CN111516839B - Comprehensive adjusting mechanism for underwater glider - Google Patents
Comprehensive adjusting mechanism for underwater glider Download PDFInfo
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- CN111516839B CN111516839B CN202010453993.3A CN202010453993A CN111516839B CN 111516839 B CN111516839 B CN 111516839B CN 202010453993 A CN202010453993 A CN 202010453993A CN 111516839 B CN111516839 B CN 111516839B
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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
- B63G8/22—Adjustment of buoyancy by water ballasting; Emptying equipment for ballast tanks
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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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- Aviation & Aerospace Engineering (AREA)
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Abstract
The invention relates to the technical field of underwater gliders, in particular to a comprehensive adjusting mechanism of an underwater glider. The water inlet end of the water storage cabin is connected with a water inlet and drainage mechanism through a hose; the water storage tank comprises a water storage tank body, a corrugated pipe is arranged in an inner cavity of the water storage tank body, the corrugated pipe is fixedly connected with a guide plate towards one end of the bottom end face of the water storage tank body, the water storage tank is fixedly connected onto a trim adjusting seat, the trim adjusting seat is connected with a trim adjusting mechanism, the trim adjusting mechanism is fixed onto a trim adjusting seat, and the trim adjusting seat is connected with a trim adjusting mechanism. The invention utilizes the fore-and-aft movement of the water storage cabin which must be configured to adjust the longitudinal attitude, and utilizes the left-and-right movement of the auxiliary facilities such as the water storage cabin, the longitudinal motor, the base and the like to adjust the transverse inclination attitude, thereby greatly reducing the configuration of non-effective heavy loads, increasing the abundant buoyancy of the glider and increasing the quality of the glider which can carry a sensor.
Description
Technical Field
The invention relates to the technical field of underwater gliders, in particular to a comprehensive adjusting mechanism of an underwater glider.
Background
The underwater glider is driven by net buoyancy of gravity and a buoyancy difference value, longitudinal attitude adjustment is carried out by an internal pitching adjusting mechanism, transverse attitude adjustment is carried out by a transverse adjusting mechanism, gliding movement is carried out along a two-dimensional zigzag curve or a three-dimensional spiral curve on an ocean profile, and a sensor carrying platform for measuring hydrographic water quality parameters such as seawater density, salinity, temperature and the like by a carried measuring sensor. Because of the advantages of long self-sustaining power, long range, low power consumption and the like, the underwater glider is widely applied to marine environment investigation and monitoring.
In the prior art, in order to complete adjustment of net buoyancy, pitch attitude and yaw attitude or realize spiral motion, an underwater glider is provided with an independent net buoyancy adjusting structure for adjusting weight or buoyancy, a pitch adjusting mechanism for adjusting pitch attitude, and a lateral adjusting mechanism for adjusting yaw attitude to realize steering motion or spiral gliding motion. These independently functioning adjustment mechanisms are arranged longitudinally along the glider cylindrical pressure casing, occupying about 80-90% of the longitudinal space within the carrier pressure structure, making the space for carrying payload measurement sensors very limited. The longitudinal distribution of the center of gravity is adjusted through the longitudinal movement of the non-payload load to adjust the trim attitude, and the transverse attitude is adjusted through the rotation or transverse movement of the non-payload load, so that the carrier can carry the abundant buoyancy of the payload measuring sensor to be very limited. The design of multiple functional adjustment mechanism has seriously restricted underwater glider and has carried measuring sensor's ability as measuring sensor platform, has restricted underwater glider's use efficiency.
Disclosure of Invention
The underwater glider comprehensive adjusting mechanism can adjust the weight, the longitudinal posture and the transverse posture simultaneously, effectively shortens the longitudinal arrangement space of the adjusting mechanism in the pressure-resistant structure, reduces the weight of the adjusting mechanism, and increases the integral loading space and the integral weight of the glider.
