CN112498634A - 1500-meter-level hybrid driving type underwater glider - Google Patents
1500-meter-level hybrid driving type underwater glider Download PDFInfo
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- CN112498634A CN112498634A CN202011492080.9A CN202011492080A CN112498634A CN 112498634 A CN112498634 A CN 112498634A CN 202011492080 A CN202011492080 A CN 202011492080A CN 112498634 A CN112498634 A CN 112498634A
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- load rejection
- buoyancy
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- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 8
- 239000003921 oil Substances 0.000 claims description 47
- 238000007789 sealing Methods 0.000 claims description 36
- 239000003638 chemical reducing agent Substances 0.000 claims description 27
- 229910000831 Steel Inorganic materials 0.000 claims description 17
- 239000010959 steel Substances 0.000 claims description 17
- 239000003381 stabilizer Substances 0.000 claims description 7
- 239000010720 hydraulic oil Substances 0.000 claims description 6
- 238000013461 design Methods 0.000 claims description 3
- 150000003839 salts Chemical class 0.000 claims description 3
- 239000013535 sea water Substances 0.000 claims description 3
- 230000008878 coupling Effects 0.000 claims 1
- 238000010168 coupling process Methods 0.000 claims 1
- 238000005859 coupling reaction Methods 0.000 claims 1
- 238000004891 communication Methods 0.000 abstract description 7
- 230000005484 gravity Effects 0.000 abstract description 7
- 230000001105 regulatory effect Effects 0.000 abstract description 5
- 230000005540 biological transmission Effects 0.000 abstract description 2
- 238000011084 recovery Methods 0.000 abstract description 2
- 238000001514 detection method Methods 0.000 description 4
- 230000000087 stabilizing effect Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000009189 diving Effects 0.000 description 2
- 238000007667 floating Methods 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- 238000011160 research Methods 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000000605 extraction Methods 0.000 description 1
- 238000003780 insertion Methods 0.000 description 1
- 230000037431 insertion Effects 0.000 description 1
- 230000000670 limiting effect Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000008092 positive effect Effects 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
-
- 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
- B63G8/22—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
- B63G8/24—Automatic depth adjustment; Safety equipment for increasing buoyancy, e.g. detachable ballast, floating bodies
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
- B63G2008/002—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Connection Of Motors, Electrical Generators, Mechanical Devices, And The Like (AREA)
Abstract
The invention belongs to the field of underwater robots, in particular to a 1500-meter hybrid drive type underwater glider which comprises a glider body, a main control system, a buoyancy regulating system, a pitching regulating system, a steering regulating system, an energy system, a navigation communication system, an emergency load rejection system and a propeller system, wherein the main control system is connected with the buoyancy regulating system; the main control system controls the buoyancy adjusting system to adjust the buoyancy of the glider; the pitching adjusting system adjusts the pitching attitude by adjusting the position of the gravity center; the steering adjusting body system realizes steering movement by adjusting a steering mechanism; the energy system provides energy for all actions of the glider; the navigation communication system is used for positioning tracking and data transmission; the emergency load rejection system ensures recovery when the glider fails; the main control system controls the propeller system to realize accelerated propelling movement. The invention can be widely applied to the application of rapidly detecting water area information and the like.
Description
Technical Field
The invention belongs to the field of underwater robots, and particularly relates to a 1500-meter hybrid drive type underwater glider.
Background
The research of ocean science is always the key point of competition of all countries, and the rapid development of underwater gliders leads China to occupy a certain leading position in ocean research; however, the speed of most gliders is limited to a certain extent, and the speed of the gliders driven only by buoyancy can only reach about 1 section.
Disclosure of Invention
In order to solve the defects in the speed aspect of the underwater glider, the invention aims to provide a 1500-meter hybrid drive type underwater glider.
The purpose of the invention is realized by the following technical scheme:
the invention comprises a glider body, a main control system, a pitching adjusting system, a buoyancy adjusting system, a steering adjusting system, an energy system, an emergency load rejection system and a propeller system, wherein the glider body is in a modular design and is divided into a bow cabin section, a pitching cabin section, a fixed wing cabin section and a stern cabin section, a sensor is hung outside the bow cabin section, the main control system, the pitching adjusting system and the energy system are respectively arranged in the pitching cabin section, the buoyancy adjusting system is arranged in the stern cabin section, the steering adjusting system and the propeller system are respectively arranged on a stern end cover behind the stern cabin section, and the emergency load rejection system is also arranged on the stern end cover; the pitching adjusting system, the buoyancy adjusting system, the steering adjusting system, the emergency load rejection system and the propeller system are respectively connected with the main control system.
