CN110422307A - A kind of control method of the latent device of deep-sea multi-joint - Google Patents
A kind of control method of the latent device of deep-sea multi-joint Download PDFInfo
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- CN110422307A CN110422307A CN201910628071.9A CN201910628071A CN110422307A CN 110422307 A CN110422307 A CN 110422307A CN 201910628071 A CN201910628071 A CN 201910628071A CN 110422307 A CN110422307 A CN 110422307A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/14—Control of attitude or depth
- B63G8/20—Steering equipment
-
- 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
- B63G8/24—Automatic depth adjustment; Safety equipment for increasing buoyancy, e.g. detachable ballast, floating bodies
-
- 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
- B63G2008/004—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned autonomously operating
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Gear Transmission (AREA)
- Transmission Devices (AREA)
Abstract
The present invention relates to a kind of control methods of the latent device of deep-sea multi-joint, it include: that multi-joint device of diving by propeller provides power, it is rotated by two-freedom degree joint, realize water conservancy diversion cabin and propelling module pitching movement and yawing rotation, change the relative position between water conservancy diversion cabin, control cabinet and propelling module, so that multi-joint is dived device ontology with certain flexibility, and then change the latent device hydrodynamic characterisitic of multi-joint, realizes latent device floating, dive, steering and depthkeeping cruise motion mode.
Description
Technical field
The present invention relates to deep-sea detecting technical fields, main more particularly to a kind of latent device of multi-joint for deep-sea detecting
It will be as the carrying platform of the intelligence equipment and relevant device of deep-sea resources and environment detection.
Background technique
Ocean is richly stored with resource, has unlimited potentiality to be exploited, and the research for carrying out Marine Sciences and technology has become
For national strategy.Continuous exploration with countries in the world to ocean, the research emphasis of Marine Sciences turn to deep-sea from coastal waters.It is deep
The latent device of extra large autonomous type is the important equipment of ocean research and exploitation, can carry the electricity such as conductivity-temperature-depth system, Doppler log, manipulator
Son and mechanical equipment, realize the job tasks such as large-scale seafari and science and education.
Deep-sea vessel mainly includes manned underwater vehicle (HOV), remote-controlled vehicle (ROV) and Autonomous Underwater Vehicle
(AUV) three categories, wherein ROV occupies the overwhelming majority.Domestic and international research institution had developed a variety of for deep-sea observation in recent years
Latent device.A kind of hybrid type underwater sailing detector { patent CN201210362056 } has been invented by Zhejiang University, has merged underwater
The characteristics of autonomous navigation device and underwater glider, selects submarine navigation device mode or underwater glider mode according to demand.China
The deep-sea unmanned latent device { patent that multiple mechanical arms are installed in a kind of front and back has been invented by nine research institute of Shipbuilding Industry Corporation's company's July 1st
CN201610525632 }, assist the pose of latent device to adjust using the swing of mechanical arm, it can be achieved that higher stability and stronger
Anti-current ability, but buoyancy is adjusted by the way of ballast tank, the payload of latent device is reduced, and must at least have a machine
Tool arm.A kind of high speed autonomous underwater vehicle { patent CN201310131690 } has been invented by Harbin Engineering University, using bubble
Generator generates bubble, to reduce the resistance of aircraft movement, can mention in the short time in the case where not consuming internal electric source
The speed of aircraft is risen, job area is expanded.Existing Deep-sea vessel generally has the following deficiencies place:
(1) it is mostly single rigid structure, the direction of motion is controlled using tail vane and form regulation system, mobility is poor, turning
Radius is big, to limit detection mode and investigative range；
(2) it is turned to using tail vane control, increases the difficulty of dynamic sealing, latent device may be lost due to water inlet；
(3) buoyancy adjustment and gesture stability are carried out using technologies such as hydraulic or load water tanks, system is complex, reduces latent device
Payload and it is unfavorable for installation and debugging.