The technical scheme adopted by the invention is as follows:
a comprehensive regulation mechanism of an underwater glider comprises a water storage cabin, wherein the water storage cabin is arranged in a pressure-resistant structure of the underwater glider, and a water inlet end of the water storage cabin is connected with a water inlet and outlet mechanism through a hose; the water storage tank comprises a water storage tank body, one end of the water storage tank body is provided with an opening, the opening end of the water storage tank body is connected with a water storage tank sealing head, a corrugated pipe is arranged in an inner cavity of the water storage tank body, one end, facing the bottom end face of the water storage tank body, of the corrugated pipe is fixedly connected with a guide plate, the guide plate is connected onto a plurality of guide columns in a sliding mode, the guide columns are uniformly distributed and fixed along the circumferential direction of the side wall in the water storage tank, a sensor node is fixedly connected to the center of the bottom end face of the water storage tank, a sensor connector is fixed to the position, facing the sensor node, of the guide plate, the sensor node is matched with the sensor connector and measures the moving distance of the; the water storage cabin is fixedly connected to the trim adjusting seat, the trim adjusting seat is connected with the trim adjusting mechanism, the trim adjusting mechanism is fixed to the heeling adjusting seat, and the heeling adjusting seat is connected with the heeling adjusting mechanism.
The water inlet and drainage mechanism comprises a transition cabin, the water inlet end of the transition cabin is connected with the water outlet end of a first water inlet valve through a water pipe, the water inlet end of the first water inlet valve is connected with the water outlet end of a first three-way pipe through a water pipe, the water inlet end of the first three-way pipe is fixed on the side wall of the pressure-resistant structure and extends out of the pressure-resistant structure, the water outlet end of the transition cabin is connected with the water inlet end of a second water inlet valve through a water pipe, the water outlet end of the second water inlet valve is connected with the water inlet end of a second three-way pipe, the water outlet end of the water pump is connected with the water inlet end of the water storage cabin through a hose, the water pump is fixed on a water pump base, the water pump base is fixed in the pressure-resistant structure, one end of the water pump is connected with a.
Furthermore, the transition cabin comprises a transition cabin body with a cylindrical barrel structure, a pressure reducing coil is arranged in the transition cabin body, two ends of the transition cabin body are respectively connected with the transition sealing heads, the outer end faces of the transition sealing heads at the two ends of the transition cabin body are respectively provided with a water inlet connector and a water outlet connector, the water inlet connectors are connected with the water inlet ends of the pressure reducing coil, the water outlet ends of the pressure reducing coil are located in the transition cabin, and the inner diameter of a pipeline of the pressure reducing coil is larger than the inner diameter of a connector of.
Furthermore, a tensioning mechanism is connected to the hose.
Furthermore, the tensioning mechanism comprises a tensioning pulley, the tensioning pulley is rotatably connected to a pulley seat, the pulley seat is connected with one end of a tensioning spring, the other end of the tensioning spring is connected with a spring fixing seat, the spring fixing seat is fixed in the pressure-resistant structure, and the hose penetrates through the tensioning pulley and then is connected to the water inlet end of the water storage cabin.
Further, the trim adjustment mechanism is including fixing the nut seat that adjusts the seat bottom central point and put at the trim, the nut seat passes through threaded connection on accommodate the lead screw, accommodate the lead screw both ends are rotated and are connected the bearing frame, the bearing frame is fixed on the mounting panel, the drive end of coupling joint trim accommodate motor is passed through to accommodate the lead screw one end, accommodate the lead screw left and right sides symmetry is equipped with the slide rail, the slide rail is fixed on the mounting panel, nut seat left and right sides symmetry is equipped with the support gleitbretter, support gleitbretter upper end fixed connection adjust the seat bottom at the trim, support gleitbre.
Furthermore, the heeling adjusting mechanism comprises a heeling adjusting motor fixed on a heeling adjusting seat, the driving end of the heeling adjusting motor is connected with a gear shaft, the gear shaft is connected with a gear, one end of the gear shaft is rotatably connected onto a support, the support is fixed on the heeling adjusting seat, and the gear is meshed with a rack fixed on the side wall of the pressure-resistant structure.
Further, the water storage cabin is of a cylindrical barrel structure.