Wherein: and the bow cabin section is respectively provided with an altimeter, a thermohaline depth sensor and a DVL sensor, and connecting cables of the altimeter, the thermohaline depth sensor and the DVL sensor are vulcanized together to form an independent connector and are connected with the main control system.
The pitching adjusting system comprises a motor, a worm and gear component A, a gear, a rack, supporting square steel, supporting rings and pull rods, wherein the two ends of the supporting square steel are respectively connected with the supporting rings, the supporting rings at the two ends are fixedly connected in the pitching cabin section after being connected through the pull rods, the energy system can be sleeved on the supporting square steel in a relatively sliding manner, a rectangular hole is formed in the supporting square steel along the length direction, and the rack is arranged in the supporting square steel through the rectangular hole and is fixed; the motor is arranged on an energy system, the output end of the motor is connected with a gear through the worm gear assembly A, and the gear is meshed with the rack.
The buoyancy adjusting system comprises a buoyancy motor, a plunger pump, an inner oil bag assembly, an outer oil bag, a diaphragm pump, an end cover and a connecting rod, wherein the outer oil bag is arranged on the end cover and is immersed in seawater where the underwater glider is located; two hydraulic pipelines are connected in parallel between the outer oil bag and the inner oil bag in the inner oil bag assembly, one hydraulic pipeline is connected with the plunger pump and the one-way valve which can only discharge oil from the inner oil bag to the outer oil bag, and the other hydraulic pipeline is connected with the diaphragm pump and the electromagnetic switch valve; the buoyancy motor drives the plunger pump to discharge hydraulic oil into the outer oil bag from the inner oil bag, so that the buoyancy is increased to enable the underwater glider to float, the diaphragm pump discharges the hydraulic oil into the inner oil bag from the outer oil bag, and the buoyancy is reduced to enable the underwater glider to dive.
The steering adjusting system comprises a steering motor, a worm and gear assembly B, a rudder blade, a rudder shaft, a motor fixing seat and a stabilizing wing, wherein the steering motor is installed on a stern cabin section through the motor fixing seat, the stabilizing wing is fixedly connected to the motor fixing seat, the output end of the steering motor is connected with the rudder shaft through the worm and gear assembly B, the lower end of the rudder blade is connected with the rudder shaft, and the upper end of the rudder blade is rotatably connected with the stabilizing wing.
The steering shaft is rotatably connected with the motor fixing seat, a worm in the worm gear assembly B is connected with the output end of the steering motor, and the worm gear is linked with the steering shaft and meshed with the worm.
The emergency load rejection system comprises a motor fixing seat, a shaft sealing seat, a spring piece, a load rejection rotating shaft, a rotating wheel, an opening wheel, a ball head support piece, a lead block, a direct current motor and a planetary gear reducer, wherein the motor fixing seat is connected with a stern end cover in a sealing manner, the direct current motor and the planetary gear reducer are sequentially inserted into the motor fixing seat, the shaft sealing seat is connected with the motor fixing seat in a sealing manner, the load rejection rotating shaft is inserted into the shaft sealing seat in a sealing manner, one end of the load rejection rotating shaft is located in the shaft sealing seat and is rotatably connected with the shaft sealing seat through a bearing, the other end of the load rejection rotating shaft penetrates out of the shaft sealing seat and is connected with the rotating wheel, and one end of the load rejection rotating shaft is connected with an output shaft of the planetary gear reducer and is; the rotating wheel is provided with a threaded shaft, the threaded shaft is connected with an opening wheel rotating along with the rotating wheel, annular grooves are formed in the opposite surfaces of the opening wheel and the rotating wheel, and openings are formed in the annular grooves of the opening wheel; the lead block is provided with a ball head support piece, and a ball head of the ball head support piece is contained in the annular grooves of the rotating wheel and the opening wheel; one side of the spring piece is sleeved on the shaft seal seat, the other side of the spring piece is abutted against the inner side face of the lead block, the throwing load rotating shaft drives the rotating wheel and the opening wheel to synchronously rotate, the notch rotates to the position of the ball head, and the ball head support piece and the lead block realize throwing load through the elasticity of the spring piece.
