CN111532404A - Roll adjusting device of small and medium-sized underwater vehicle - Google Patents
Roll adjusting device of small and medium-sized underwater vehicle Download PDFInfo
- Publication number
- CN111532404A CN111532404A CN202010464763.7A CN202010464763A CN111532404A CN 111532404 A CN111532404 A CN 111532404A CN 202010464763 A CN202010464763 A CN 202010464763A CN 111532404 A CN111532404 A CN 111532404A
- Authority
- CN
- China
- Prior art keywords
- worm
- worm wheel
- underwater vehicle
- fan
- rotating shaft
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000005096 rolling process Methods 0.000 abstract description 5
- 238000005265 energy consumption Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000036544 posture Effects 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
-
- 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
-
- 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
- B63G8/26—Trimming equipment
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Gear Transmission (AREA)
Abstract
The invention discloses a roll adjusting device of a small and medium-sized underwater vehicle, which solves the problem that how to design a roll adjusting device which is simple in structure and small in occupied space in the small and medium-sized underwater vehicle independently. The underwater vehicle closed cabin comprises a worm supporting bearing seat (2) and a worm driving motor supporting seat (3) which are respectively arranged in a closed cabin shell (1) of an underwater vehicle, a worm driving motor (4) is arranged on the worm driving motor supporting seat (3), a worm supporting bearing (10) is arranged on the worm supporting bearing seat (2), a worm (5) is arranged between the worm supporting bearing and an output shaft of the worm driving motor (4), a sector worm wheel rotating shaft (6) is arranged in the pair of sector worm wheel rotating shaft supporting bearings, a sector worm wheel (7) is arranged on the sector worm wheel rotating shaft, the sector worm wheel is meshed with the worm (5), and a balancing weight (8) is arranged on the sector worm wheel. The transverse rolling angle control motor is convenient and quick to adjust the posture.
Description
Technical Field
The invention relates to a roll adjusting device, in particular to a roll adjusting device of an underwater vehicle.
Background
For an underwater vehicle, after final assembly, roll adjustment of products is required, generally, roll adjustment is performed by manually adding a counterweight lead block or a buoyancy material, and the adjustment mode is only suitable for being performed in a field or a warehouse field; after the underwater vehicle launches water, when external incoming flow interference occurs or the slewing rudder effect is insufficient, the underwater vehicle needs to be capable of performing roll adjustment to resist the external incoming flow interference or increase the slewing centripetal force; for large underwater vehicles, an independent buoyancy adjusting system is generally adopted to adjust the trim and give consideration to roll; however, for small and medium-sized underwater vehicles, because the independent buoyancy adjusting system occupies a large space and the size of the space in the cabin cannot meet the installation requirement of the small and medium-sized underwater vehicles, a single roll adjusting device with a simple structure and a small occupied space needs to be designed to meet the self-adaptive roll adjusting requirement of the small and medium-sized underwater vehicles.
Disclosure of Invention
The invention provides a roll adjusting device of a small and medium-sized underwater vehicle, which solves the technical problem of how to design a roll adjusting device which is simple in structure and small in occupied space in the small and medium-sized underwater vehicle independently.
The invention solves the technical problems by the following technical scheme:
the general concept of the invention is as follows: a fan-shaped worm gear and worm mechanism is arranged in a cabin body of a small and medium-sized underwater vehicle, a balancing weight is arranged on a fan-shaped worm gear, and a motor drives a worm to rotate, so that the fan-shaped worm gear carries the balancing weight to generate a rolling component force, and thus rolling adjustment is realized.
A roll adjusting device of a medium and small-sized underwater vehicle comprises a sealed cabin shell of the underwater vehicle, wherein a worm supporting bearing seat and a worm driving motor supporting seat are respectively arranged in the sealed cabin shell of the underwater vehicle, a worm driving motor is arranged on the worm driving motor supporting seat, a worm supporting bearing is arranged on the worm supporting bearing seat, a worm is arranged between the worm supporting bearing and an output shaft of the worm driving motor, a pair of fan-shaped worm wheel rotating shaft supporting bearings is arranged on the sealed cabin shell of the underwater vehicle right above the worm, a fan-shaped worm wheel rotating shaft is arranged in the pair of fan-shaped worm wheel rotating shaft supporting bearings, a fan-shaped worm wheel is arranged on the fan-shaped worm wheel rotating shaft, the fan-shaped worm wheel and the worm are meshed together, and.
The fan-shaped worm wheel rotating shaft is connected with the fan-shaped worm wheel through a wedge-shaped key.