The invention has the following beneficial effects:
the invention has compact and reasonable structure and convenient operation, and the longitudinal attitude adjustment is carried out by utilizing the front and back movement of the water storage cabin which needs to be configured, and the heeling attitude adjustment is carried out by utilizing the left and right movement of the auxiliary facilities such as the water storage cabin, the longitudinal motor, the base and the like, thereby greatly reducing the configuration of non-effective heavy load, increasing the abundant buoyancy of the glider and increasing the quality of the sensor which can be carried by the glider; the attitude adjusting mechanism can be used for adjusting the pitching attitude and the rolling attitude simultaneously, the size of a longitudinal space is small, the effective pressure-resistant space of the glider for longitudinally carrying the measuring sensor is increased, and the quality and the space of the glider for carrying the measuring sensor can be improved by more than one time through the application of the invention.
Drawings
FIG. 1 is a perspective view of the present invention
Fig. 2 is a top view of the present invention.
Fig. 3 is a front view of the present invention.
FIG. 4 is a structural view of the water inlet and outlet mechanism of the present invention.
Fig. 5 is a view of the structure of the transition cabin of the present invention.
Fig. 6 is a structural view of the water storage tank of the invention.
Fig. 7 is a structural view of a roll adjustment mechanism and a pitch adjustment mechanism of the present invention.
Fig. 8 is a diagram of a roll adjustment mechanism and a pitch adjustment mechanism of the present invention.
Wherein: 1. a voltage-resistant structure; 101. a pressure-resistant housing; 102. pressure-resistant end enclosure; 103. mounting a base; 2. a first three-way pipe; 3. a transition cabin; 301. a transition cabin body; 302. a transition end enclosure; 303. a pressure reducing coil; 304. a water inlet joint; 305. a water outlet joint; 4. a water pump; 5. a water pump motor; 6. a water storage compartment; 601. a water storage tank body; 602. sealing a water storage cabin; 603. a bellows; 604. a guide plate; 605. a guide post; 606. a sensor node; 607. a sensor connector; 7. a hose; 8. a second three-way pipe; 9. a water pump base; 10. a first water inlet valve; 11. a second water inlet valve; 12. a drain valve; 13. a tension pulley; 14. a pulley seat; 15. tensioning the spring; 16. a spring fixing seat; 17. a pitch adjustment mount; 18. a horizontal inclination adjusting seat; 19. a nut seat; 20. a pitch adjustment motor; 21. adjusting the screw rod; 22. mounting a plate; 23. supporting a sliding sheet; 24. a slide rail; 25. a roll adjustment motor; 26. a gear; 27. a rack; 28. and (4) a support.
Detailed Description
The following describes embodiments of the present invention with reference to the drawings.
As shown in fig. 1, the present invention mainly comprises a water storage compartment 6, and the water storage compartment 6 is disposed in the pressure-resistant structure 1 of the underwater glider when in use. The water inlet end of the water storage cabin 6 is connected with a water inlet and outlet mechanism through a hose 7, and the water inlet and outlet mechanism can introduce external seawater into the water storage cabin 6 of the pressure-resistant structure or discharge water in the water storage cabin 6 to a seawater environment outside the pressure-resistant structure.
As shown in fig. 2 to 4, the water inlet and drainage mechanism comprises a transition cabin 3, the water inlet end of the transition cabin 3 is connected with the water outlet end of a first water inlet valve 10 through a water pipe, the water inlet end of the first water inlet valve 10 is connected with the water outlet end of a first three-way pipe 2 through a water pipe, when the water inlet and drainage mechanism is used, the water inlet end of the first three-way pipe 2 is fixed on the side wall of the pressure-resistant structure 1 and extends out of the pressure-resistant structure 1, and external seawater is introduced into the water inlet and drainage mechanism through the water inlet end of the first three-way pipe. The water outlet end of the transition cabin 3 is connected with the water inlet end of a second water inlet valve 11 through a water pipe, the water outlet end of the second water inlet valve 11 is connected with the water inlet end of a second three-way pipe 8 through a water pipe, the water outlet end of the second three-way pipe 8 is connected with the water inlet end of a water pump 4, and the water outlet end of the water pump 4 is connected with the water inlet end of a water storage cabin 6 through a hose 7. The water pump 4 is a high-pressure bidirectional water pump, the water pump 4 is fixed on a water pump base 9, and the water pump base 9 is fixed in the pressure-resistant structure 1. One end of the water pump 4 is connected with a water pump motor 5 through a coupler, and the water pump motor 5 can drive the water pump 4 to pump water when working. The water return end of the second three-way pipe 8 is connected with the water inlet end of a water discharge valve 12 through a water pipe, and the water outlet end of the water discharge valve 12 is connected with the water return end of the first three-way pipe 2 through a water pipe.