One end of the load rejection rotating shaft is provided with a U-shaped hole, a cylindrical pin is inserted into an output shaft of the planetary gear reducer, the output shaft of the planetary gear reducer is inserted into the load rejection rotating shaft, the cylindrical pin is contained in the U-shaped hole, and two ends of the cylindrical pin are respectively abutted against the inner surfaces of two side walls of the U-shaped hole.
The rotating wheel is coaxially arranged on the load rejection rotating shaft, the middle of the rotating wheel extends along the axial direction to form the threaded shaft, and the opening wheel is connected to the threaded shaft in a threaded mode.
The invention has the advantages and positive effects that:
1. the propeller system carried by the invention can increase extra power for the underwater glider on the basis of the original speed, and can detect some strong current sea areas.
2. The pitching adjusting system of the invention replaces the movement of the gravity center block with the movement of the energy battery, thereby reducing the weight of the glider and increasing the battery capacity of the glider.
3. This buoyancy governing system of glider is with outside oil pocket oil extraction of plunger pump, with the diaphragm pump toward interior oil pocket oil return, there are two sets of hydraulic system in other words, can improve the efficiency of pump.
4. The pitching adjustment and the steering adjustment of the glider adopt different systems, the adjustment can be realized simultaneously, and the posture of the glider can be changed quickly.
5. When the glider breaks down, the recovery can be realized through the emergency load rejection system, and the loss is reduced.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a schematic structural view of a bow cabin segment plug-in sensor according to the present invention;
FIG. 3 is a schematic diagram of the pitch adjustment system of the present invention;
FIG. 4 is a schematic view of the buoyancy regulating system of the present invention;
FIG. 5 is a schematic view of the steering adjustment system of the present invention;
FIG. 6 is a schematic diagram of an emergency load rejection system according to the present invention;
wherein: 1 is a glider body, 2 is a main control system, 3 is a pitch adjustment system, 301 is a motor, 302 is a worm gear assembly a, 303 is a gear, 304 is a rack, 305 is supporting square steel, 306 is a supporting ring, 307 is a pull rod, 4 is a buoyancy adjustment system, 401 is a buoyancy motor, 402 is a plunger pump, 403 is an inner oil bag assembly, 404 is an outer oil bag, 405 is a diaphragm pump, 406 is an end cover, 407 is a connecting rod, 5 is a steering adjustment system, 501 is a steering motor, 502 is a worm gear assembly B, 503 is a rudder sheet, 504 is a rudder shaft, 505 is a motor fixing seat, 506 is a stabilizer vane, 6 is an energy system, 701 is a motor fixing seat, 702 is a bearing support seat, 703 is a shaft seal seat, 704 is a spring sheet, 705 is a throwing rotating shaft, 706 is a rotating wheel, 707 is an opening wheel, 708 is a ball head support, 709 is a lead block, 710 is a direct current motor, 711 is a planetary gear reducer, 712 is a screw a, the device comprises an O-shaped sealing ring A713, an O-shaped sealing ring B714, a cylindrical pin 715, a screw B716, a thrust ball bearing 717, a deep groove ball bearing 718, an O-shaped sealing ring C719, a screw C720, a self-locking nut A721, a self-locking nut B722, a ring groove 723, a notch 724, a threaded shaft 725, a propeller system 8, a bow cabin section 9, a height gauge 901, a temperature and salt depth sensor 902, a DVL sensor 903, a pitching cabin section 10, a fixed wing cabin section 11 and a stern section 12.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
As shown in fig. 1, the invention comprises a glider body 1, a main control system 2, a pitching adjusting system 3, a buoyancy adjusting system 4, a steering adjusting system 5, an energy system 6, a navigation communication system, an emergency load rejection system and a propeller system 8, wherein the glider body 1 is in a modular design and is divided into a bow cabin section 9, a pitching cabin section 10, a fixed wing cabin section 11 and a stern cabin section 12, a sensor is externally hung on the bow cabin section 9, different sensors can be carried according to task requirements, and only the bow needs to be redesigned; the main control system 2, the pitching adjusting system 3, the energy system 6 and the navigation communication system are respectively arranged on the pitching cabin section, the buoyancy adjusting system 4 is arranged in the stern cabin section 12, the steering adjusting system 5 and the propeller system 8 are respectively arranged on a stern end cover behind the stern cabin section 12, and the stern end cover is also provided with an emergency load rejection system; the pitching adjusting system 3, the buoyancy adjusting system 4, the steering adjusting system 5, the navigation communication system, the emergency