Summary of the invention
In order to overcome above-mentioned shortcoming, the present invention provides a kind of control method of latent device of deep-sea multi-joint, visits for deep-sea
It surveys and carrier is provided.Latent device provided by the invention has the characteristics that mobility is good, turning radius is small, passes through the coordination in multiple joints
Non- tail vane control or hydraulic/load sump realize steering and gesture stability.The technical scheme adopted by the invention is that:
A kind of control method of the latent device of deep-sea multi-joint, the latent device of the multi-joint being applicable in includes water conservancy diversion cabin, control cabinet, propulsion
Cabin, propeller and tail vane, wherein pass through a two-freedom degree joint connection, control cabinet and propulsion between water conservancy diversion cabin and control cabinet
It is connected between cabin by another two-freedom degree joint, propeller is fixedly connected on the rear portion of propelling module, and tail vane is uniformly distributed around axis
In propelling module rear portion；The control cabinet is that latent device does cabin part, is designed using pressure resistance, internal symmetrical two slideways in two sides,
Including control cabinet shell, battery, power supply, iridium satellite communication module, GPS communication module, central controller and two gyroscopes, driving two
The motor and driver of a two-freedom degree joint are placed in control cabinet；Control cabinet shell is that latent device does cabin part, passes through high densification
Jacket member is to guarantee the leakproofness in dry cabin；Battery is fixed on the slideway inside control cabinet shell；Two gyroscopes detected two
The angle information of degree-of-freedom joint is sent to central controller, iridium satellite communication module and GPS communication module and central controller phase
Even；Control method is as follows:
The latent device of multi-joint provides power by propeller, is rotated by two-freedom degree joint, realizes that water conservancy diversion cabin and propelling module are bowed
Movement and yawing rotation are faced upward, the relative position between water conservancy diversion cabin, control cabinet and propelling module is changed, there is the latent device ontology of multi-joint
Certain flexibility, and then change the latent device hydrodynamic characterisitic of multi-joint, realize latent device floating, dive, steering and depthkeeping cruise movement side
Formula；
When the latent device of multi-joint needs dive, driving two-freedom degree joint drives water conservancy diversion cabin and control cabinet to rotate down, and promotes
Device provides thrust, and latent device dive is realized under the action of thrust and water active force；Freely by adjusting the thrust of propeller and two
The rotational angle in joint is spent, diving speed and the dive path of latent device are controlled；
When the latent device of multi-joint needs to float, two-freedom degree joint is driven, water conservancy diversion cabin and propelling module is driven to be rotated up, is promoted
Device provides thrust, realizes that latent device floats under the action of thrust and water active force；Freely by adjusting the thrust of propeller and two
Articulation angle is spent, ascent rate and the floating path of latent device are controlled；It runs out of steam in propeller or control cabinet water inlet etc. is tight
In anxious situation, load rejection mechanism discharges weight mounted, and latent device is made to obtain biggish positive buoyancy, so that floating upward quickly is to the water surface；
When the latent device of multi-joint is turned, two-freedom degree joint is driven, makes water conservancy diversion cabin and the opposite yawing rotation of propelling module, pushes away
Thrust is provided into device, realizes that the latent device of multi-joint turns under the action of thrust and water active force；By adjusting two-freedom degree joint
Rotational angle controls the turning radius and turning path of latent device.
When the latent device of multi-joint cruises, water conservancy diversion cabin pitch angle is adjusted according to latent device pose and sailing condition, keeps latent device
Certain cruising depth and cruise direction, and periodically emerge, pass through GPS calibration course.
Preferably, the two-freedom degree joint, including driving unit and gear unit, the front cover branch of the driving unit
Ear is connected with the transmission shaft A of gear unit；
The driving unit, including two drivers, motor rack, front cover, two motors, shaft coupling, end cap A, driving
Axis, combination sealing, end cap B, sleeve A, end cap C, bevel gear A, bearing A, bearing sleeve, bearing B, sleeve B；Motor rack lower part is
Section circle, two sides are equipped with oblong lightening hole, have section circle face below, and open up three through-holes respectively, in upper end
If two inverted L shape trunnions, through-hole is arranged in trunnion end face；Motor rack is installed the front cover；The output shaft of two motors passes through respectively
Two shaft couplings and two driving axis connections；Drive shaft is multi-diameter shaft, and side sets that there are two threaded holes；Two drivers are mounted on
The L-type trunnion side of motor rack；Two sleeve B are separately mounted in two drive shafts, bearing B inner ring two sides be adjacent to sleeve B and
The drive shaft shaft shoulder；Bearing B is placed in bearing sleeve, and bearing sleeve end face is laid with six through-holes；End cap A is connected by screw to
Bearing sleeve is fastened on front cover；Front cover is circle, and one end concaves, and is provided with threaded hole, other end both sides are respectively provided with branch
Ear, trunnion end are circle, are equipped with circular hole in circular interior；Do dynamic sealing design in two circular holes of front cover indent side, two
A bearing A is separately mounted in two circular holes, and bearing A inner ring abuts the drive shaft shaft shoulder and sleeve A；Two end cap B and front cover spiral shell
Line connection, and the outer ring bearing A is compressed, guarantee bearing A axially position, two bevel gear A are separately mounted in two drive shafts, are bored
Gear A rear end face abuts sleeve A, and two end cap C are threadedly coupled with two drive shafts respectively, and compress bevel gear A；
The gear unit, including tooth rest, rear cover, transmission shaft A, bearing C, end cap D, built-up gear, sleeve E, transmission
Axis B, bearing E, sleeve D, bevel gear B, sleeve C, end cap I, bearings D, end cap E, end cap G, end cap F, end cap H；The combination tooth
Wheel is made of former and later two cone teeth, and inner cone tooth has the full circumferences gear teeth, and rear bevel gear has 1/6th circumference gear teeth, can root
According to bevel gear structure after the adjustment of joint hard-over；Built-up gear both sides of the face are equipped with stepped hole, are laid in front/rear end
Six threaded holes, two built-up gears are symmetrically mounted on transmission shaft A；Four bearing C are separately mounted to two built-up gears two
In the stepped hole at end, end cap D is threadedly coupled with built-up gear front/rear end, compresses the outer ring bearing C；Pass through sleeve E, transmission shaft A
The shaft shoulder and sleeve C realize built-up gear and bearing C axially position；Tooth rest is square structure, and outer surface is respectively equipped with boss, In
It is respectively equipped with stepped hole on boss, and is laid with six tapped through holes in stepped hole, two bearings Ds are separately mounted to gear
At left and right sides of frame in stepped hole, two end cap E are separately mounted at left and right sides of tooth rest, and compress bearings D outer ring, sleeve C top
Firmly bearings D inner ring；Tooth is bored after built-up gear to engage with bevel gear A；Transmission shaft A is the multi-diameter shaft with symmetrical structure, in axis two
End setting oblong boss, and in the bearings D in two holes that is mounted on tooth rest or so；End cap I is equipped with oblong through-hole, respectively screw thread
It is connected to front cover branch ear two sides；The both ends transmission shaft A oblong boss cooperates with the oblong through-hole of two end cap I respectively；Two
A bearing E is separately mounted in the stepped hole of tooth rest or more two sides, and two end cap F are threaded in tooth rest or more two respectively
In the stepped hole of side, and compress the outer ring bearing E；Transmission shaft B is multi-diameter shaft, and a side end face is equipped with threaded hole, and another side end face is set
On the bearing E for having oblong boss, and being separately mounted in two holes of tooth rest or more；The end face bevel gear B is equipped with through-hole, and respectively
It is mounted on two transmission shaft B, the two sides sleeve D are threaded in transmission against bevel gear B rear end face and bearing E inner ring, end cap G
On axis B, and bevel gear B is compressed, bevel gear B is engaged with bevel gear before built-up gear；End cap H is equipped with oblong through-hole, with rear cover
It is threadedly coupled, and cooperates with transmission shaft B axle end oblong boss；Rear cover is circle, and one end concaves, and is provided with threaded hole, separately
One end both sides are respectively provided with trunnion, and trunnion end is circle, are equipped with circular hole in circular interior, and circular hole periphery is laid with threaded hole,
And multiple lightening holes are opened up in rear cover end face.
The beneficial effects of the present invention are:
(1) device ontology of diving uses multi-rigid body structure, and latent device is made to have certain flexibility, promotes mobility and reduces turning half
Diameter, so as to realize the motor-driven operation in smaller range；
(2) it is realized and is turned to by latent each bay section pitching of device and yawing rotation, reduce dynamic sealing link, promote the reliable of latent device
Property；
(3) floating, dive, steering, cruise and latent device gesture stability are realized by latent each bay section pitching of device and yawing rotation,
System complexity is reduced, payload is promoted, while realizing modularized design, is easily installed and debugs.
Detailed description of the invention
Fig. 1 is the latent device overall assembling figure of multi-joint for deep-sea detecting；
Fig. 2 is water conservancy diversion cabin cross-sectional view；
Fig. 3 is propelling module cross-sectional view；
Fig. 4 is control cabinet cross-sectional view；
Fig. 5 is water conservancy diversion cabin shell view；
Fig. 6 is to throw carrier view；
Fig. 7 is control cabinet shell view；
Fig. 8 is propelling module shell view.
Fig. 9 is two-freedom degree joint overall assembling figure；
Figure 10 is two-freedom degree joint driving unit main sectional view；
Figure 11 is two-freedom degree joint gear unit cross-sectional view；
Figure 12 is tooth rest installation diagram；
Figure 13 is two-freedom degree joint main sectional view；
Figure 14 is motor mantel view；
Figure 15 is gear mantel view；
Figure 16 is front cover view；
Figure 17 is rear cover view；
Figure 18 is built-up gear view.
Wherein: multi-joint dive device 1, water conservancy diversion cabin 2, control cabinet 3, propelling module 4, Doppler log 5, tail vane 6, propeller 7,
Conductivity-temperature-depth system 8, antenna 9, two-freedom degree joint 10, single-point current meter 11, instrument stan B12, instrument stan A13, hydrophone 14, lower instrument
Device frame A15, upper instrument stan A16, buoyant material B17, water conservancy diversion cabin shell 18, underwater acoustic communication instrument 19, upper fastening frame 20, lower fastening frame
21, carrier 22, load rejection mechanism 23, buoyant material A24, big fastening frame B25, big fastening frame A26, tachometer frame 27, buoyancy material are thrown
Expect D28, propelling module shell 29, antenna 30, buoyant material C31, control cabinet shell 32, central controller 33, battery 34, power module
35, iridium satellite communication module 36, GPS communication module 37, mounting plate B38, mounting plate A39, gyroscope 40.
Wherein: driving unit 10-1, gear unit 10-2, driver 10-3, motor rack 10-4, front cover 10-5, tooth rest
10-6, rear cover 10-7, motor 10-8, shaft coupling 10-9, end cap A 10-10, drive shaft 10-11, combination sealing 10-12, end cap B
10-13, sleeve A 10-14, end cap C10-15, bevel gear A 10-16, bearing A 10-17, bearing sleeve 10-18, bearing B
10-19, sleeve B 10-20, transmission shaft A 10-21, bearing C 10-22, end cap D 10-23, built-up gear 10-24, sleeve E
10-25, transmission shaft B 10-26, bearing E 10-27, sleeve D 10-28, bevel gear B 10-29, sleeve C 10-30, end cap I
10-31, bearings D 10-32, end cap E 10-33, end cap G 10-34, end cap F 10-35, end cap H 10-36.