As shown in fig. 5, the transition compartment 3 is mainly used for depressurizing, storing and transferring externally introduced high-pressure seawater into the water storage compartment 6. The transition cabin 3 comprises a transition cabin body 301 with a cylindrical barrel structure, a pressure reducing coil pipe 303 is arranged in the transition cabin body 301, two ends of the transition cabin body 301 are respectively connected with a transition sealing head 302, the outer end faces of the transition sealing heads 302 at two ends of the transition cabin body 301 are respectively provided with a water inlet connector 304 and a water outlet connector 305, the water inlet connector 304 is connected with the water inlet end of the pressure reducing coil pipe 303, and the water outlet end of the pressure reducing coil pipe 303 is positioned in the transition cabin 3. The inner diameter of the pipeline of the pressure reducing coil 303 is larger than the inner diameter of the joint of the water inlet joint 304, and the seawater entering the pressure reducing coil 303 forms a natural pressure reducing effect because of the sudden change of the size of the section of the pipeline, the turning and the increase of the flow process.
As shown in figures 1-3, the hose 7 is connected with a tensioning mechanism, and the tensioning mechanism can ensure that the hose 7 is always in a tensioning state so as to adapt to the change of the position of the water storage cabin 6.
As shown in fig. 1 to 3, the tensioning mechanism includes a tensioning pulley 13, the tensioning pulley 13 is rotatably connected to a pulley seat 14, the pulley seat 14 is connected to one end of a tensioning spring 15, the other end of the tensioning spring 15 is connected to a spring fixing seat 16, and the spring fixing seat 16 is fixed in the pressure-resistant structure 1. The hose 7 passes through the tensioning pulley 13 and then is connected to the water inlet end of the water storage cabin 6, and in the front-back and left-right sliding processes of the water storage cabin 6, the tensioning spring 15 keeps the hose 7 in a tensioning state all the time, so that the hose 6 is prevented from being hooked and extruded in the moving process of the water storage cabin 6.
As shown in fig. 6, the water storage tank 6 includes a water storage tank body 601 with a cylindrical tube structure, an opening is formed at one end of the water storage tank body 601, and the opening end of the water storage tank body 601 is connected to a water storage tank sealing head 602. The corrugated pipe 603 made of flexible materials is arranged in the inner cavity of the water storage cabin body 601, the corrugated pipe 603 can ensure that the corrugated pipe is uniformly deformed along the water storage cabin body 601 in the water inlet or water discharge process, one end, facing the bottom end face of the water storage cabin body 601, of the corrugated pipe 603 is fixedly connected with the guide plate 604, the guide plate 604 is connected to the guide columns 605 in a sliding mode, and the guide columns 605 are uniformly distributed and fixed along the circumferential direction of the inner side wall of the water storage cabin 6. The center of the bottom end face of the water storage tank 6 is fixedly connected with a sensor node 606, a sensor joint 607 is fixed at the position of the guide plate 604 facing the sensor node 606, and the sensor node 606 and the sensor joint 607 are matched with each other to measure the moving distance of the guide plate 604. The guide columns 605 ensure smooth and non-twisting movement of the guide plates 604 inside the water tank 601. An opening is formed in one end, facing the water storage tank sealing head 602, of the corrugated pipe 603, and a water inlet end of the water storage tank sealing head 602 is communicated with the opening of the corrugated pipe 603.