load rejection system and the propeller system 8 are respectively connected with the main control system 2, and the main control system 2 controls the navigation communication system to communicate with an upper computer and transmit data, so that positioning tracking and data transmission are realized. The main control system 2 controls the buoyancy adjusting system 3 to adjust the buoyancy of the underwater glider, the main control system 2 controls the pitching adjusting system 4 to adjust the floating and diving of the glider, the main control system 2 controls the steering adjusting system 5 to realize the turning movement of the glider, the energy of the main control system 2 is provided by the energy system 6, and the main control system 2 controls the propulsion system 8 to realize the acceleration movement of the glider. The main control system 2, the navigation communication system and the propeller system 8 of the invention are all the prior art, the propeller system 8 is arranged on the stern cabin section 12, penetrates into the glider body 1 through a unique and independent connector and is connected to the main control system 2, the structure is simple, and the maintenance is convenient. .
As shown in fig. 1 and 2, the bow cabin 9 of the present embodiment is respectively provided with an altimeter 901, a thermohaline depth sensor 902 and a DVL (acoustic doppler velocity log) sensor 903, and the connecting cables of the altimeter 901, the thermohaline depth sensor 902 and the DVL sensor 903 are vulcanized together to form a single connector and are connected with the main control system 2, so that the space is saved and the maintenance is facilitated.
As shown in fig. 1 and 3, the pitch adjustment system 3 of the present embodiment includes a motor 301, a worm and gear assembly a302, a gear 303, a rack 304, a supporting square steel 305, supporting rings 306, and a pull rod 307, where two ends of the supporting square steel 305 are respectively connected with the supporting rings 306, the supporting rings 306 at two ends are connected by the pull rod 307 and then fixedly connected in the pitch cabin section 10, the energy system 6 is sleeved on the supporting square steel 305 in a relatively slidable manner, a rectangular hole is formed in the supporting square steel 305 along the length direction, and the rack 304 is placed in the supporting square steel 305 through the rectangular hole and is fixed; the motor 301 is installed on the energy system 6, the output end of the motor is connected with the worm in the worm gear assembly A302, the worm gear shaft in the worm gear assembly A302 is installed on the energy system 6 in a rotating mode, the gear 303 is further linked on the shaft, and the gear 303 is meshed with the rack 304. The energy system 6 of this embodiment is formed by connecting energy batteries in series and parallel to form an adjusting block, the energy system 6, the motor 301, the worm gear assembly a302 and the gear 303 are integrated, under the driving of the motor 301, after the speed is reduced by the worm gear assembly a302, the energy system can slide back and forth left and right along the length direction of the supporting square steel 305 by the meshing of the gear 303 and the rack 304, the energy system 6 not only provides electric energy, but also plays a role of a heavy object, the relative distance between the gravity center and the floating center of the underwater glider can be changed by the back and forth sliding of the energy system 6 left and right, and the pitching attitude of the underwater glider can be adjusted.
As shown in fig. 1 and 4, the buoyancy adjusting system 4 of the present embodiment includes a buoyancy motor 401, a plunger pump 402, an inner oil bag assembly 403, an outer oil bag 404, a diaphragm pump 405, an end cover 406 and a connecting rod 407, where the outer oil bag 404 is mounted on the end cover 406 and is submerged in seawater of an underwater glider, the end cover 406 is hermetically connected to the stern section 12, the inner oil bag assembly 403 is connected to the end cover 406 through the connecting rod 407, a fixing plate is mounted on the connecting rod 407, and the buoyancy motor 401, the plunger pump 402 and the diaphragm pump 405 are respectively mounted on the fixing plate; two hydraulic pipelines are connected in parallel between the outer oil bag 404 and the inner oil bag in the inner oil bag assembly 403, one hydraulic pipeline is connected with the plunger pump 402 and a one-way valve which can only discharge oil from the inner oil bag to the outer oil bag 404, and the other hydraulic pipeline is connected with the diaphragm pump 405 and the electromagnetic switch valve; buoyancy motor 401 drive plunger pump 402 is discharged hydraulic oil into outer oil bag 404 by interior oil bag, and then increase buoyancy, realizes the come-up of glider under water, and diaphragm pump 405 is discharged hydraulic oil back to interior oil bag by outer oil bag 404, and then reduces buoyancy, realizes the dive action of glider under water.