The roll adjusting device utilizes the motor to drive the worm wheel to rotate, and further drives the weight block to displace in the horizontal direction, so that the underwater vehicle changes the roll angle; the device can control the motor to adjust the attitude according to the roll angle measured by the attitude sensor, and is convenient and quick; the worm and gear mechanism has a self-locking function, so that the load of the motor can be reduced, and the energy consumption is further reduced; the size of the weight can be changed according to actual requirements, and the rolling device is suitable for adjusting the rolling postures in different ranges.
Drawings
FIG. 1 is a schematic structural view of the present invention;
fig. 2 is a diagram of the operation of the present invention during roll adjustment.
Detailed Description
The invention is described in detail below with reference to the accompanying drawings:
a roll adjusting device of a medium and small-sized underwater vehicle comprises a sealed cabin shell 1 of the underwater vehicle, a worm supporting bearing seat 2 and a worm driving motor supporting seat 3 are respectively arranged in the sealed cabin shell 1 of the underwater vehicle, a worm driving motor 4 is arranged on the worm driving motor supporting seat 3, a worm supporting bearing 10 is arranged on the worm supporting bearing seat 2, a worm 5 is arranged between the worm supporting bearing 10 and an output shaft of the worm driving motor 4, a pair of fan-shaped worm wheel supporting bearings are arranged on the sealed cabin shell 1 of the underwater vehicle right above the worm 5, a fan-shaped worm wheel rotating shaft 6 is arranged in the pair of fan-shaped worm wheel supporting bearings, a fan-shaped worm wheel 7 is arranged on the fan-shaped worm wheel rotating shaft 6, the fan-shaped worm wheel 7 is meshed with the worm 5, and a balancing weight 8 is arranged on the fan-.
The fan-shaped worm wheel rotating shaft 6 is connected with the fan-shaped worm wheel 7 through a wedge-shaped key 9; the roll adjusting device is mainly used for realizing roll adjustment of an underwater vehicle, and is particularly suitable for adjustment in a navigation process; the device can carry out real-time adjustment according to the attitude angle of product actual measurement when the product is voyaged, and the load that the device itself can the auto-lock significantly reduced motor is in order to reduce the energy consumption, secondly can also change the adjustment that the counter weight size and then adapt to different angle needs as required.
Claims (2)
1. A roll adjusting device of a small and medium-sized underwater vehicle comprises a sealed cabin shell (1) of the underwater vehicle, a worm support bearing seat (2) and a worm drive motor supporting seat (3) are respectively arranged in the sealed cabin shell (1) of the underwater vehicle, and is characterized in that a worm drive motor (4) is arranged on the worm drive motor supporting seat (3), a worm support bearing (10) is arranged on the worm support bearing seat (2), a worm (5) is arranged between the worm support bearing (10) and an output shaft of the worm drive motor (4), a pair of fan-shaped worm wheel rotating shaft support bearings is arranged on the sealed cabin shell (1) of the underwater vehicle right above the worm (5), a fan-shaped worm wheel rotating shaft (6) is arranged in the pair of fan-shaped worm wheel rotating shaft support bearings, and a fan-shaped worm wheel (7) is arranged on the fan-shaped worm wheel rotating shaft (, the sector worm wheel (7) is meshed with the worm (5), and a balancing weight (8) is arranged on the sector worm wheel (7).
2. The roll adjustment device of small and medium sized underwater vehicles according to claim 1, characterized in that the fan-shaped worm wheel rotating shaft (6) is connected with the fan-shaped worm wheel (7) through a wedge key (9).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010464763.7A CN111532404A (en) | 2020-05-28 | 2020-05-28 | Roll adjusting device of small and medium-sized underwater vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010464763.7A CN111532404A (en) | 2020-05-28 | 2020-05-28 | Roll adjusting device of small and medium-sized underwater vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111532404A true CN111532404A (en) | 2020-08-14 |
Family
ID=71978007
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010464763.7A Pending CN111532404A (en) | 2020-05-28 | 2020-05-28 | Roll adjusting device of small and medium-sized underwater vehicle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111532404A (en) |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101650177A (en) * | 2009-09-18 | 2010-02-17 | 中国科学院长春光学精密机械与物理研究所 | Regulation mechanism of reconnoitering area of aerial camera |
