CN111959721B - Buoyancy adjusting device of underwater walking mechanism and control method thereof - Google Patents
Buoyancy adjusting device of underwater walking mechanism and control method thereof Download PDFInfo
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- CN111959721B CN111959721B CN202010653996.1A CN202010653996A CN111959721B CN 111959721 B CN111959721 B CN 111959721B CN 202010653996 A CN202010653996 A CN 202010653996A CN 111959721 B CN111959721 B CN 111959721B
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- main body
- body platform
- floating plate
- floating
- walking mechanism
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- 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
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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
- B63G8/18—Control of attitude or depth by hydrofoils
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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
- B63G8/26—Trimming equipment
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Toys (AREA)
Abstract
The invention belongs to the field of ship and ocean engineering test facilities, and particularly discloses a buoyancy adjusting device of an underwater walking mechanism, which comprises a main body platform, wherein a floating plate, a lead screw and a driving motor are arranged in the main body platform; one end of the floating plate is bent upwards to form a limiting support plate; the screw thread direction of gear both sides on the lead screw is opposite, and a walking slider is established to lead screw both ends screw thread cover respectively, and two walking sliders are respectively with two kickboards bottom rigid couplings. According to the invention, the telescopic adjustable floating plate structure is arranged in the main body platform, and the size of the main body platform is adjusted by adjusting the extending area of the floating plate, so that the integral buoyancy is adjusted, the operation is simple, and the control is convenient; the floating plate effectively keeps the overall stability of the floating plate in the limiting supporting plate inside the main body platform, the guide plates on the two sides of the floating plate reduce the resistance of the underwater walking mechanism to move forwards, and the floating plate is simple in overall structure and convenient to use.
Description
Technical Field
The invention relates to the field of ship and ocean engineering test facilities, in particular to a buoyancy adjusting device of an underwater walking mechanism and an operation and control method thereof.
Background
In the test facilities of ships and oceanographic engineering and other underwater engineering facilities, special equipment walking on the water bottom is often encountered due to the working requirement. Because the structures in water have the problems of buoyancy and self stability, the requirements of anti-floating and anti-tilting on the matching part of the running mechanism are inevitably required. In addition, because the underwater equipment is difficult to monitor and maintain, the synchronous control measures of the travelling mechanism are also greatly different from the structure similar to the ground, the condition that the underwater travelling mechanism is unbalanced and topples over is easily caused, and at the moment, the buoyancy of the underwater travelling mechanism can be increased to perform balance buffering; however, the existing underwater walking mechanism is not provided with a buoyancy adjusting device, so that the buoyancy adjustment is inconvenient.
Disclosure of Invention
The invention aims to provide a buoyancy adjusting device of an underwater walking mechanism and a control method thereof, so as to solve the problems in the background technology.
In order to achieve the purpose, the invention provides the following technical scheme: a buoyancy adjusting device of an underwater walking mechanism comprises a main body platform arranged at the top of the underwater walking mechanism, wherein the main body platform is hollow, through grooves are symmetrically formed in two sides of the main body platform, and a floating plate, a lead screw and a driving motor are arranged in the main body platform; the two floating plates are symmetrically arranged on two sides of the main body platform, one ends of the two floating plates extend out of the corresponding through grooves, and the other ends of the two floating plates are bent upwards to form limiting supporting plates abutted against the inner wall of the top of the main body platform; the lead screw is transversely arranged at the bottom of the main body platform, two ends of the lead screw are rotatably arranged on the inner wall of the main body platform through bearings, the driving motor is arranged at the top of the main body platform, the output end of the driving motor and the middle part of the lead screw are respectively provided with a gear, the two gears are opposite up and down, and the two gears are connected through a transmission chain; the thread directions of two sides of the gear on the screw rod are opposite, two ends of the screw rod are respectively sleeved with a walking slider in a threaded manner, and the two walking sliders are respectively fixedly connected with the bottoms of the two floating plates.
Preferably, a sealing sleeve for sealing and wrapping the floating plate is embedded in the through groove.
Preferably, the upper surface of the limiting supporting plate is of an arched arc curved surface structure.
Preferably, the two sides of the floating plate are respectively provided with a guide plate with a triangular prism structure, one side edge of the guide plate points to the advancing direction or the reverse advancing direction of the underwater walking mechanism, and the outer end of the floating plate is provided with a limiting end plate.