As shown in fig. 1 and 5, the steering adjustment system 5 of the present embodiment includes a steering motor 501, a worm and gear assembly B502, a rudder blade 503, a rudder shaft 504, a motor fixing seat 505 and a stabilizer 506, the steering motor 501 is mounted on the stern section 12 through the motor fixing seat 505, the stabilizer 506 is fixedly connected to the motor fixing seat 505, an output end of the steering motor 501 is connected to the rudder shaft 504 through the worm and gear assembly B502, the rudder shaft 504 is rotatably connected to the motor fixing seat 505, a worm in the worm and gear assembly B502 is connected to an output end of the steering motor 501, and a worm wheel is linked to the rudder shaft 504 and meshed with the worm; the rudder blade 503 has a lower end connected to the rudder shaft 504 and an upper end rotatably connected to the stabilizer 506. After being decelerated, the steering motor 501 drives the rudder sheet 503 to rotate along the axis in fig. 5 through the worm gear assembly B502, so that the heading of the underwater glider can be changed.
As shown in fig. 1 and 6, the emergency load rejection system of this embodiment includes a motor fixing seat 701, a bearing support seat 702, a shaft seal seat 703, a spring plate 704, a load rejection rotating shaft 705, a rotating wheel 706, an opening wheel 707, a ball head support 708, a lead block 709, a dc motor 710 and a planetary gear reducer 711, where the motor fixing seat 701 is a cylindrical rotating body and is connected with a stern end cover in a sealing manner, the axial cross section is a hollow "T" shape, two side surfaces of the "T" shape are both provided with O-ring grooves, an O-ring a713 connected with the stern end cover in a sealing manner is disposed in the O-ring groove on one side, and an O-ring B714 connected with the shaft seal seat 703 in a sealing manner is disposed in the O-ring groove on the other side; the direct current motor 710 and the planetary gear reducer 711 are sequentially inserted into the motor fixing seat 701 and connected in a coaxial and direct connection manner.
The shaft seal seat 703 is a cylindrical revolving body with a hollow structure inside, and the motor fixing seat 701 and the shaft seal seat 703 are both cylindrical revolving bodies and can resist high pressure (70 MPa). One end of the shaft seal seat 703 is fixedly connected with the motor fixing seat 701 in a sealing manner, and the other end of the shaft seal seat 703 is connected with the load rejection rotating shaft 705 in a sealing manner through two piston seal modes (namely two O-shaped seal rings C719) to ensure the reliability of dynamic seal and the sealing performance under high pressure. The load rejection rotating shaft 705 is in sealed insertion with the shaft seal seat 703, one end of the load rejection rotating shaft is positioned in the shaft seal seat 703 and is rotatably connected with the shaft seal seat 703 through a thrust bearing 717 and a deep groove ball bearing 718, and the other end of the load rejection rotating shaft 705 penetrates out of the shaft seal seat 703 and is connected with a rotating wheel 706. The thrust ball bearing 717 and the deep groove ball bearing 718 are respectively sleeved at one end of the load rejection rotating shaft 705, shaft shoulders on two sides of one end of the load rejection rotating shaft 705 are respectively supported by the thrust ball bearing 717 and the deep groove ball bearing 718, the condition that the load rejection rotating shaft 705 is coaxial with the shaft sealing seat 703 is guaranteed, the hydraulic pressure axial force under a large depth (7000m) is balanced, and the condition that the axial force is transmitted to an output shaft of the planetary gear reducer 711 to damage the output shaft is avoided. A bearing support seat 702 is arranged between the shaft seal seat 703 and the motor fixing seat 701, an inner hole on one side of the bearing support seat 702 is sleeved with a bottom ring of the thrust ball bearing 717, the outer surface of the bearing support seat 702 is sleeved with the shaft seal seat 703, and the other side of the bearing support seat 702 is sleeved with a spigot of the motor fixing seat 701, so that the motor fixing seat 701 and the shaft seal seat 703 are coaxial. One end of the load rejection rotating shaft 705 is provided with a U-shaped hole, a cylindrical pin 715 is inserted into an output shaft of the planetary gear reducer 711, the output shaft of the planetary gear reducer 711 is inserted into the load rejection rotating shaft 705, the cylindrical pin 715 is accommodated in the U-shaped hole, and two ends of the cylindrical pin 715 are respectively abutted to the inner surfaces of two side walls of the U-shaped hole, so that the direct current motor 710 and the planetary gear reducer 711 drive the load rejection rotating shaft 705 to rotate.
The rotating wheel 706 is coaxially arranged at the other end of the load rejection rotating shaft 705, a threaded shaft 725 is formed by extending the middle of the load rejection rotating shaft in the axial direction, and the opening wheel 707 is connected to the threaded shaft 725 in a threaded mode and rotates along with the rotating wheel 706. The opposite surfaces of the opening wheel 707 and the rotating wheel 706 are both provided with annular grooves 723, and the annular grooves 723 of the opening wheel 707 are provided with notches 724.
Middle holes are formed in the two sides of the spring piece 704, the center hole in one side penetrates through the shaft sealing seat 703, and the shaft sealing seat 703 and the spring piece 704 are fixed on the motor fixing seat 701 through screws; the other side of the spring plate 704 abuts against the inner side surface of the lead block 709. The lead block 709 is provided with a middle hole which is a stepped hole. The ball head support piece 708 is in an inverted T shape, the end part of the vertical edge of the T shape is a ball head, and the part of the vertical edge of the T shape is provided with an external thread; the ball head holder 708 penetrates through the middle hole of the lead block 709 and is fixed with the lead block 709 through a self-locking nut, and the ball head of the ball head holder 708 penetrates through the central hole on the other side of the spring piece 704 and is contained in the rotating wheel 706 and the annular groove 723 of the opening wheel 707. The rotating wheel 706 and the opening wheel 707 are driven to synchronously rotate through the load rejection rotating shaft 705, the notch 724 rotates to the position of the ball head, and the ball head support 708 and the lead block 709 realize load rejection through the elasticity of the spring piece 704.
The direct current motor 710 and the planetary gear reducer 711 are connected in a coaxial and direct connection mode, the direct current motor 710 and the planetary gear reducer 711 are simultaneously inserted into the motor fixing seat 701, a flange positioning seam allowance of the planetary gear reducer 711 is sleeved with a seam allowance hole of the motor fixing seat 701, the planetary gear reducer 711 and the motor fixing seat 701 are ensured to be coaxial, and the planetary gear reducer 711 is fixed on the motor fixing seat 701 through a screw A712; an O-shaped sealing ring A713 is sleeved in an O-shaped ring groove on the left side of the motor fixing seat 701 and used for sealing between the safety load rejection device and the underwater robot; an O-ring B714 is sleeved in an O-ring groove on the right side of the motor fixing seat 701, and is used for sealing between the motor fixing seat 701 and the shaft sealing seat 703.
The two O-ring seals C719 are respectively sleeved in the two radial O-ring seal grooves of the load rejection rotating shaft 705, and are used for dynamic sealing between the load rejection rotating shaft 705 and the shaft seal seat 703. Sleeving a deep groove ball bearing 718 on a right shaft shoulder at one end of the load rejection rotating shaft 705, and using the deep groove ball bearing for radial support when the load rejection rotating shaft 705 rotates to ensure that the load rejection rotating shaft 705 and the shaft sealing seat 703 are coaxial; the thrust ball bearing 717 is sleeved on a left shaft shoulder at one end of the load rejection rotating shaft 705, and is used for transferring the water pressure axial force on the load rejection rotating shaft 705 to the bearing support seat 702, so that the output shaft of the planetary gear reducer 711 is prevented from bearing the axial force. Then the load rejection rotating shaft 705 is inserted into the shaft seal seat 703 together with the deep groove ball bearing 718 and the thrust ball bearing 717, so that the sealing surface of the load rejection rotating shaft 705 is well fitted with the sealing surface of the shaft seal seat 703. Then, the right inner hole of the bearing support seat 702 is sleeved with the bottom ring of the thrust ball bearing 717, and the outer surface of the bearing support seat 702 is sleeved with the left hole of the shaft seal seat 703; inserting a cylindrical pin 715 into a transverse hole of an output shaft of the planetary gear reducer 711 to ensure that the lengths of the protruding parts on both sides of the cylindrical pin 715 are equal; then, the output shaft of the planetary gear reducer 711 is inserted into the load rejection rotating shaft 705, the cylindrical pin 715 is contained in the U-shaped hole on the left side of the load rejection rotating shaft 705, and the left side of the shaft support seat 702 is sleeved with the right spigot of the motor fixing seat 701, so that the motor fixing seat 701 and the shaft seal seat 703 are coaxial.
