CN110588928B - Centroid adjusting mechanism of bionic flexible underwater vehicle - Google Patents
Centroid adjusting mechanism of bionic flexible underwater vehicle Download PDFInfo
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- CN110588928B CN110588928B CN201910907945.4A CN201910907945A CN110588928B CN 110588928 B CN110588928 B CN 110588928B CN 201910907945 A CN201910907945 A CN 201910907945A CN 110588928 B CN110588928 B CN 110588928B
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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
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Abstract
The invention discloses a mass center adjusting mechanism of a bionic flexible underwater vehicle, which consists of a potentiometer knob, a bracket, a balancing weight, an optical axis, a lead screw, a pitching motor and a rolling motor; the bracket is of an L-shaped structure, the bottom of the bracket is in an arc shape and is fixedly connected with the bottom surface of the cabin body, and the pitching motor and the rolling motor are fixed on the frame in the middle of the bracket. The lead screw is arranged on the bracket and is connected with the pitching motor. The other end of the screw rod penetrates through the balancing weight to be connected with a potentiometer knob at the front end part of the bracket. The optical axis support and the driven gear are arranged on a screw rod at the side end of the balancing weight. The gear is fixedly connected with an output shaft of the roll motor, the gear is meshed with the driven gear, the driven gear is fixedly connected with the end part of the optical axis, the other ends of the two optical axes respectively penetrate through holes of the balancing weights to be connected with the two ends of the optical axis support, and the screw rod sliding block is positioned on the screw rod and drives the balancing weights to rotate around the screw rod. The function is realized by controlling the position and the angle of the balancing weight; the mass center adjusting mechanism has the characteristics of simple structure, accurate control and high reliability.
Description
Technical Field
The invention relates to the technical field of underwater vehicles, in particular to a mass center adjusting mechanism of a bionic flexible underwater vehicle.
Background
An underwater glider is a new type of underwater vehicle that moves by adjusting attitude angle and using net buoyancy. And less energy is consumed in the process of adjusting the attitude angle and changing the net buoyancy, so the efficiency is higher and the endurance is long. Although the navigation speed is slow, the manufacturing and maintenance cost is low, the device can be repeatedly used, a large amount of large-area throwing work and the like, and the long-time and large-range working characteristics of ocean work can be well met to a great extent. Based on the characteristics and the application conditions at home and abroad, the underwater glider can be found to have important research significance in military and civil aspects.
The center of mass adjusting mechanism of the existing underwater vehicle is mostly a single center of gravity or gravity adjusting device, or the center of gravity and the gravity adjusting device work simultaneously, the center of gravity adjusting device is driven by a motor, the center of gravity adjusting device is realized by changing the front and back positions of a balancing weight on a lead screw, and the gravity adjusting device is realized by adopting a mode that a high-pressure water pump sucks and drains water to a water sump or a piston pushes a cylinder body to suck and drain water to change the mass of the vehicle, so that the gravity of the vehicle is changed.
The underwater glider is mainly characterized in that the relative position of the gravity center and the floating center is adjusted, so that the underwater glider is in a condition of being heavy at the head or light at the foot, different attitude angles are shown, and then the buoyancy is changed, so that the underwater glider can float up and sink down.
Many similar mechanisms of the underwater glider are mainly driven by a screw rod to enable the battery pack to slide in the pressure-resistant bin, so that the gravity center position is changed, namely, extra space needs to be reserved in the design of the pressure-resistant bin for the battery pack to move. The increase of the volume of the pressure-resistant bin not only brings pressure on cost, but also the longer the pressure-resistant bin is, the poorer the sealing performance is, and the difficulty in ensuring that the battery pack cannot jump to burst the pressure-resistant bin is also ensured.
The invention patent CN109305313A discloses a gravity center adjusting device for an underwater vehicle, which changes the thought without changing the size of a pressure-resistant bin, a section of track is constructed in the whole device to transform the sliding of the pressure-resistant bin into rolling, and the two ends of the pressure-resistant bin are connected with a motor through a cord to control the position, so that the cost and the safety are controlled, the gravity center is adjusted, the stress on a bearing is more uniform, but the problem of sealing performance cannot occur after the pressure-resistant bin is abraded for many times and even collides with front and rear baffles accidentally; and the center of gravity is relatively high.
In the comprehensive adjusting device of the underwater glider longitudinal and transverse attitude provided by patent CN206885307U, the position of the battery compartment is adjusted through the lead screw, but one section of the lead screw is directly connected with the motor, the stability of the lead screw is to be improved, and the total gravity center is also higher.