| 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 |
| CN202038441U (en) * | 2011-03-17 | 2011-11-16 | 哈尔滨工程大学 | Gravity center adjusting device of underwater robot |
| RU2490164C1 (en) * | 2012-05-04 | 2013-08-20 | Федеральное государственное бюджетное учреждение науки Тихоокеанский океанологический институт им. В.И. Ильичева Дальневосточного отделения Российской академии наук (ТОИ ДВО РАН) | Underwater glider (versions) |
| CN105799902A (en) * | 2016-03-14 | 2016-07-27 | 哈尔滨工程大学 | Underwater vehicle vector propeller based on universal joint and worm wheel and worm combination control |
| CN106184664A (en) * | 2016-06-28 | 2016-12-07 | 哈尔滨工程大学 | Coupling roll regulation and the glider adjusting means of buoyancy adjustment |
| KR20190066815A (en) * | 2017-12-06 | 2019-06-14 | 삼성중공업 주식회사 | Worm-gear assembly |
| CN110588928A (en) * | 2019-09-25 | 2019-12-20 | 西北工业大学 | Bionic flexible mass center adjusting mechanism for underwater vehicle |
| CN212473863U (en) * | 2020-05-28 | 2021-02-05 | 山西汾西重工有限责任公司 | Roll adjusting device of small and medium-sized underwater vehicle |
-
2020
- 2020-05-28 CN CN202010464763.7A patent/CN111532404A/en active Pending
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101650177A (en) * | 2009-09-18 | 2010-02-17 | 中国科学院长春光学精密机械与物理研究所 | Regulation mechanism of reconnoitering area of aerial camera |
| 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 |
| CN202038441U (en) * | 2011-03-17 | 2011-11-16 | 哈尔滨工程大学 | Gravity center adjusting device of underwater robot |
| RU2490164C1 (en) * | 2012-05-04 | 2013-08-20 | Федеральное государственное бюджетное учреждение науки Тихоокеанский океанологический институт им. В.И. Ильичева Дальневосточного отделения Российской академии наук (ТОИ ДВО РАН) | Underwater glider (versions) |
| CN105799902A (en) * | 2016-03-14 | 2016-07-27 | 哈尔滨工程大学 | Underwater vehicle vector propeller based on universal joint and worm wheel and worm combination control |
| CN106184664A (en) * | 2016-06-28 | 2016-12-07 | 哈尔滨工程大学 | Coupling roll regulation and the glider adjusting means of buoyancy adjustment |
| KR20190066815A (en) * | 2017-12-06 | 2019-06-14 | 삼성중공업 주식회사 | Worm-gear assembly |
| CN110588928A (en) * | 2019-09-25 | 2019-12-20 | 西北工业大学 | Bionic flexible mass center adjusting mechanism for underwater vehicle |
| CN212473863U (en) * | 2020-05-28 | 2021-02-05 | 山西汾西重工有限责任公司 | Roll adjusting device of small and medium-sized underwater vehicle |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN212473863U (en) | Roll adjusting device of small and medium-sized underwater vehicle | |
| CN201376668Y (en) | Double-rotary-wing helicopter banking controller | |
| CN102358600A (en) | Gravity center self-balance device for high-order picking truck | |
| CN202848014U (en) | Electric 360-degree all rotation outboard and inboard double-motor contra-rotating propeller propelling device | |
| CN107323603B (en) | A kind of egg type pressure resistance housing apparatus of self-balancing benthoscope | |
| CN103926051A (en) | Supercavitating navigation body model with internal steering gear | |
| CN107600370A (en) | A kind of collapsible underwater glider solar energy wing plate development mechanism | |
| CN101104421A (en) | Vehicle wing | |
| CN111532404A (en) | Roll adjusting device of small and medium-sized underwater vehicle | |
| CN206662970U (en) | A kind of vertical rotating platform with load-carrying members | |
| CN106938595A (en) | A kind of eccentric spherical tour bus in the amphibious sandy beach of direct-drive type of servomotor | |
| CN105382624A (en) | Double-hydraulic cylinder counterweight two-shaft electric turntable mechanism and method thereof for compensating overturning moment | |
| CN117885891A (en) | Vector propulsion device | |
| CN208774418U (en) | A kind of non-maintaining single-stage speed reducing electric drive axle | |
| CN115493538B (en) | Harbor machinery gyration position detection device | |
| CN210133273U (en) | Hydraulic steering device for aerodynamic boat | |
| CN107363821B (en) | Unloading type series-parallel multi-degree-of-freedom posture adjusting platform | |
| CN209795800U (en) | Ship gear steering gear | |
| CN109707797B (en) | X type rudder AUV transmission structure with self-locking performance | |
| CN204978817U (en) | Electronic steering column worm gear structure | |
| CN214450445U (en) | Seat and rotary device and vehicle thereof | |
| CN212332920U (en) | Cabin structure and ship | |
| CN201678371U (en) | Suspension driving system for rigid leg wheels of gantry crane | |
| CN218198476U (en) | Pure electric power-assisted steering gear for commercial heavy truck | |
| CN218543102U (en) | Thin hollow shaft harmonic speed reducer |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |