CN109941410A - A kind of modularization AUV - Google Patents
A kind of modularization AUV Download PDFInfo
- Publication number
- CN109941410A CN109941410A CN201910342020.XA CN201910342020A CN109941410A CN 109941410 A CN109941410 A CN 109941410A CN 201910342020 A CN201910342020 A CN 201910342020A CN 109941410 A CN109941410 A CN 109941410A
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- cabin
- gear
- propeller
- lead screw
- propulsion unit
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Abstract
The present invention discloses a kind of modularization AUV device, and described device is mainly made of front deck, buoyancy adjustment cabin, sensor cabin, energy cabin, deck store, propulsion unit.Camera and searchlight are installed in the front deck.The buoyancy adjustment cabin is installed by regulating mechanism of buoyancy.The sensor cabin is installed by control panel, Doppler anemometer, positioning system.Sensor cabin two sides are equipped with side-scan sonar, and described device swap modules, described device can have wireless communication function according to actual needs, and described device is designed to streamlined contour, and the steering of realization device is jointly controlled by six propellers.While six propellers jointly control increase AUV mobility, the complexity of driving mechanism is reduced.
Description
Technical field
The present invention relates to underwater robot fields, and in particular to a kind of modularization AUV.
Background technique
With the increasingly reduction of land resources, people have turned one's attention to wide ocean, contain in ocean abundant
Resource.AUV can become the important auxiliary tool during marine resources development.AUV has compared with traditional underwater exploration tool
Have the advantages that safe and efficient, investigation depth is big, strong antijamming capability.The present AUV that ocean development becomes more and more important increasingly by
The attention of every country, either civilian or military, the important role of AUV all performers.Therefore a kind of modularization AUV is designed
It is one of the major issue in Underwater Technology field.
Current country AUV mostly uses integral structure, and disassembly is difficult, therefore designs a kind of modularization AUV to raising product
Competitiveness reduces the design cycle, and it is significant to reduce design cost, therefore designs a kind of modularization AUV and become technological break-through
One of main problem.
Summary of the invention
The invention proposes a kind of modularization AUV, the AUV to use the theory of modularized design, can be according to actual needs
Swap modules, the AUV are designed to streamlined contour, reduce ship resistance, and the AUV has wireless communication function, the AUV
Jointly control the steering for realizing AUV using six propellers, while six propellers jointly control increase AUV mobility, drop
The low complexity of driving mechanism,
In order to solve the above technical problems, the invention adopts the following technical scheme: a kind of modularization AUV device, the AUV master
It to be made of front deck, buoyancy adjustment cabin, control cabinet, energy cabin, deck store, propulsion unit, the front deck, buoyancy adjustment cabin, control
Cabin, energy cabin, deck store are connected by connection ring and connecting rod two, and each cabin forms hollow seal cabin, and the connecting rod two is through floating
Power adjusting cabin, control cabinet, energy cabin, the connecting rod two cooperate with nut two, and the front deck is parabolic profile, in the front deck
Camera, searchlight, altimeter are installed, the front deck plays the role of water conservancy diversion, and parabolic profile can effectively reduce the hydrodynamic force of water,
The buoyancy adjustment cabin is hollow cylinder, installs regulating mechanism of buoyancy, the regulating mechanism of buoyancy in the buoyancy adjustment cabin
By pressure chamber, left pressure hatchcover, right pressure hatchcover, piston, piston unt, connecting rod one, lead screw one, gear one, gear two, motor
One composition, the left pressure hatchcover, right pressure chamber, which cover, is equipped with O-ring seal one, and the piston and piston unt pass through company
Bar one connects, and sets on the piston there are three hole, is equipped with lip-type packing in the hole, the connecting rod one is matched with nut one
It closing, the piston unt is mounted on lead screw one, and gear one is installed on the lead screw one, and the gear one cooperates with gear two,
The gear two is mounted on motor one, and the control cabinet is hollow cylinder, and side-scan sonar, institute are installed in the control cabinet two sides
It states and control panel, DVL, camera is installed in control cabinet, the energy cabin is hollow cylinder, and battery list is installed in the energy cabin
Member, the battery unit is by battery pack, lead screw two, feed screw nut, gear three, gear four, motor two and GPS positioning system group
At two both ends of lead screw are equipped with bearing, and feed screw nut is equipped on the lead screw two, and the feed screw nut and battery pack are solid
It is scheduled on together, the gear three is mounted on two right side of lead screw, and the gear four is mounted on motor two, and the propulsion unit is by indulging
To propulsion unit, lateral propulsion unit and vertical propulsion unit composition, the unit that is longitudinally propelling is by longitudinal thruster frame and two
A longitudinal thruster composition, the A-bracket two sides are equipped with propeller mounting hole, and the longitudinal thruster is mounted on propeller
Kong Zhong, the transverse direction propulsion unit and vertical propulsion unit are made of A-bracket and propeller, are set in the middle part of the A-bracket
There is propeller hole, the propeller is mounted in propeller hole, the propeller lateral arrangement of the transverse direction propulsion unit, described to hang down
To the vertical arrangement of propeller of propulsion unit, the connection ring is equipped with O-ring seal two, and the connection ring is equipped with circular hole, institute
It states and lip-type packing is installed in circular hole, the lip-type packing is pushed down with tabletting, and the tabletting is screwed,
The utility model has the advantages that
Compared with prior art, the present invention its advantages are embodied in:
(1) present invention uses the theory of modularized design, can swap modules according to actual needs, have wireless communication function
Can, reduce the design cycle, reduce design cost, improves product competitiveness in the market.
(2) shape of the present invention be designed as it is streamlined reduce ship resistance, extend cruise duration.
(3) present invention is jointly controlled using six propellers, increases the mobility of AUV, while reducing driving mechanism
Complexity.
(4) present invention carries out early warning to the barrier collision during AUV navigation using sonar, improves the safety of AUV
Property.
Detailed description of the invention
Fig. 1 is a kind of modularization AUV main view of the present invention；
Fig. 2 is a kind of modularization AUV top view of the present invention；
Fig. 3 is a kind of modularization AUV front deck structure structural schematic diagram of the present invention；
Fig. 4 is a kind of modularization AUV buoyancy adjustment structural schematic diagram of the present invention；
Fig. 5 is a kind of modularization AUV sensor cabin of the present invention and battery flat structural schematic diagram.
Fig. 6 is a kind of modularization AUV connection ring structure schematic diagram of the present invention.
Fig. 7 is that a kind of modularization AUV of the present invention removes structural schematic diagram after front deck deck store.
Figure label are as follows: 1- front deck, 2- buoyancy adjustment cabin, 3- control cabinet, 4- energy cabin, 5- deck store, 6- propulsion unit,
The left pressure hatchcover of 101- searchlight, 102- altimeter, 103- camera one, 201- pressure chamber, 2021-, the right pressure chamber of 2022-
Lid, 203- piston, 204- connecting rod one, 205- piston unt, 206- lead screw one, 207- nut one, 208- bearing, 209-O type are close
Seal one, 2101- gear one, 2102- gear 2,211- motor one, 301- control panel, 302-DVL, 303- side-scan sonar, 304-
Camera 2,401- battery, 402- lead screw two, 4031 gears three, 4032- gear four, 404- feed screw nut, 405- motor two,
406-GPS positioning system, 601- A-bracket one, 602- propeller one, 603- A-bracket two, 604- propeller two, 7- connect
Connect ring, 701-O type sealing ring two, 702- lip-type packing, 703- tabletting, 704- screw, 801- connecting rod two, 802- nut two.
Specific embodiment
Explanation is further explained to the present invention below by way of specific embodiment.It should be noted that making in being described below
Word "left", "right", " longitudinal direction ", " transverse direction ", " vertical " refer respectively to wide high corresponding face, length direction, width
Spend direction and height direction.
Referring to figs. 1 to known to 7: a kind of modularization AUV device, the AUV is mainly by front deck 1, buoyancy adjustment cabin 2, control
Cabin 3, energy cabin 4, deck store 5, propulsion unit 6 form, and the front deck 1, buoyancy adjustment cabin 2, control cabinet 3, energy cabin 4, deck store 5 are logical
Connection ring 7 and connecting rod 2 801 is crossed to connect, each cabin forms hollow seal cabin, the connecting rod 2 801 through buoyancy adjustment cabin 2,
Control cabinet 3, energy cabin 4, the connecting rod 2 802 cooperate with nut 2 802.
Wherein, the front deck 1 is parabolic profile, installs camera 103, searchlight 101, altimeter in the front deck 1
102, the front deck 1 plays the role of water conservancy diversion, and parabolic profile can effectively reduce the hydrodynamic force of water.
Wherein, the buoyancy adjustment cabin 2 is hollow cylinder, installs regulating mechanism of buoyancy, institute in the buoyancy adjustment cabin 2
State regulating mechanism of buoyancy by pressure chamber 201, left pressure hatchcover 2021, right pressure hatchcover 2022, piston 203, piston unt 205,
Connecting rod 1, lead screw 1, gear 1, gear 2 2102, motor 1 form, the left pressure hatchcover 2021, the right side
O-ring seal 1 is installed on pressure hatchcover 2022, the piston 203 is connect with piston unt 205 by connecting rod 1,
It is set on the piston 203 there are three hole, lip-type packing 702 is installed in the hole, the connecting rod one is matched with nut 1
It closes, the piston unt is mounted on lead screw 206 1, and gear 1, the gear 1 are installed on the lead screw 1
Cooperate with gear 2 2102, the gear 2 2102 is mounted on motor 1.
Wherein, when motor 1 rotates, gear 2 2102 and then rotates, and 2 2102 band moving gear 1 of gear rotates,
Lead screw 1 and then rotates, and the rotation of lead screw 1 drives piston unt 205 to be moved forward and backward, and piston 203 is and then moved forward and backward, living
The back-and-forth motion of plug 203 changes the volume of water in pressure chamber 201, to realize that the liter of AUV is latent.
Wherein, the control cabinet 3 is hollow cylinder, and side-scan sonar 303, the control are installed in 3 two sides of control cabinet
Control panel 301, DVL302, camera 304 are installed in cabin 3.
Wherein, the energy cabin 4 is hollow cylinder, and battery unit is installed in the energy cabin 4, and the battery unit is by electricity
Pond packet 401, lead screw 2 402, feed screw nut 404, gear 3 4031, gear 4 4032, motor 2 405 and GPS positioning system 406
Composition, 2 402 both ends of lead screw are equipped with bearing 208, feed screw nut 4044, the silk are equipped on the lead screw 2 402
Thick stick nut 4044 is fixed together with battery pack 401, and the gear 3 4031 is mounted on 2 402 right side of lead screw, the gear four
4032 are mounted on motor 2 405.
Wherein, when motor 2 405 rotates, gear 4 4032 and then rotates, and 4 4032 band moving gear 3 4031 of gear rotates,
Lead screw 2 402 and then rotates, and the rotation of lead screw 2 402 drives feed screw nut 404 to be moved forward and backward, and battery pack 401 is and then moved forward and backward,
To change the center of gravity of AUV.
Wherein, the propulsion unit is described vertical by being longitudinally propelling unit, lateral propulsion unit and vertical propulsion unit composition
It is made of to propulsion unit longitudinal thruster frame 601 and two longitudinal thrusters 602,601 two sides of A-bracket are equipped with and push away
Into device mounting hole, the longitudinal thruster is mounted in propeller hole, and the transverse direction propulsion unit and vertical propulsion unit are by pushing away
It is formed into device frame 603 and propeller 604, propeller hole is equipped in the middle part of the A-bracket 603, the propeller 604 is mounted on
In propeller hole, 604 lateral arrangement of propeller of the transverse direction propulsion unit, the propeller 604 of the vertical propulsion unit hangs down
To arrangement.
Wherein, it is longitudinally propelling unit and generates longitudinal thrust and around vertical torque, lateral propulsion unit generation lateral thrust
With around vertical torque, vertical propulsion unit generates and around lateral torque.
Wherein, the connection ring 7 is equipped with O-ring seal 2 701, and the connection ring 7 is equipped with circular hole, peace in the circular hole
Equipped with lip-type packing 702, the lip-type packing 702 is pushed down with tabletting 703, and the tabletting 703 is fixed with screw 704.
In addition, it should be understood that although this specification is described in terms of embodiments, but not each embodiment is only wrapped
Containing an independent technical solution, this description of the specification is merely for the sake of clarity, and those skilled in the art should
It considers the specification as a whole, the technical solutions in the various embodiments may also be suitably combined, forms those skilled in the art
The other embodiments being understood that.
Claims (2)
1. a kind of modularization AUV device, the AUV is mainly by front deck (1), buoyancy adjustment cabin (2), control cabinet (3), energy cabin
(4), deck store (5), propulsion unit (6) composition, the front deck (1), buoyancy adjustment cabin (2), control cabinet (3), energy cabin (4), tail
Cabin (5) is connected by connection ring (7) and connecting rod two (801), and each cabin forms hollow seal cabin, and the connecting rod two (801) is passed through
Buoyancy adjustment cabin (2), control cabinet (3), energy cabin (4) are worn, the connecting rod two (802) and nut two (802) cooperate.