Specific embodiment
Referring to figs. 1 to Fig. 8, the present invention is a kind of latent device 1 of the multi-joint for deep-sea detecting, including water conservancy diversion cabin 2, control cabinet
3, propelling module 4, two-freedom degree joint 10, propeller 7, tail vane 6, instrument stan A 13, instrument stan B 12, antenna 9, can carry thermohaline
The instruments such as deep instrument 8, Doppler log 5, single-point current meter 11, hydrophone 14.3 front and rear of control cabinet and two-freedom close
Section 10 is threadedly coupled.Water conservancy diversion cabin 2 is connect with the two-freedom degree joint 10 at control cabinet front and rear portion respectively with propelling module 4.It promotes
Device 7 is mounted on 4 tail portion of propelling module.Four tail vanes 6 are distributed in 4 rear portion of propelling module around axis.Three hydrophones 14 are uniformly distributed around axis
In 4 front of propelling module.Two instrument stan A 13 are separately mounted to the front and rear of propelling module 4 and water conservancy diversion cabin 2.Conductivity-temperature-depth system
8 are fastened on instrument stan A 13.Doppler log is mounted on 4 middle part of propelling module.Antenna 9 is connected to 4 front of propelling module.Two
Instrument stan B 12 is separately mounted to 3 front and rear of control cabinet.
Referring to Fig. 2, Fig. 5 and Fig. 6, the water conservancy diversion cabin 2 include water conservancy diversion cabin shell 18, buoyant material A24, buoyant material B 17,
Load rejection mechanism 23 throws carrier 22, upper instrument stan A 16, lower instrument stan A 15, upper fastening frame 20, lower fastening frame 21, underwater acoustic communication
Instrument 19, conductivity-temperature-depth system 8, hydrophone 14.Shell 18 front in water conservancy diversion cabin is elliposoidal, and rear portion is cylinder, there are two lower rear is set
Circular hole, rear portion top are equipped with nine circular holes.Three hydrophones 14 are mounted in three mounting holes of 18 end face of water conservancy diversion cabin shell.Buoyancy
Material B 17 is cylindrical body, and there is a circular hole at center.Buoyant material B 17 is mounted on the rear portion of water conservancy diversion cabin shell 18.Buoyant material
The end of A24 is elliposoidal, and tail portion is cylinder, is mounted on the front of water conservancy diversion cabin shell.Lower fastening frame 21 is rectangle, rectangle top
Half slot is arranged in middle part, and tapped through hole is arranged in rectangular end face two sides.Upper fastening frame 20 is semicircular ring, and semicircular ring end face is arranged two
Long round tube hole.Throwing carrier 22 is symmetrical structure, divides upper layer and lower layer, is rectangular slab, and opens up a circular hole, lower plywood at middle part
Semicircular plate is respectively set in two sides, and two oblong lightening holes, two circles of left and right settings are arranged in the middle part of every side semi-circular plate
Lightening hole.Fastening frame 20 is separately mounted to throw about 22 two sides of carrier by fastening frame 21 under bolt-through on two groups.The underwater sound is logical
Letter instrument 19 is fastened in the annulus between fastening frame 20 and lower fastening frame 21.Lower instrument stan A 15 is passed through by bolt to leading
Stream cabin shell 18 is mounted on instrument stan A 16.Conductivity-temperature-depth system 8 is fastened between lower instrument stan A 15 and upper instrument stan A 16
Annulus in.
Referring to Fig. 3 and Fig. 8, the propelling module 4 includes propelling module shell 29, buoyant material C 31, buoyant material D 28, antenna
9, tail vane 6, propeller 7, tachometer frame 27, Doppler log 5, lower instrument stan A 15, upper instrument stan A 16, big fastening frame
A26, big fastening frame B 25, conductivity-temperature-depth system 8.29 front of propelling module shell is cylinder, and rear portion is elliposoidal, and lower front is equipped with two
A circular hole, top are equipped with nine circular holes, and tail end face sets a hole.Buoyant material C 31 is cylindrical body, and there is a circular hole at center,
It is mounted on 29 front of propelling module shell.Buoyant material D 28 is mounted on 29 rear portion of propelling module shell.Big fastening frame A26 is rectangle, rectangle
Half slot is set in the middle part of top, and tapped through hole is arranged in rectangular end face two sides.Big fastening frame B 25 is semicircular ring, and semicircular ring end face is set
Set two long round tube holes.Tachometer frame 27 is semicircular plate, and two oblong lightening holes are arranged in the middle part of every side semi-circular plate, and left and right is set
Set two round lightening holes.Fastening frame A26 one group big is mounted on the upside of tachometer frame by the big fastening frame B 25 of bolt-through.Separately
Fastening frame A26 one group big is mounted on 27 downside of tachometer frame by the big fastening frame B 25 of bolt-through.Doppler log 5 fastens
In annulus between fastening frame A26 two groups big and big fastening frame B 25.Propeller 7 is mounted on 29 tail portion of propelling module shell.Lower instrument
Device frame A 15 passes through propelling module shell 29 by bolt and is mounted on instrument stan A 16.Conductivity-temperature-depth system 8 is confined in lower instrument stan A
In circular arc between 15 and upper instrument stan A 16.
Referring to Fig. 4 and Fig. 7, the control cabinet 3 includes control cabinet shell 32, battery 34, power module 35, iridium satellite communication module
36, GPS communication module 37, central controller 33, gyroscope 40, mounting plate A 39, mounting plate B 38, two-freedom degree joint 10.
Control cabinet shell 32 is cylinder cartridge type, does cabin part for latent device, is designed using pressure resistance, and 8 reinforcing ribs of inside setting, two sides are symmetrically divided
Eight threaded holes are respectively set in two slideways of cloth, both ends of the surface, select high pressure sealing external member to guarantee the leakproofness in dry cabin.Battery 34
It is mounted on the slideway inside control cabinet shell 32, blending bolt tightening.Mounting plate A 39 is rectangle, is mounted in control cabinet 3
10 tail portion of front side two-freedom degree joint.Central controller 33 is mounted on mounting plate A 39.Before gyroscope 40 is mounted on control cabinet 3
The control cabinet inner part of side two-freedom degree joint 10.Iridium satellite communication module 36 and GPS communication module 37 are symmetrically mounted on control cabinet 3
The cabin inner part of rear side two-freedom degree joint 10.Mounting plate B 38 is rectangular slab, is mounted on 3 rear side two-freedom of control cabinet pass
Save 10 tail portions.Power module 35 is mounted on mounting plate B 38.
The course of work of the invention is as follows:
A kind of multi-joint for deep-sea detecting device 1 of diving by propeller 7 provides power, passes through driving two-freedom degree joint 10
The pitching movement and yawing rotation in water conservancy diversion cabin 2 and propelling module 4 are realized in rotation, change water conservancy diversion cabin 2, control cabinet 3 and propelling module 4 it
Between relative position, make multi-joint dive 1 ontology of device have certain flexibility, and then change multi-joint dive 1 hydrodynamic characterisitic of device, realize
The motion modes such as latent device floating, dive, steering and depthkeeping cruise.When latent device is in the water surface, iridium satellite communication module 36 and GPS are logical
It interrogates module 37 and information is received by antenna, latent device is positioned.When latent device be located at it is underwater when, by underwater acoustic communication instrument 19 receive believe
Breath, and latent device is positioned by hydrophone 14.
Multi-joint dives device 1 with lesser positive buoyancy, and when needing dive, driving two-freedom degree joint 10 drives water conservancy diversion cabin 2
It is rotated down with control cabinet 3, propeller 7 provides thrust, and latent device dive is realized under the action of thrust and water active force.Pass through tune
The thrust of whole propeller 7 and the rotational angle of two-freedom degree joint 10 control diving speed and the dive path of latent device.
When the latent device 1 of multi-joint needs to float, two-freedom degree joint 10 is driven, driving water conservancy diversion cabin 2, propelling module 4 is downward upwards,
Propeller 7 provides thrust, realizes that latent device floats under the action of thrust and water active force.By adjusting propeller 7 thrust and
10 rotational angle of two-freedom degree joint controls ascent rate and the floating path of latent device.It runs out of steam or control cabinet in propeller 7
In emergency circumstances, the weight mounted of carrier 22 is thrown in the release of load rejection mechanism 23 for water inlet etc., and latent device is made to have biggish positive buoyancy, from
And floating upward quickly is to the water surface.
When the latent device 1 of multi-joint carries out wide-angle turning, drive two-freedom degree joint 10 in the same direction or incorgruous rotation, propeller 7
Thrust is provided, multi-joint latent device fast steering is realized under the action of thrust and water active force.By adjusting two-freedom degree joint
10 rotational angles control the turning radius and turning path of latent device.
When the latent device 1 of multi-joint cruises, water conservancy diversion cabin 2 is kept within the most of the time, 4 coaxial line of control cabinet 3 and propelling module pushes away
Thrust is provided into device 7, the equipment such as Doppler log 5 collect aeronautical data, finely tune two certainly according to latent device pose and sailing condition
By spending joint 10, latent device is made to keep certain cruising depth and cruise direction.
When the latent device 1 of multi-joint carries out the detection of horizontal plane, two-freedom degree joint 10 is driven according to specified rule, device of diving is with class
The equipment such as conductivity-temperature-depth system 8, the single-point current meter 11 carried like the path of sine wave by the region, latent device collect the water in the region
Literary information can disposably complete the collection of horizontal plane hydrographic information, improve detection efficient.
When the latent device 1 of multi-joint carries out the detection in vertical face, two-freedom degree joint 10 is driven according to specified rule, device of diving is with class
The equipment such as conductivity-temperature-depth system 8, the single-point current meter 11 carried like sinusoidal wave path by the region, latent device collect the hydrology in the region
Information can disposably complete vertical face hydrographic information and collect, improve detection efficient.
The present invention has kinematic dexterity good, mobility strong, the features such as detection efficient is high.
Referring to Fig. 9 and Figure 13, the present invention is a kind of two-freedom degree joint for the latent device of deep-sea multi-joint, including driving list
First 10-1 and gear unit 10-2.The front cover 10-5 branch ear of the driving unit 10-1 and the transmission shaft A of gear unit 10-2
10-21 is connected.
