.2 passes through shaft coupling 7.3 and silk
7.4 one end of bar is fixedly connected；Screw rod 7.4 is bolted to connection by internal screw thread connection wire rod base, flange nut 7.5
In screw rod base 7.6, screw rod base 7.6 is bolted on the upper lid of battery flat 7.1；7.4 other end of screw rod is fixed on
On bearing block 7.8；Flange nut 7.5 is used cooperatively with screw rod 7.4, and the rotational motion mode of screw rod 7.4 is converted into nut
Rectilinear motion mode；Bearing block 7.8 is bolted on supporting plate 8.1；The lower part of battery flat 7.1, which has been bolted, leads
Rail clip plate 7.11 exists；Guide rail snap-gauge 7.11 is stuck on guide rail 7.10, and guide rail 7.10 is bolted on guide rail fixed plate 7.9
On；7.9 both ends of guide rail fixed plate are bolted on supporting plate 8.1；Pouring weight collision has been bolted on supporting plate 8.1 to open
Close 7.7.
Preferably, shell is streamlined, and the wing 2 is bolted the middle part for being installed on shell 1 in pairs.
Preferably, propeller 3 is mounted by means of bolts in pairs on the paddle seat of 1 middle and back of shell stretching, propeller position
In the rear of the wing.
Preferably, infrared flow measurement part is bumped into the forefront of shell 1, is bolted to connection shell 1.
It preferably, further include load cabin bracket 9, the end cap and load cabin of sealed compartment 8 is bolted in load cabin bracket 9
On 10 end cap.Load cabin bracket is for being fixedly connected with load cabin 10 and sealed compartment 8.
The course of work of the invention:
Bank base control centre equips transmission control signal by wireless signal transmission and is received by submariner device, and submariner device passes through interior
It selects corresponding motor pattern to be moved after the control command sent outside portion's board receiver, controls the propeller of propeller
Rotation, the fish tail swing of fish tail propulsive mechanism or adjusting buoyancy and center of gravity.The waters shape around observation submariner device can also be passed through
State such as can adjust gliding using the wing, buoyancy and centre of buoyancy in hydrostatic region；Enhancing machine is promoted using propeller in water flow large area
Dynamic property；The nearly shoal of fish is using motion mode of wagging the tail.
Peristaltic pump changes oil sac volume size by suction oil, to realize the purpose for reconciling buoyancy size, and then controls
The heave movement of submariner device processed；
The back-and-forth motion that battery flat is driven by the rotation of control stepper motor, changes center of gravity, and control submariner device is bowed
Face upward movement；
Fish tail swing is realized by control steering engine rotation.
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 variable underwater vehicle of motion mode, which is characterized in that including infrared flow measurement part, shell and setting in shell
The wing of two sides；
The infrared flow measurement part is arranged on the shell；
The shell two sides are additionally provided with propeller；
It is equipped with sealed compartment in the shell, is equipped with regulating mechanism of buoyancy and center of gravity swing mechanism, the buoyancy in the sealed compartment
For regulating mechanism for adjusting the difference that power and buoyancy are thought highly of in submariner, the center of gravity swing mechanism is used to adjusting submariner device in water
Pitch angle posture.
2. the variable underwater vehicle of motion mode according to claim 1, which is characterized in that further include fish tail pusher
Structure, the fish tail propulsive mechanism are located at the rear portion of the shell, and the fish tail propulsive mechanism is used for by the way of movement of wagging the tail
Realize forward movement；The front end of the fish tail propulsive mechanism is equipped with load cabin.
3. the variable underwater vehicle of motion mode according to claim 2, which is characterized in that the fish tail propulsive mechanism
Including fish tail skeleton, fish tail, steering engine sealed compartment, steering engine and fixing piece；
The fixing piece is circular shape, and buckle is fixed on steering engine sealed compartment in pairs, and the fixing piece is threadedly secured to
On the end cap of load cabin；The steering engine is located in the steering engine sealed compartment, and the axis of the steering engine stretches out the sealing of steering engine sealed compartment
Lid, coupling part seal waterproof using mechanical sealing member；The steering engine connects fish tail skeleton, and the fish tail skeleton uses in pairs,
The rear end of the fish tail skeleton connects fish tail.