Disclosure of Invention
In order to avoid the defects in the prior art, the invention provides a bionic flexible underwater vehicle mass center adjusting mechanism, which can realize the adjustment of the mass center on the premise of not increasing the volume of a pressure-resistant bin, and can also improve the stability of a lead screw and reduce the mass center of the mass center adjusting mechanism; the structure is simple, the weight is light, and the adaptability and the operation capability under the complex environment can be accurately controlled.
The invention solves the technical problem by adopting the technical scheme that the device comprises a potentiometer knob, a support, a bearing, an optical axis support, a balancing weight, an optical axis, a screw rod, a driven gear, a screw rod sliding block, a pitching motor and a rolling motor, and is characterized in that the support is of an L-shaped structure, the section of the axial bottom of the support is arc-shaped and is fixedly connected with the inner bottom surface of a cabin body, the pitching motor and the rolling motor are respectively fixed on a rack at the middle part of the support, the screw rod is arranged on the support through the bearing, one end of the screw rod is connected with the pitching motor through a coupler, the other end of the screw rod penetrates through the balancing weight and the optical axis support to be connected with the potentiometer knob, and the potentiometer knob is positioned at the front end part of the support; the optical axis bracket is positioned at the front part of the balancing weight, the optical axis bracket and the driven gear are arranged on lead screws at two side ends of the balancing weight through bearings, and the components are in interference fit; the gear is fixedly connected with an output shaft of the roll motor, the gear is meshed with the driven gear, the center of the driven gear is located on a bearing of the rack, lugs on two sides of the driven gear are fixedly connected with end portions of two optical shafts respectively, the other ends of the two optical shafts penetrate through holes on two sides of the balancing weight respectively and are connected with two ends of an optical shaft support, and the screw rod sliding block is installed on the screw rod and matched with the balancing weight and drives the balancing weight to rotate around the screw rod.
The driven gear is an incomplete gear, the two sides of the driven gear are provided with lugs, the lower part of the gear body is provided with gear teeth, and a central circular hole of each lug is matched with the optical axis.
Advantageous effects
The invention provides a bionic flexible underwater vehicle mass center adjusting mechanism which comprises a potentiometer knob, a support, a balancing weight, an optical axis, a lead screw, a pitching motor and a rolling motor, wherein the potentiometer knob is connected with the support; the bracket is of an L-shaped structure, the bottom of the bracket is in an arc shape and is fixedly connected with the bottom surface of the cabin body, and the pitching motor and the rolling motor are fixed on the frame in the middle of the bracket. The lead screw is installed on the support and is connected with the pitching motor, and the other end of the lead screw passes through the balancing weight and is connected with the potentiometer knob at the front end part of the support. The optical axis support and the driven gear are arranged on a screw rod at the side end of the balancing weight. The gear is fixedly connected with an output shaft of the roll motor, the gear is meshed with the driven gear, the driven gear is fixedly connected with the end part of the optical axis, the other ends of the two optical axes respectively penetrate through holes of the balancing weights to be connected with the two ends of the optical axis support, and the screw rod sliding block is positioned on the screw rod and drives the balancing weights to rotate around the screw rod. The function is realized by controlling the position and the angle of the balancing weight; the mass center adjusting mechanism has the characteristics of simple structure, accurate control and high reliability.
Compared with the prior art, the method has the following characteristics:
1. utilize lead screw and balancing weight to realize every single move barycenter and adjust, simple structure, controllability is good, need not modify withstand voltage storehouse, does not have the potential safety hazard. The movable balancing weight has large moving mass, obvious effect of changing the gravity center, no damage to other parts due to internal collision, reliability and safety.
2. Utilize gear engagement and optical axis cooperation to realize the regulation of the roll barycenter, combine with lead screw and balancing weight and realize that glider barycenter is adjusted, simple structure, it is small, efficient.
3. The bearing of the fixed lead screw is utilized to separate the pitching mass center adjustment and the rolling mass center adjustment, so that the two functions are not influenced by each other, and can be combined with each other, and the adjustment capability is strong.
Drawings
The center of mass adjusting mechanism of the bionic flexible underwater vehicle is further described in detail with reference to the accompanying drawings and embodiments.
FIG. 1 is a schematic view of a bionic flexible underwater vehicle mass center adjusting mechanism.