0 and Figure 13 referring to Fig.1, the driving unit 10-1, including driver 10-3, motor rack 10-4, front cover 10-5,
Motor 10-8, shaft coupling 10-9, end cap A 10-10, drive shaft 10-11, combination sealing 10-12, end cap B 10-13, sleeve A
10-14, end cap C 10-15, bevel gear A 10-16, bearing A 10-17, bearing sleeve 10-18, bearing B 10-19, sleeve B
10-20.The lower part motor rack 10-4 is section circle, and two sides are equipped with oblong lightening hole, have section circle face below, and open respectively
If three through-holes, two inverted L shape trunnions are set in upper end, through-hole is arranged in trunnion end face.Motor rack 10-4 is installed the front cover.
The output shaft of two motor 10-8 passes through two shaft coupling 10-9 and two drive shaft 10-11 connections respectively.Drive shaft 10-11 is
Multi-diameter shaft, side are set there are two threaded hole.Two driver 10-3 are mounted on the L-type trunnion side of motor rack 10-4.Two sets
Cylinder B 10-20 is separately mounted on two drive shaft 10-11, and bearing B 10-19 inner ring two sides are adjacent to sleeve B 10-20 and driving
The axis 10-11 shaft shoulder.Bearing B 10-19 is placed in bearing sleeve 10-18.The end face bearing sleeve 10-18 is laid with six through-holes.
End cap A 10-10, which is connected by screw to, is fastened on bearing sleeve 10-18 on front cover 10-5.Front cover 10-5 be circle, one end to
Indent is provided with threaded hole, and other end both sides are respectively provided with trunnion, and trunnion end is circle, is equipped with circular hole in circular interior, uses
Pressure resistance design guarantees that the bay section of installation motor 10-8 and driver 10-3 has reliable intensity.Front cover 10-5 indent side
Dynamic sealing design is done in two circular holes, two bearing A 10-17 are separately mounted in two circular holes, pass through drive shaft 10-11 axis
Shoulder and sleeve A 10-14 fixing bearing A 10-17 inner ring.Two end cap B 10-13 are threadedly coupled with front cover 10-5, and compression axis
Hold the outer ring A 10-17.Two bevel gear A 10-16 are separately mounted on two drive shaft 10-11, the rear end bevel gear A 10-16
Face abuts sleeve A 10-14, and two end cap C 10-15 are threadedly coupled with two drive shaft 10-11 respectively, and compress bevel gear A
10-16。
1, Figure 12 and Figure 13 referring to Fig.1, the gear unit 10-2, including tooth rest 10-6, rear cover 10-7, transmission shaft A
10-21, bearing C 10-22, end cap D 10-23, built-up gear 10-24, sleeve E 10-25, transmission shaft B 10-26, bearing E
10-27, sleeve D 10-28, bevel gear B 10-29, sleeve C 10-30, end cap I 10-31, bearings D 10-32, end cap E 10-
33, end cap G 10-34, end cap F 10-35, end cap H 10-36.The built-up gear 10-24 is made of former and later two cone teeth, preceding
Boring tooth has the full circumferences gear teeth, and rear bevel gear has 1/6th circumference gear teeth, bores after being adjusted according to joint hard-over
Gear structure opens up stepped hole in both sides of the face, is laid with six threaded holes, two built-up gear 10-24 in front/rear end
It is symmetrically mounted on transmission shaft A 10-21.Four bearing C 10-22 are separately mounted to the rank at two both ends built-up gear 10-24
In terraced hole, end cap D 10-23 is threadedly coupled with built-up gear 10-24 front/rear end, compresses the outer ring bearing C 10-22.Pass through set
Cylinder E 10-25, the transmission shaft A 10-21 shaft shoulder and sleeve C 10-30 realize built-up gear 10-24's and four bearing C 10-22
Axially position.Tooth rest 10-6 is square structure, and outer surface is respectively equipped with boss, is respectively equipped with stepped hole on boss, and
Six tapped through holes are laid in stepped hole, two bearings D 10-32 are separately mounted to step at left and right sides of tooth rest 10-6
In hole, two end cap E 10-33 are separately mounted at left and right sides of tooth rest 10-6, and compress the outer ring bearings D 10-32, sleeve C
10-30 withstands bearings D 10-32 inner ring.Tooth is bored after built-up gear 10-24 to engage with bevel gear A 10-16.Transmission shaft A 10-21
For the multi-diameter shaft with symmetrical structure, oblong boss is set at axis both ends, is mounted on the bearings D in two hole tooth rest 10-6 or so
On 10-32.End cap I 10-31 is equipped with oblong through-hole, is threaded in front cover 10-5 branch ear two sides respectively.Transmission shaft A
The both ends 10-21 oblong boss cooperates with the oblong through-hole of two end cap I 10-31 respectively.Two bearing E 10-27 difference
It is mounted in the stepped hole of the two sides tooth rest 10-6 or more, two end cap F 10-35 are threaded in respectively on tooth rest 10-6
In the stepped hole of lower two sides, and compress the outer ring bearing E 10-27.Transmission shaft B 10-26 is multi-diameter shaft, and is equipped in a side end face
Threaded hole, another side end face are equipped with oblong boss, and two transmission shaft B 10-26 are mounted in two hole tooth rest 10-6 or more
On bearing E 10-27.The bevel gear end face B 10-29 is equipped with through-hole, is separately mounted on two transmission shaft B 10-26, sleeve D
The two sides 10-28 are threaded in transmission shaft against bevel gear B 10-29 rear end face and bearing E 10-27 inner ring, end cap G 10-34
On B 10-26, and compress bevel gear B 10-29.Bevel gear B 10-29 is engaged with bevel gear before built-up gear 10-24.End cap H
10-36 is equipped with oblong through-hole, is threadedly coupled with rear cover 10-7, and cooperates with transmission shaft B 10-26 shaft end oblong boss.Afterwards
Covering 10-7 is circle, and one end concaves, and is provided with threaded hole, and other end both sides are respectively provided with trunnion, and trunnion end is circle, in circle
Circular hole is equipped with inside shape, circular hole periphery is laid with six threaded holes, and opens up multiple lightening holes in rear cover end face.