As shown in fig. 7 and 8, the water storage compartment 6 is fixedly connected to the pitching adjusting base 17, the pitching adjusting base 17 is connected to the pitching adjusting mechanism, the pitching adjusting mechanism is fixed to the heeling adjusting base 18, and the heeling adjusting base 18 is connected to the heeling adjusting mechanism.
As shown in fig. 7 and 8, the pitch adjusting mechanism includes a nut seat 19 fixed at the center of the bottom of the pitch adjusting seat 17, the nut seat 19 is connected to an adjusting screw 21 through a screw, two ends of the adjusting screw 21 are rotatably connected to bearing seats, and the bearing seats are fixed on a mounting plate 22. One end of the adjusting screw 21 is connected with the driving end of the pitching adjusting motor 20 through a coupler. Slide rails 24 are symmetrically arranged on the left side and the right side of the adjusting screw rod 21, and the slide rails 24 are fixed on the mounting plate 22. The left side and the right side of the nut seat 19 are symmetrically provided with supporting sliding sheets 23, the upper ends of the supporting sliding sheets 23 are fixedly connected to the bottom of the pitching adjusting seat 17, and the lower ends of the supporting sliding sheets 23 are connected to sliding rails 24 in a sliding mode.
As shown in fig. 7 and 8, the heeling adjusting mechanism includes a heeling adjusting motor 25 fixed on the heeling adjusting seat 18, a driving end of the heeling adjusting motor 25 is connected with a gear shaft, the gear shaft is connected with a gear 26, one end of the gear shaft is rotatably connected on a support 28, and the support 28 is fixed on the heeling adjusting seat 18. The gear 26 is in meshing engagement with a rack 27 fixed to the side wall of the pressure-resistant structure 1.
The water storage cabin 6 is used for storing seawater input from the outside into the pressure-resistant structure 1 of the underwater glider, and the weight of the glider is changed through the seawater in the water storage cabin 6 to generate driving force. The water storage cabin 6 is driven by the trim adjusting mechanism to move back and forth, mass is distributed back and forth, a trim moment is generated, and trim posture adjustment is carried out. The water storage tank 6 realizes left-right swinging through the heeling adjusting mechanism, performs left-right mass distribution, generates heeling moment and performs heeling posture adjustment.
In the embodiment shown in fig. 1, the pressure resistant structure 1 of the underwater glider comprises a pressure resistant shell 101 with a cylindrical structure, two ends of the pressure resistant shell 101 are respectively connected with a pressure resistant end enclosure 102, and a mounting base 103 is fixed on the inner wall of the pressure resistant shell 101, wherein the mounting base 103 is used for fixing the invention.
The application working principle of the invention is as follows: the gliding of glider under water adjusts the stage mainly has two, and firstly dive gliding adjustment, firstly come up gliding adjustment. The diving and gliding adjustment means that the mass of the glider is larger than the buoyancy by adjustment to generate a diving driving force; the glider is caused to tilt first (head down) by the pitch adjustment mechanism. At this point, the glider begins to submarine along the sawtooth-shaped curve. If the heeling adjustment is performed simultaneously, the glider slowly turns into three-dimensional spiral diving gliding. The floating glide adjustment means that the mass of the glider is smaller than the buoyancy by adjusting the glider at a certain depth, and a floating driving force is generated; the glider is caused to tip aft (head up) by the pitch adjustment structure. At this time, the underwater glider starts to float and glide. If the roll adjustment is performed simultaneously, the vehicle starts to glide along the spiral curve.
1) Description of three-dimensional spiral diving gliding motion process of underwater glider
The underwater glider is in a near-water state, and the underwater glider is in a closed state at the moment.
a) The water inlet and drainage mechanism is started through a built-in control system of the glider. Under the action of the external seawater pressure, the seawater enters the transition cabin 3 through the first three-way pipe 2 and the first water inlet valve 10 and is decompressed. The seawater decompressed in the transition cabin 3 enters the water pump 4 through the second water inlet valve 11 and the second three-way pipe 8, is added to a stable pressure through the water pump 8, and enters the water storage cabin 6 through the hose 7.
b) The water entering the water storage compartment 6 increases, the pressure increases, the extrusion bellows 603 extends, and the guide plate 604 is pushed to slide along the water storage compartment 601 under the constraint of the guide post 605. The distance traveled by the guide plate 604 is measured by the sensor node 606 and sensor connector 607 in combination and is used to calculate the water inflow. After the inflow amount reaches a desired value, the first and second inflow valves 10 and 11 and the pump motor 5 are closed. The weight of the glider increases, being greater than the buoyancy, creating a net downward buoyancy.
c) Under the action of a built-in controller of the underwater glider, the pitching adjusting motor 20 is started to drive the adjusting screw rod 21 to rotate, the pitching adjusting seat 17 is driven to translate towards the head part along the longitudinal direction, the water storage cabin 6 and the water inside the water storage cabin move towards the head part along with the pitching adjusting seat 17, the mass deviates towards the head part, and the glider starts to tip. After moving to the set distance, the pitch adjustment motor 20 stops rotating. The glider begins to slowly adjust into the diving glide.
When the water storage cabin moves towards the head, the hose 7 drives the tensioning pulley 13 to move towards the head, the tensioning pulley 13 drives the tensioning spring 15 to be tensioned, and the hose 7 is in a tensioned state.
d) Then the heeling adjusting motor 20 is started to drive the gear 26 to rotate, under the action of the rack 27, the gear 26 drives the heeling adjusting motor 20 and the heeling adjusting seat 18, and the heeling adjusting seat drives the longitudinal adjusting mechanism, the water storage cabin 6 and the water in the cabin to transversely deviate. After moving a predetermined distance, the roll adjustment motor 20 stops rotating. Lateral offset to the left or right is associated with glider left or right screw dive.
After the above adjustment is completed, the glider begins to enter the screw dive glide adjustment phase. Furthermore, the adjustment sequence of c-d-a-b can be followed.
2) Description of three-dimensional spiral floating motion process of underwater glider
The underwater glider is in a deep water state, and the underwater glider is in a closed state at the time.
a1) The drain valve 12 is opened by the glider built-in control system and the water pump 4 is started. The water pump 4 sucks the water in the water storage cabin 6 into the water pump 4 through the hose 7 and pressurizes the water, and the pressurized water is discharged to the external seawater through the drain valve 12 and the first three-way pipe.
b1) The water in the water storage tank 6 is reduced, the pressure is reduced, the corrugated pipe 603 is contracted, and the guide plate 604 is driven to slide along the water storage tank body 601 under the constraint of the guide column 605. The distance traveled by the guide plate 604 can be measured by the sensor node 606 and sensor connector 607 in combination and used to calculate the displacement. And after the water discharge amount reaches a desired value, the drain valve 12 and the water pump motor 5 are closed. The weight of the underwater glider is reduced, less than the buoyancy, creating an upward net buoyancy.
c1) Then, the pitch adjusting motor 20 is started to drive the adjusting screw 21 to rotate, the pitch adjusting seat 17 is driven to translate towards the tail along the longitudinal direction, the water storage cabin 6 and the water inside the water storage cabin move towards the tail along with the pitch adjusting seat 17, the mass deviates towards the tail, and the underwater glider starts to pitch. After moving to the predetermined distance, the pitch adjustment motor 20 stops rotating. The underwater glider starts to be slowly adjusted to float and glide.
When the water storage cabin 6 moves towards the tail part, the tensioning spring 15 begins to contract and is still in a stretching state, the tensioning pulley 13 is driven to move towards the tail part, and the hose 7 passively contracts to keep in a tensioning state.
d1) Then, the heeling adjusting motor 20 is started to drive the gear 26 to rotate, under the action of the rack 27, the gear 26 drives the heeling adjusting motor 20 and the heeling adjusting seat 18, the heeling adjusting seat 18 drives the longitudinal adjusting mechanism, the water storage cabin 6 and water in the cabin to transversely shift to the other side, and after a preset distance is reached, the heeling adjusting motor 20 stops rotating. Lateral deflection to the left or right is associated with left or right helicopters of the glider.
After the adjustment is completed, the underwater glider starts to enter a spiral floating and gliding adjustment stage. Furthermore, the regulation sequence of c1-d1-a1-b1 can be followed.
3) Description of process of underwater glider diving, floating and gliding along sawtooth-shaped curve
Diving and floating glide along a sawtooth-shaped curve does not involve the roll adjustment of the present invention, diving glide only needs to be in the order of a-b-c, and floating glide only needs to be adjusted in the order of a1-b1-c 1.
4) Description of steering motion process of underwater glider
The steering of the underwater glider is carried out in spiral submergence or floating glide, so that only the steering implementation in the submerged floating glide with a zigzag curve is considered here.
In the stable diving and gliding stage of the underwater glider, the right (left) steering is needed, and the cooperation of a heeling adjusting mechanism is needed. At this time, the heeling adjustment motor 20 is started to drive the gear 26 to rotate, the gear 26 drives the heeling adjustment motor 20 and the heeling adjustment seat 18 under the action of the rack 27, the heeling adjustment seat 18 drives the pitching adjustment mechanism, the water storage cabin 6 and the water in the cabin to laterally shift to the right (left) side from the middle longitudinal section position, and after the heeling adjustment motor 20 stops after the heeling adjustment mechanism moves for a certain distance. The underwater glider moves from a plane to enter a three-dimensional spiral motion and carries out direction adjustment. When the water storage tank is rotated to a preset direction, the transverse inclination adjusting motor 20 is started to drive the gear 26 to rotate, under the action of the rack 27, the gear 26 drives the transverse inclination adjusting motor 20 and the transverse inclination adjusting seat 18, the transverse inclination adjusting seat 18 drives the longitudinal adjusting mechanism, the water storage tank 6 and water in the tank to deviate from the right (left) side to the middle longitudinal section, and after the deviation reaches a distance, the transverse inclination adjusting motor 20 stops working. The underwater glider starts to move from a three-dimensional spiral motion to a two-dimensional zigzag curve motion and finishes steering.
The above description is intended to be illustrative and not restrictive, and the scope of the invention is defined by the appended claims, which may be modified in any manner within the scope of the invention.
Claims (7)
1. The utility model provides an underwater glider synthesizes adjustment mechanism, includes water storage cabin (6), its characterized in that: the water storage cabin (6) is arranged in a pressure-resistant structure (1) of the underwater glider, the water inlet end of the water storage cabin (6) is connected with a water inlet and drainage mechanism through a hose (7), and the hose (7) is connected with a tensioning mechanism; the water storage cabin (6) comprises a water storage cabin body (601), an opening is formed in one end of the water storage cabin body (601), the opening end of the water storage cabin body (601) is connected with a water storage cabin sealing head (602), corrugated pipes (603) are arranged in an inner cavity of the water storage cabin body (601), one end, facing the bottom end face of the water storage cabin body (601), of each corrugated pipe (603) is fixedly connected with a guide plate (604), each guide plate (604) is connected onto a plurality of guide columns (605) in a sliding mode, the guide columns (605) are uniformly distributed and fixed along the circumferential direction of the inner side wall of the water storage cabin (6), the center of the bottom end face of the water storage cabin (6) is fixedly connected with a sensor node (606), the sensor joint (607) is fixed in the position of the guide plate (604) facing the sensor node (606), the sensor node (606) is matched with the sensor joint (607) and measures the moving distance of the guide plates (, the water inlet end of the water storage cabin end socket (602) is communicated with the opening of the corrugated pipe (603); the water storage cabin (6) is fixedly connected to the trim adjusting seat (17), the trim adjusting seat (17) is connected with the trim adjusting mechanism, the trim adjusting mechanism is fixed to the transverse tilt adjusting seat (18), and the transverse tilt adjusting seat (18) is connected with the transverse tilt adjusting mechanism.