Fig. 2 is an assembly drawing of a balancing weight and a lead screw slider of the underwater vehicle centroid adjusting mechanism of the invention.
Fig. 3 is a schematic structural diagram of a driven gear of the underwater vehicle centroid adjusting mechanism.
Fig. 4 is a schematic structural diagram of a bracket of the underwater vehicle centroid adjusting mechanism of the invention.
In the drawings
1. Potentiometer knob 2, support 3, bearing 4, optical axis support 5, counterweight block 6, optical axis 7, lead screw 8, driven gear 9, pitching motor 10, rolling motor 11, motor bearing gear 12, lead screw slider
Detailed Description
The embodiment is a bionic flexible underwater vehicle mass center adjusting mechanism.
Referring to fig. 1 to 4, the bionic flexible underwater vehicle centroid adjusting mechanism of the embodiment is composed of a potentiometer knob 1, a support 2, a bearing 3, an optical axis support 4, a balancing weight 5, an optical axis 6, a lead screw 7, a driven gear 8, a pitching motor 9, a roll motor 10, a gear 11 and a lead screw slider 12; wherein, the support 2 is an L-shaped structure, the bottom of the support 2 is arc-shaped and is fixedly connected with the inner bottom surface of the cabin body, and the pitching motor 9 and the rolling motor 10 are respectively fixed on the machine frame at the middle part of the support 2. Lead screw 7 passes through bearing 3 to be installed on support 2, and 7 one ends of lead screw pass through the coupling joint with pitch motor 9, and 7 other ends of lead screw pass balancing weight 5 and are connected with potentiometre knob 1, and potentiometre knob 1 is located support front end. Optical axis support 4 is located the front portion of balancing weight 5, and optical axis support 4 passes through bearing 3 with driven gear 8 and installs on 5 side lead screws 7 of balancing weight, all adopts interference fit between each part. The output shaft of the roll motor 10 is fixedly connected with a gear 11, the gear 11 is meshed with a driven gear 8, the center of the driven gear 8 is located on a bearing of the frame, two ends of the driven gear 8 are fixedly connected with the ends of two optical shafts 6 respectively, the other ends of the two optical shafts 6 penetrate through holes in two sides of the balancing weight 5 respectively and are connected with two ends of an optical shaft support 4, a screw slider 12 is installed on a screw 7, and the screw slider 12 is matched with the screw 7 to drive the balancing weight 5 to rotate around the screw 7.
In this embodiment, the driven gear 8 is an incomplete gear, two sides of the incomplete gear are provided with lugs, the lower part of the gear body is provided with gear teeth, and a central circular hole of the lug is matched with the optical axis 6.
Installation and use process
The pitching motor 9 and the rolling motor 10 are respectively fixed on the rotary fixed frame through four pairs of bolts, and eight groups of bolts are tightened. The motors are all small motors, and the connection strength is ensured sufficiently. The lead screw 7 is arranged on the bracket 2 through a pair of bearings 3, is connected with the pitching motor 9 through a coupler and is connected with the potentiometer knob 1 through the coupler. Thereby ensuring the consistency of the transmission of the lead screw 7. Optical axis support 4 and driven gear 8 are installed on lead screw 7 by bearing 3 to connect through two optical axes 6 and adopt interference fit, can go on smoothly in order to guarantee that the adjustment of roll barycenter can not appear great delay. The screw rod sliding block 12 is matched with the balancing weight 5, so that the relative sliding during the working process is avoided, the gravity center can be relatively low, and the screw rod sliding block is integrally arranged on the screw rod 7. Furthermore, the entire mechanism is fixed in a corresponding cylinder, firstly to isolate the interference of other mechanisms in the glider, and secondly to facilitate the installation and the disassembly.
Pitching motor 9 links to each other with lead screw 7, and balancing weight 5 contacts with lead screw 7 through lead screw slider 12, and during the operation, pitching motor 9 drives the motion of lead screw 7 and lead screw slider 12 in proper order, realizes balancing weight 5 along the axial motion of lead screw 7. Wherein, the clockwise rotation of the pitching motor 9 can cause the counterweight 5 to move forwards, and the anticlockwise rotation can cause the counterweight to move backwards. The roll motor 10 is connected with a gear 11, the gear 11 is used as a driving wheel to drive a driven gear 8 to rotate, and the optical axis support 4 is driven by an optical axis 6 to rotate synchronously with the driven gear 8, and the balancing weight 5 is an irregular cylinder, so that the shift of the mass center on the longitudinal symmetry plane of the aircraft is realized. Similarly, the roll motor effects two different roll motions, clockwise and counterclockwise, respectively.