4. the variable underwater vehicle of motion mode according to claim 3, which is characterized in that the fish tail skeleton includes
Square hole, connecting hole and card tail seam；
The axis upper end of the steering engine be it is rectangular, be caught in the square hole on fish tail skeleton, the two-piece unit of the fish tail skeleton passes through
Connecting hole is bolted and fixed；The fish tail is thin plate, is bolted after insertion card tail seam.
5. the variable underwater vehicle of motion mode according to claim 1-4, which is characterized in that the buoyancy
Regulating mechanism include oil cylinder, oil cylinder piston, peristaltic pump, range sensor, piston collisions switch, sender unit cap, oil nozzle, oil sac,
Oil sac bracket, peristaltic pump oil nozzle, peristaltic pump bracket；
The oil cylinder is located at one end of sealed compartment, and the oil cylinder is fixed on supporting plate, and the supporting plate, which is fixed by the bracket, to be sealed
In cabin, the oil cylinder piston is located inside oil cylinder；
The oil nozzle connects oil sac by screw thread one end, and the other end connects oil cylinder；The oil nozzle connects peristaltic pump by oil pipe
Oil nozzle, the oil sac are threadedly attached on the end cap of sealed compartment；
The open end of the oil cylinder has been bolted sender unit cap, is fixed with piston collisions on the sender unit cap and opens
It closes, range sensor and peristaltic pump bracket, peristaltic pump is fixed on the peristaltic pump bracket, the peristaltic pump is equipped with peristaltic pump
Oil nozzle.
6. the variable underwater vehicle of motion mode according to claim 5, which is characterized in that the center of gravity swing mechanism
It is solid including battery flat, stepper motor, shaft coupling, screw rod, flange nut, screw rod base, pouring weight impact switch, bearing block, guide rail
Fixed board, guide rail, guide rail snap-gauge；
The stepper motor is bolted on supporting plate；The shaft of the stepper motor passes through the shaft coupling and screw rod one
End is fixedly connected；The screw rod is bolted to connection by internal screw thread connection wire rod base, the flange nut in screw rod
In base, the screw rod base is bolted on the upper lid of battery flat；The screw rod other end is fixed on bearing block；
The bearing block is bolted on supporting plate；The lower part of the battery flat has been bolted guide rail snap-gauge and has existed；It is described
On guide rail, the guide rail is bolted in guide rail fixed plate guide rail card board；The guide rail fixed plate both ends pass through
Bolt is fixed on supporting plate；Pouring weight impact switch has been bolted on the supporting plate.
7. the variable underwater vehicle of motion mode according to claim 1, which is characterized in that the shell is streamline
Type, the wing are bolted the middle part for being installed on shell in pairs.
8. the variable underwater vehicle of motion mode according to claim 7, which is characterized in that the propeller leads in pairs
It crosses bolt to be fixedly mounted on the paddle seat of shell middle and back stretching, the propeller is located at the rear of the wing.
9. the variable underwater vehicle of motion mode according to claim 7, which is characterized in that the infrared flow measurement part edge
The forefront for entering shell is bolted to connection the shell.
10. the underwater vehicle that can be changed according to the described in any item motion modes of claim 2-4, which is characterized in that described to go back
Including load cabin bracket, the load cabin bracket is bolted on the end cap of sealed compartment and the end cap of load cabin.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811107666.1A CN109305312A (en) | 2018-09-21 | 2018-09-21 | The variable underwater vehicle of motion mode |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811107666.1A CN109305312A (en) | 2018-09-21 | 2018-09-21 | The variable underwater vehicle of motion mode |
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| Publication Number | Publication Date |
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| CN109305312A true CN109305312A (en) | 2019-02-05 |
Family
ID=65224020
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811107666.1A Pending CN109305312A (en) | 2018-09-21 | 2018-09-21 | The variable underwater vehicle of motion mode |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112298506A (en) * | 2020-11-17 | 2021-02-02 | 浙江海洋大学 | Underwater vehicle |
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| CN202574597U (en) * | 2012-04-06 | 2012-12-05 | 西北工业大学 | Variable centroid adjusting device for underwater vehicle |
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