2. The integrated underwater glider adjustment mechanism of claim 1, wherein: the water inlet and drainage mechanism comprises a transition cabin (3), the water inlet end of the transition cabin (3) is connected with the water outlet end of a first water inlet valve (10) through a water pipe, the water inlet end of the first water inlet valve (10) is connected with the water outlet end of a first three-way pipe (2) through a water pipe, the water inlet end of the first three-way pipe (2) is fixed on the side wall of the pressure-resistant structure (1) and extends out of the pressure-resistant structure (1), the water outlet end of the transition cabin (3) is connected with the water inlet end of a second water inlet valve (11) through a water pipe, the water outlet end of the second water inlet valve (11) is connected with the water inlet end of a second three-way pipe (8) through a water pipe, the water outlet end of the second three-way pipe (8) is connected with the water inlet end of a water pump (4), the water outlet end of the water pump (4) is connected with the water inlet end of a water storage cabin (6), the water return end of the second three-way pipe (8) is connected with the water inlet end of the drain valve (12) through a water pipe, and the water outlet end of the drain valve (12) is connected with the water return end of the first three-way pipe (2) through a water pipe.
3. The integrated underwater glider adjustment mechanism of claim 2, wherein: the utility model discloses a transition cabin, including cylindrical tube structure transition cabin body (301) in the transition cabin body (3), be equipped with pressure reducing coil (303) in the transition cabin body (301), transition head (302) are connected respectively at transition cabin body (301) both ends, be equipped with water supply connector (304) and water connectors (305) on the outer terminal surface of transition head (302) at transition cabin body (301) both ends respectively, water supply connector (304) and pressure reducing coil (303) are intake and are held and connect, pressure reducing coil (303) are gone out the water end and are located transition cabin (3), the pipeline internal diameter of pressure reducing coil (303) is greater than the joint internal diameter of water supply connector (304).
4. The integrated underwater glider adjustment mechanism of claim 1, wherein: the tensioning mechanism comprises a tensioning pulley (13), the tensioning pulley (13) is rotatably connected to a pulley seat (4), the pulley seat (14) is connected with one end of a tensioning spring (15), the other end of the tensioning spring (15) is connected with a spring fixing seat (16), the spring fixing seat (16) is fixed in the pressure-resistant structure (1), and a hose (7) penetrates through the tensioning pulley (13) and then is connected to the water inlet end of the water storage cabin (6).
5. The integrated underwater glider adjustment mechanism of claim 1, wherein: the utility model discloses a pitch control mechanism, including fixing nut seat (19) of adjusting seat (17) bottom central point and putting in pitch, nut seat (19) are through threaded connection on accommodate the lead screw (21), accommodate the lead screw (21) both ends are rotated and are connected the bearing frame, the bearing frame is fixed on mounting panel (22), the drive end of coupling joint pitch accommodate motor (20) is passed through to accommodate the lead screw (21) one end, accommodate the lead screw (21) left and right sides symmetry is equipped with slide rail (24), slide rail (24) are fixed on mounting panel (22), nut seat (19) left and right sides symmetry is equipped with support gleitbretter (23), support gleitbretter (23) upper end fixed connection in pitch adjust seat (17) bottom, support gleitbretter (23) lower extreme sliding connection is on slide rail (24).
6. An integrated underwater glider adjustment mechanism according to claim 1 or 5, wherein: the heeling adjusting mechanism comprises a heeling adjusting motor (25) fixed on a heeling adjusting seat (18), the driving end of the heeling adjusting motor (25) is connected with a gear shaft, a gear (26) is connected onto the gear shaft, one end of the gear shaft is rotatably connected onto a support (28), the support (28) is fixed on the heeling adjusting seat (18), and the gear (26) is meshed with a rack (27) fixed on the side wall of the pressure-resistant structure (1).
7. The integrated underwater glider adjustment mechanism of claim 1, wherein: the water storage cabin (6) is of a cylindrical barrel structure.
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| CN112109866A (en) * | 2020-08-31 | 2020-12-22 | 浙江理工大学 | Underwater robot attitude control and floating and diving adjusting device |
| CN116280118B (en) * | 2023-05-12 | 2023-08-08 | 国家深海基地管理中心 | Hybrid unmanned underwater gliding type operation robot and acoustic monitoring system thereof |
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