The mass center adjusting mechanism realizes pitching mass center adjustment through the lead screw and the balancing weight, realizes roll mass center adjustment through gear engagement and optical axis cooperation, and separates pitching mass center adjustment and roll mass center adjustment through the bearing of the fixed lead screw. The function is realized by controlling the position and the angle of the balancing weight; the mass center adjusting mechanism has the characteristics of simple structure, accurate control and high reliability; and any additional potential safety hazard to the pressure-resistant cabin can not be generated. Wherein, pitching motor drives the lead screw and rotates, and the effect of lead screw slider makes the balancing weight along lead screw axial motion. The motor bearing gear is driven by the rolling motor, and the motor bearing gear and the driven wheel act with each other, so that the center of mass of the balancing weight deviates from the longitudinal symmetry plane of the glider through the screw rod and the two optical axes. The two conditions combine to reach the effect of adjusting glider barycenter under water.
In the embodiment, the two motors can be operated separately, namely the pitching mass center adjustment and the rolling mass center adjustment of the mechanism are not interfered with each other, and can be combined for use.
Claims (1)
1. A mass center adjusting mechanism of a bionic flexible underwater vehicle comprises a potentiometer knob, a support, a bearing, an optical axis support, a balancing weight, an optical axis, a lead screw, a driven gear, a lead screw slider, a pitching motor and a rolling motor, and is characterized in that the support is of an L-shaped structure, the bottom of the support is arc-shaped and is fixedly connected with the inner bottom surface of a cabin body, the pitching motor and the rolling motor are respectively fixed on a rack at the middle part of the support, the lead screw is arranged on the support through the bearing, one end of the lead screw is connected with the pitching motor through a coupler, the other end of the lead screw penetrates through the balancing weight and the optical axis support and is connected with the potentiometer knob, and the potentiometer knob is positioned at the front end part of the support; the optical axis bracket is positioned at the front part of the balancing weight, the optical axis bracket and the driven gear are arranged on lead screws at two side ends of the balancing weight through bearings, and the components are in interference fit; the gear is fixedly connected with an output shaft of the roll motor, the gear is meshed with the driven gear, the center of the driven gear is positioned on a bearing of the frame, lugs on two sides of the driven gear are fixedly connected with the end parts of the two optical shafts respectively, the other ends of the two optical shafts penetrate through holes on two sides of the balancing weight respectively and are connected with two ends of the optical shaft bracket, and the screw rod slider is arranged on the screw rod and is matched with the balancing weight and drives the balancing weight to move back and forth along the screw rod; the driven gear is an incomplete gear, the two sides of the incomplete gear are provided with lugs, the lower part of a wheel body of the driven gear is provided with gear teeth, and a central circular hole of each lug is matched with the optical axis.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910907945.4A CN110588928B (en) | 2019-09-25 | 2019-09-25 | Centroid adjusting mechanism of bionic flexible underwater vehicle |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910907945.4A CN110588928B (en) | 2019-09-25 | 2019-09-25 | Centroid adjusting mechanism of bionic flexible underwater vehicle |
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| CN110588928A CN110588928A (en) | 2019-12-20 |
| CN110588928B true CN110588928B (en) | 2021-11-16 |
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Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111532404A (en) * | 2020-05-28 | 2020-08-14 | 山西汾西重工有限责任公司 | Roll adjusting device of small and medium-sized underwater vehicle |
| CN114872870B (en) * | 2022-03-22 | 2024-04-26 | 重庆大学 | Self-locking gravity center adjusting mechanism for AUV |
| CN117485507A (en) * | 2023-12-29 | 2024-02-02 | 哈尔滨工程大学 | Inerter position and rudder angle adjustable water inlet model |
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| CN206885307U (en) * | 2017-06-19 | 2018-01-16 | 浙江大学 | Underwater glider posture comprehensive regulating device in length and breadth |
| CN208715452U (en) * | 2018-07-23 | 2019-04-09 | 江苏科技大学 | A kind of device for adjusting posture of underwater glider |
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| CN102050218A (en) * | 2009-11-04 | 2011-05-11 | 中国科学院沈阳自动化研究所 | Gesture adjusting device for underwater glider |
| KR20140139144A (en) * | 2010-07-12 | 2014-12-05 | 대우조선해양 주식회사 | Apparatus for automatic controlling position of underwater vehicle |
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