2. a kind of modularization AUV according to claim 1, which is characterized in that the front deck (1) is parabolic profile, institute
It states and camera (103), searchlight (101), altimeter (102) is installed in front deck (1), the front deck (1) plays the role of water conservancy diversion, throws
Object line shape can effectively reduce the hydrodynamic force of water, and the buoyancy adjustment cabin (2) is hollow cylinder, the buoyancy adjustment cabin (2)
Interior installation regulating mechanism of buoyancy, the regulating mechanism of buoyancy is by pressure chamber (201), left pressure hatchcover (2021), right pressure hatchcover
(2022), piston (203), piston unt (205), connecting rod one (204), lead screw one (206), gear one (2101), gear two
(2102), motor one (211) forms, and is equipped with O-ring seal on the left pressure hatchcover (2021), right pressure hatchcover (2022)
One (209), the piston (203) are connect with piston unt (205) by connecting rod one (204), and the piston (203) is equipped with three
A hole is equipped with lip-type packing (702) in the hole, and the connecting rod one cooperates with nut one (207), the piston unt peace
On lead screw (206) one, gear one (2101) are installed on the lead screw one (206), the gear one (2101) and gear two
(2102) cooperate, the gear two (2102) is mounted on motor one (211), and the control cabinet (3) is hollow cylinder, described
Side-scan sonar (303) are installed in control cabinet (3) two sides, and control panel (301), DVL (302), camera are installed in the control cabinet (3)
(304), the energy cabin (4) is hollow cylinder, and the energy cabin (4) installs battery unit, and the battery unit is by battery
Wrap (401), lead screw two (402), feed screw nut (404), gear three (4031), gear four (4032), motor two (405) and GPS
Positioning system (406) composition, lead screw two (402) both ends are equipped with bearing (208), are equipped on the lead screw two (402)
Feed screw nut (4044), the feed screw nut (4044) are fixed together with battery pack (401), gear three (4031) installation
On the right side of lead screw two (402), the gear four (4032) is mounted on motor two (405), and the propulsion unit is by being longitudinally propelling
Unit, lateral propulsion unit and vertical propulsion unit composition, the unit that is longitudinally propelling is by longitudinal thruster frame (601) and two
Longitudinal thruster (602) composition, A-bracket (601) two sides are equipped with propeller mounting hole, the longitudinal thruster installation
In propeller hole, the transverse direction propulsion unit and vertical propulsion unit are made of A-bracket (603) and propeller (604),
Propeller hole is equipped in the middle part of the A-bracket (603), the propeller (604) is mounted in propeller hole, and the transverse direction pushes away
Into propeller (604) lateral arrangement of unit, propeller (604) vertical arrangement of the vertical propulsion unit, the connection ring
(7) it is equipped with O-ring seal two (701), the connection ring 7 is equipped with circular hole, is equipped with lip-type packing in the circular hole
(702), the lip-type packing (702) is pushed down with tabletting (703), and the tabletting (703) is fixed with screw (704).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910342020.XA CN109941410A (en) | 2019-04-26 | 2019-04-26 | A kind of modularization AUV |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910342020.XA CN109941410A (en) | 2019-04-26 | 2019-04-26 | A kind of modularization AUV |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109941410A true CN109941410A (en) | 2019-06-28 |
Family
ID=67016376
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910342020.XA Pending CN109941410A (en) | 2019-04-26 | 2019-04-26 | A kind of modularization AUV |
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| CN (1) | CN109941410A (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111038671A (en) * | 2019-12-30 | 2020-04-21 | 哈尔滨工程大学 | Submarine three-dimensional terrain surveying and mapping unmanned underwater vehicle |
| CN111086615A (en) * | 2019-12-16 | 2020-05-01 | 哈尔滨工程大学 | Three-dimensional space maneuvering bionic robot fish and buoyancy adjusting device |
| CN111319734A (en) * | 2020-04-15 | 2020-06-23 | 浙江大学 | Modularized reconfigurable underwater robot |
| CN111332435A (en) * | 2020-03-09 | 2020-06-26 | 中国船舶科学研究中心（中国船舶重工集团公司第七0二研究所） | AUV modularization carrier structure |
| CN113022827A (en) * | 2021-04-07 | 2021-06-25 | 中国科学院沈阳自动化研究所 | 100-meter-level ARV underwater robot structure |
| CN113086135A (en) * | 2021-03-30 | 2021-07-09 | 苏州永鼎智联科技有限公司 | Modularized underwater coupling cruising robot |
| CN114248889A (en) * | 2021-11-24 | 2022-03-29 | 杭州电子科技大学 | AUV suitable for submarine cable patrols and examines |
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| CN111086615A (en) * | 2019-12-16 | 2020-05-01 | 哈尔滨工程大学 | Three-dimensional space maneuvering bionic robot fish and buoyancy adjusting device |
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| CN111332435A (en) * | 2020-03-09 | 2020-06-26 | 中国船舶科学研究中心（中国船舶重工集团公司第七0二研究所） | AUV modularization carrier structure |
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| CN113022827A (en) * | 2021-04-07 | 2021-06-25 | 中国科学院沈阳自动化研究所 | 100-meter-level ARV underwater robot structure |
| CN114248889A (en) * | 2021-11-24 | 2022-03-29 | 杭州电子科技大学 | AUV suitable for submarine cable patrols and examines |
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Application publication date: 20190628 |