The course of work of the invention is as follows:
When two-freedom degree joint does pitching movement, two direction of rotation motor 10-8 with bevel gear A 10-16 on the contrary, nibble
The two built-up gear 10-24 rotation directions closed are consistent, do not form biography between built-up gear 10-24 and bevel gear B 10-29
Dynamic, motor rack 10-6 internal gear group is locked, and motor rack 10-6 drives rear cover 10-7 to rotate around transmission shaft A 10-21.
When two-freedom degree joint does yawing rotation, the direction of rotation motor 10-8 is consistent, engages with bevel gear A 10-16
Two built-up gear 10-24 rotation directions are on the contrary, form differential motion machine between built-up gear 10-24 and bevel gear B 10-29
Structure, motor rack 10-6 drive rear cover 10-7 to rotate around transmission shaft B 10-26.
Front cover 10-5 and rear cover 10-7 specific structure and corresponding seal form can be adjusted according to specific requirements.When being applied to
Deep-sea multi-joint dive device when, front cover 10-5 and sealed compartment are threadedly coupled, and rear cover 10-7 is threadedly coupled with wet cabin.The joint structure
Mechanical arm, bio-robot etc. be can be applied to multivariant electromechanical equipment, adjust front cover 10-4 according to specific requirements
Connection type between rear cover 10-7 and equipment.
Claims (2)
- The control method of device 1. a kind of deep-sea multi-joint is dived, the latent device of the multi-joint being applicable in includes water conservancy diversion cabin, control cabinet, propulsion Cabin, propeller and tail vane, wherein pass through a two-freedom degree joint connection, control cabinet and propulsion between water conservancy diversion cabin and control cabinet It is connected between cabin by another two-freedom degree joint, propeller is fixedly connected on the rear portion of propelling module, and tail vane is uniformly distributed around axis In propelling module rear portion；The control cabinet is that latent device does cabin part, is designed using pressure resistance, internal symmetrical two slideways in two sides, Including control cabinet shell, battery, power supply, iridium satellite communication module, GPS communication module, central controller and two gyroscopes, driving two The motor and driver of a two-freedom degree joint are placed in control cabinet；Battery is fixed on the slideway inside control cabinet shell；Two The angle information for the two-freedom degree joint that a gyroscope is detected is sent to central controller, iridium satellite communication module and GPS communication Module is connected with central controller.Control method is as follows:The latent device of multi-joint provides power by propeller, is rotated by two-freedom degree joint, realizes water conservancy diversion cabin and propelling module pitching fortune Dynamic and yawing rotation changes the relative position between water conservancy diversion cabin, control cabinet and propelling module, and multi-joint is made to dive device ontology with certain Flexibility, and then change the latent device hydrodynamic characterisitic of multi-joint, realize latent device floating, dive, steering and depthkeeping cruise motion mode；When the latent device of multi-joint needs dive, driving two-freedom degree joint drives water conservancy diversion cabin and control cabinet to rotate down, and propeller mentions Arch thrust realizes latent device dive under the action of thrust and water active force；It is closed by adjusting the thrust and two-freedom of propeller The rotational angle of section controls diving speed and the dive path of latent device；When the latent device of multi-joint needs to float, two-freedom degree joint is driven, drives water conservancy diversion cabin and propelling module to be rotated up, propeller mentions Arch thrust realizes that latent device floats under the action of thrust and water active force；It is closed by adjusting the thrust and two-freedom of propeller Rotational angle is saved, ascent rate and the floating path of latent device are controlled；Propeller run out of steam or control cabinet water inlet etc. urgent feelings Under condition, load rejection mechanism discharges weight mounted, and latent device is made to obtain biggish positive buoyancy, so that floating upward quickly is to the water surface；When the latent device of multi-joint is turned, two-freedom degree joint is driven, water conservancy diversion cabin and the opposite yawing rotation of propelling module, propeller are made Thrust is provided, realizes that the latent device of multi-joint turns under the action of thrust and water active force；By adjusting two-freedom degree joint rotation Angle controls the turning radius and turning path of latent device.When the latent device of multi-joint cruises, water conservancy diversion cabin pitch angle is adjusted according to latent device pose and sailing condition, keeps latent device centainly Cruising depth and cruise direction, and periodically emerge, pass through GPS calibration course.