Preferably, a displacement sensor is installed on the walking sliding block, a power supply device and an integrated control circuit board are arranged in the main body platform, the power supply device is electrically connected with the driving motor, and the integrated control circuit board is respectively connected with the displacement sensor and the control end of the driving motor.
Preferably, an adaptive remote control device is arranged outside the integrated control circuit board, and the remote control device and the integrated control circuit board are wirelessly transmitted.
The invention also provides a control method for buoyancy adjustment of the underwater walking mechanism, which comprises the following specific steps:
s1: setting the telescopic distance of the floating plate through a remote control device, and sending a signal to the integrated control circuit board;
s2: the integrated control circuit board triggers a driving motor to start according to the instruction, drives a lead screw to rotate, drives the two floating plates to move through the movement of the walking slide block, and adjusts the distance of the two floating plates extending out of the main body platform;
s3: the displacement sensor acquires a moving signal of the floating plate in real time and sends the signal to the integrated control circuit board, and when the set displacement is reached, the driving motor stops to complete the telescopic adjustment of the floating plate, so that the integral buoyancy adjustment is realized.
Compared with the prior art, the invention has the beneficial effects that:
according to the invention, the telescopic adjustable floating plate structure is arranged in the main body platform, and the size of the main body platform is adjusted by adjusting the extending area of the floating plate, so that the integral buoyancy is adjusted, and the telescopic adjustable floating plate is simple to operate and convenient to control. The floating plate effectively keeps the overall stability of the floating plate in the limiting supporting plate inside the main body platform, the guide plates on the two sides of the floating plate reduce the resistance of the underwater walking mechanism to move forwards, and the floating plate is simple in overall structure and convenient to use.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
fig. 2 is a schematic structural diagram of the floating plate of the present invention.
In the figure: 1. a main body platform; 2. a through groove; 3. a floating plate; 4. a limiting support plate; 5. sealing sleeves; 6. a lead screw; 7. a bearing; 8. a drive motor; 9. a gear; 10. a drive chain; 11. a traveling slide block; 12. a baffle; 13. a limiting end plate; 14. an integrated control circuit board.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the description of the present invention, it should be noted that the terms "vertical", "upper", "lower", "horizontal", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of describing the present invention and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention.
In the description of the present invention, it should also be noted that, unless otherwise explicitly specified or limited, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
Referring to fig. 1-2, the present invention provides a technical solution: a buoyancy adjusting device of an underwater walking mechanism comprises a main body platform 1 arranged at the top of the underwater walking mechanism, wherein the main body platform is hollow, through grooves 2 are symmetrically formed in two sides of the main body platform, and a floating plate 3, a lead screw 6 and a driving motor 8 are arranged in the main body platform 1; two floating plates 3 are symmetrically arranged on two sides of the main body platform 1, one end of each of the two floating plates 3 extends out of the corresponding through groove 2, and the other end of each of the two floating plates 3 is bent upwards to form a limiting support plate 4 abutted against the inner wall of the top of the main body platform 1; the lead screw 6 is transversely arranged at the bottom of the main body platform 1, two ends of the lead screw are rotatably arranged on the inner wall of the main body platform 1 through bearings 7, the driving motor 8 is arranged at the top of the main body platform 1, the output end of the driving motor 8 and the middle part of the lead screw 6 are respectively provided with a gear 9, the two gears 9 are opposite up and down, and the two gears 9 are connected through a transmission chain 10; the thread directions of two sides of the gear 9 on the screw rod 6 are opposite, two ends of the screw rod 6 are respectively sleeved with a walking slider 11 in a threaded manner, and the two walking sliders 11 are respectively fixedly connected with the bottoms of the two floating plates 3.
Furthermore, a sealing sleeve 5 which is used for sealing and coating the floating plate 3 is embedded in the through groove 2.
Furthermore, the upper surface of the limit supporting plate 4 is of an arched arc curved surface structure.
Furthermore, the two sides of the floating plate 3 are respectively provided with a guide plate 12 with a triangular prism structure, one side edge of the guide plate 12 points to the advancing direction or the reverse advancing direction of the underwater walking mechanism, and the outer end of the floating plate 3 is provided with a limiting end plate 13.
Furthermore, a displacement sensor is installed on the walking slider 11, a power supply device and an integrated control circuit board 14 are arranged in the main body platform 1, the power supply device is electrically connected with the driving motor 8, and the integrated control circuit board 14 is respectively connected with the displacement sensor and the control end of the driving motor 8.
Further, an adaptive remote control device is disposed outside the integrated control circuit board 14, and the remote control device and the integrated control circuit board 14 are wirelessly transmitted (for example, infrared transmission).
The invention also provides a control method for buoyancy adjustment of the underwater walking mechanism, which comprises the following specific steps:
s1: the telescopic distance of the floating plate 3 is set through a remote control device, and a signal is sent to the integrated control circuit board 14;
s2: the integrated control circuit board 14 triggers the driving motor 8 to start according to the instruction, drives the screw rod 6 to rotate, drives the two floating plates 3 to move through the movement of the walking slide block 11, and adjusts the distance of the two floating plates extending out of the main body platform 1;
s3: the displacement sensor acquires a moving signal of the floating plate 3 in real time and sends the signal to the integrated control circuit board 14, and when the set displacement is reached, the driving motor 8 stops to complete the telescopic adjustment of the floating plate 3, so that the integral buoyancy adjustment is realized.
The buoyancy force of the object immersed in the liquid is equal to the weight of the liquid discharged by the object, the magnitude of the buoyancy force is only related to the volume of the liquid discharged by the object and the density of the liquid, and the density of the liquid is constant in the same water area, so that the magnitude of the buoyancy force can be changed by changing the volume of the object.
According to the invention, the telescopic adjustable floating plate 3 structure is arranged in the main body platform 1, and the size of the main body platform 1 is adjusted by adjusting the extending area of the floating plate 3, so that the integral buoyancy is adjusted, the operation is simple, and the control is convenient. The limit support plate 4 of the floating plate 3 in the main body platform 1 effectively keeps the integral stability of the floating plate 3 in the process of stretching the floating plate 3, and the upper surface of the limit support plate 4 is of an arched arc curved surface structure, so that the friction force between the limit support plate 4 and the inner wall of the main body platform 1 is small, and the limit support plate is convenient to slide; the guide plates 12 on the two sides of the floating plate 3 reduce the forward resistance of the underwater walking mechanism, and the underwater walking mechanism is simple in overall structure and convenient to use.
It is worth noting that: the whole device realizes control to the remote control device through the control button on the remote control device, and because the equipment matched with the control button is common equipment, the device belongs to the prior mature technology, and the electrical connection relation and the specific circuit structure are not repeated.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (7)
1. A buoyancy adjusting device of an underwater walking mechanism comprises a main body platform (1) arranged at the top of the underwater walking mechanism, wherein the main body platform is hollow, and through grooves (2) are symmetrically formed in two sides of the main body platform, and is characterized in that a floating plate (3), a lead screw (6) and a driving motor (8) are arranged in the main body platform (1); two floating plates (3) are symmetrically arranged on two sides of the main body platform (1), one end of each of the two floating plates (3) extends out of the corresponding through groove (2), and the other end of each of the two floating plates is bent upwards to form a limiting support plate (4) which is abutted to the inner wall of the top of the main body platform (1); the lead screw (6) is transversely arranged at the bottom of the main body platform (1), two ends of the lead screw are rotatably arranged on the inner wall of the main body platform (1) through bearings (7), the driving motor (8) is arranged at the top of the main body platform (1), the output end of the driving motor (8) and the middle part of the lead screw (6) are respectively provided with a gear (9), the two gears (9) are opposite up and down, and the two gears (9) are connected through a transmission chain (10); the thread directions of two sides of the gear (9) on the screw rod (6) are opposite, two ends of the screw rod (6) are respectively sleeved with a walking slider (11) in a threaded manner, and the two walking sliders (11) are respectively fixedly connected with the bottoms of the two floating plates (3).
2. The buoyancy adjusting device of an underwater walking mechanism according to claim 1, wherein: and a sealing sleeve (5) which is used for sealing and coating the floating plate (3) is embedded in the through groove (2).
3. The buoyancy adjusting device of an underwater walking mechanism according to claim 1, wherein: the upper surface of the limiting support plate (4) is of an arched arc curved surface structure.
4. The buoyancy adjusting device of an underwater walking mechanism according to claim 1, wherein: the floating plate is characterized in that guide plates (12) of a triangular prism structure are respectively arranged on two sides of the floating plate (3), one side edge of each guide plate (12) points to the advancing direction or the reverse advancing direction of the underwater walking mechanism, and a limiting end plate (13) is arranged at the outer end of the floating plate (3).
5. The buoyancy adjusting device of an underwater walking mechanism according to claim 1, wherein: the traveling sliding block (11) is provided with a displacement sensor, a power supply device and an integrated control circuit board (14) are arranged in the main body platform (1), the power supply device is electrically connected with the driving motor (8), and the integrated control circuit board (14) is respectively connected with the displacement sensor and the control end of the driving motor (8).
6. The buoyancy adjusting device of an underwater vehicle according to claim 5, wherein: and an adaptive remote control device is arranged outside the integrated control circuit board (14), and the remote control device and the integrated control circuit board (14) are in wireless transmission.
7. The method for controlling buoyancy adjustment of an underwater vehicle according to any one of claims 1 to 6, wherein: the method comprises the following specific steps:
s1: the telescopic distance of the floating plate (3) is set through a remote control device, and a signal is sent to the integrated control circuit board (14);
s2: the integrated control circuit board (14) triggers the driving motor (8) to start according to the instruction, drives the screw rod (6) to rotate, drives the two floating plates (3) to move through the movement of the walking slide block (11), and adjusts the distance of the floating plates extending out of the main body platform (1);
s3: the displacement sensor acquires a moving signal of the floating plate (3) in real time and sends the signal to the integrated control circuit board (14), and when the set displacement is reached, the driving motor (8) stops to complete the telescopic adjustment of the floating plate (3), so that the integral buoyancy adjustment is realized.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2020103677989 | 2020-04-30 | ||
| CN202010367798 | 2020-04-30 |
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| Publication Number | Publication Date |
|---|---|
| CN111959721A CN111959721A (en) | 2020-11-20 |
| CN111959721B true CN111959721B (en) | 2022-09-27 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202010653996.1A Active CN111959721B (en) | 2020-04-30 | 2020-07-08 | Buoyancy adjusting device of underwater walking mechanism and control method thereof |
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Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113479309B (en) * | 2021-07-22 | 2022-04-26 | 中国船舶科学研究中心 | Manned submersible unpowered trim auxiliary restraining device and operation method |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS62292587A (en) * | 1986-06-10 | 1987-12-19 | Sumitomo Heavy Ind Ltd | Underwater floating body for semi-submerged marine structure |
| JP2001130486A (en) * | 1999-11-09 | 2001-05-15 | Mitsubishi Heavy Ind Ltd | Submarine |
| CN205044929U (en) * | 2015-06-16 | 2016-02-24 | 张胜武 | Novel submarine |
| US9381987B1 (en) * | 2015-10-01 | 2016-07-05 | Mrv Systems, Llc | Air-based-deployment-compatible underwater vehicle configured to perform vertical profiling and, during information transmission, perform motion stabilization at a water surface, and associated methods |
| CN108382550A (en) * | 2018-02-02 | 2018-08-10 | 上海交通大学 | Robot device and working method under a kind of multifunctional water |
| CN109292052A (en) * | 2018-11-08 | 2019-02-01 | 中国船舶科学研究中心（中国船舶重工集团公司第七0二研究所） | A kind of ship model experiment fin angle adjustment device |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2016179600A1 (en) * | 2015-05-07 | 2016-11-10 | Sri International | Kite-powered unmanned underwater vehicle |
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2020
- 2020-07-08 CN CN202010653996.1A patent/CN111959721B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS62292587A (en) * | 1986-06-10 | 1987-12-19 | Sumitomo Heavy Ind Ltd | Underwater floating body for semi-submerged marine structure |
| JP2001130486A (en) * | 1999-11-09 | 2001-05-15 | Mitsubishi Heavy Ind Ltd | Submarine |
| CN205044929U (en) * | 2015-06-16 | 2016-02-24 | 张胜武 | Novel submarine |
| US9381987B1 (en) * | 2015-10-01 | 2016-07-05 | Mrv Systems, Llc | Air-based-deployment-compatible underwater vehicle configured to perform vertical profiling and, during information transmission, perform motion stabilization at a water surface, and associated methods |
| CN108382550A (en) * | 2018-02-02 | 2018-08-10 | 上海交通大学 | Robot device and working method under a kind of multifunctional water |
| CN109292052A (en) * | 2018-11-08 | 2019-02-01 | 中国船舶科学研究中心（中国船舶重工集团公司第七0二研究所） | A kind of ship model experiment fin angle adjustment device |
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| CN111959721A (en) | 2020-11-20 |
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