- 2. control method according to claim 1, which is characterized in that the two-freedom degree joint, including driving unit And gear unit, the front cover branch ear of the driving unit are connected with the transmission shaft A of gear unit；The driving unit, including two drivers, motor rack, front cover, two motors, shaft coupling, end cap A, drive shaft, group Close sealing, end cap B, sleeve A, end cap C, bevel gear A, bearing A, bearing sleeve, bearing B, sleeve B；Motor rack lower part is section Circle, two sides are equipped with oblong lightening hole, have section circle face below, and open up three through-holes respectively, set two in upper end Through-hole is arranged in a inverted L shape trunnion, trunnion end face；Motor rack is installed the front cover；The output shaft of two motors passes through two respectively Shaft coupling and two driving axis connections；Drive shaft is multi-diameter shaft, and side sets that there are two threaded holes；Two drivers are mounted on motor The L-type trunnion side of frame；Two sleeve B are separately mounted in two drive shafts, and bearing B inner ring two sides are adjacent to sleeve B and driving The axis shaft shoulder；Bearing B is placed in bearing sleeve, and bearing sleeve end face is laid with six through-holes；End cap A is connected by screw to axis Bearing sleeve cylinder is fastened on front cover；Front cover is circle, and one end concaves, and is provided with threaded hole, and other end both sides are respectively provided with trunnion, branch Ear end is circle, is equipped with circular hole in circular interior；Dynamic sealing design, two bearings are done in two circular holes of front cover indent side A is separately mounted in two circular holes, and bearing A inner ring abuts the drive shaft shaft shoulder and sleeve A；Two end cap B are threadedly coupled with front cover, And the outer ring bearing A is compressed, guarantee bearing A axially position, two bevel gear A are separately mounted in two drive shafts, after bevel gear A End face abuts sleeve A, and two end cap C are threadedly coupled with two drive shafts respectively, and compress bevel gear A；The gear unit, including tooth rest, rear cover, transmission shaft A, bearing C, end cap D, built-up gear, sleeve E, transmission shaft B, Bearing E, sleeve D, bevel gear B, sleeve C, end cap I, bearings D, end cap E, end cap G, end cap F, end cap H；The built-up gear by Former and later two cone tooth compositions, inner cone tooth have the full circumferences gear teeth, and rear bevel gear has 1/6th circumference gear teeth, can be according to pass Save bevel gear structure after hard-over adjusts；Built-up gear both sides of the face are equipped with stepped hole, are laid with six in front/rear end Threaded hole, two built-up gears are symmetrically mounted on transmission shaft A；Four bearing C are separately mounted to two built-up gear both ends In stepped hole, end cap D is threadedly coupled with built-up gear front/rear end, compresses the outer ring bearing C；Pass through sleeve E, the transmission shaft A shaft shoulder Built-up gear and bearing C axially position are realized with sleeve C；Tooth rest is square structure, and outer surface is respectively equipped with boss, in boss On be respectively equipped with stepped hole, and six tapped through holes are laid in stepped hole, two bearings Ds are separately mounted to a tooth rest left side In right two sides stepped hole, two end cap E are separately mounted at left and right sides of tooth rest, and compress bearings D outer ring, and sleeve C withstands axis Hold D inner ring；Tooth is bored after built-up gear to engage with bevel gear A；Transmission shaft A is the multi-diameter shaft with symmetrical structure, is set at axis both ends Oblong boss is set, and is mounted on tooth rest or so in the bearings D in two holes；End cap I is equipped with oblong through-hole, is threadedly coupled respectively In front cover branch ear two sides；The both ends transmission shaft A oblong boss cooperates with the oblong through-hole of two end cap I respectively；Two axis It holds E to be separately mounted in the stepped hole of tooth rest or more two sides, two end cap F are threaded in tooth rest or more two sides respectively In stepped hole, and compress the outer ring bearing E；Transmission shaft B is multi-diameter shaft, and a side end face is equipped with threaded hole, and another side end face is equipped with length Round boss, and on the bearing E being separately mounted in two holes of tooth rest or more；The end face bevel gear B is equipped with through-hole, and installs respectively On two transmission shaft B, the two sides sleeve D are threaded in transmission shaft B against bevel gear B rear end face and bearing E inner ring, end cap G On, and bevel gear B is compressed, bevel gear B is engaged with bevel gear before built-up gear；End cap H is equipped with oblong through-hole, with rear cover screw thread Connection, and cooperate with transmission shaft B axle end oblong boss；Rear cover is circle, and one end concaves, and is provided with threaded hole, the other end Both sides are respectively provided with trunnion, and trunnion end is circle, are equipped with circular hole in circular interior, and circular hole periphery is laid with threaded hole, and Rear cover end face opens up multiple lightening holes.
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| CN201910628071.9A CN110422307B (en) | 2019-07-12 | 2019-07-12 | Control method of deep sea multi-joint submersible vehicle |
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| CN201910628071.9A CN110422307B (en) | 2019-07-12 | 2019-07-12 | Control method of deep sea multi-joint submersible vehicle |
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| CN110422307B CN110422307B (en) | 2021-03-30 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113479306A (en) * | 2021-08-03 | 2021-10-08 | 景兴建 | Bionic underwater robot with buoyancy adjusting device |
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| CN110422307B (en) | 2021-03-30 |
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