The left center hole of the spring plate 704 passes through the shaft seal holder 703, and the shaft seal holder 703 and the spring plate 704 are fixed on the motor fixing seat 701 by 4 screws B716. Inserting the right end of the load rejection rotating shaft 705 into a left hole of the rotating wheel 706, and screwing the rotating wheel 706 clockwise until a transverse threaded hole in the load rejection rotating shaft 705 is aligned with a transverse mounting hole of the rotating wheel 706; then, the screw C720 is inserted through the transverse mounting hole of the rotating wheel 706 and is matched with the transverse threaded hole on the load rejection rotating shaft 705, and the screw C720 is screwed down to fix the load rejection rotating shaft 705 and the rotating wheel 706 together. The center hole of the opening wheel 707 is then engaged with the right threaded shaft 725 of the turning wheel 706, and the opening wheel 707 is fixed to the turning wheel 706 by the self-locking nut a 721. The ball mount 708 is inserted through the central hole of the lead 709 and secured together by a self-locking nut B722. Starting the direct current motor 710, rotating the rotating wheel 706 and the opening wheel 707 simultaneously, and stopping the direct current motor 710 when the opening of the opening wheel 707 faces the spring piece 704 downwards; the ball bearing 708 penetrates through a middle hole in the right side of the spring piece 704, the ball is placed in a ring groove 723 formed between the rotating wheel 706 and the opening wheel 707, the position of the ball bearing 708 is kept unchanged, the direct current motor 710 is started until a notch 724 on the opening wheel 707 rotates 180 degrees, namely the notch 724 faces upwards, and the direct current motor 710 is stopped.
The working process of the invention is as follows:
after the operation ship arrives at the deployment sea area, the deployment device is used for placing the glider into the sea surface, the buoyancy adjusting system 4 is controlled through the main control system 2, the buoyancy of the glider is reduced, the glider sinks to the sea surface at a set angle, and the speed at the moment can reach 1 section. At this time, the propeller system 8 can be opened to accelerate the diving speed of the glider, and the speed can reach 3 sections. After the operation depth is reached, the main control system 2 controls the buoyancy adjusting system 4 to increase the buoyancy of the glider, so that the glider floats upwards, the propeller system 8 can be opened at the moment to accelerate the floating speed of the glider, and thus, the glider can rapidly complete the detection of a section. After completing all tasks, the glider is recovered from the working vessel.
The glider of the invention can only open the propeller system 8 when the gravity and the buoyancy are equal when the glider is operated, such as when the glider is submerged to the seabed, thus completing the detection of a horizontal plane. The heading and horizontal velocity at that time can be measured by the DVL sensor.
The speed of the glider can reach 3 sections when the buoyancy driving and propeller system is completely opened, and the speed can cross some strong flow areas, so that sea area detection which cannot be finished by the glider driven by the buoyancy only in the prior art is finished.
When a glider has a fatal fault or encounters danger, the main control system 2 starts the direct current motor 710; the direct current motor 710 transmits torque to the load rejection rotating shaft 705 after being decelerated by the planetary gear reducer 711, and the load rejection rotating shaft 705 transmits the torque to the rotating wheel 706 and the opening wheel 707; the rotating wheel 706 and the opening wheel 707 rotate together as a whole, and the ball head support 708 and the lead block 709 cannot rotate along with the rotating wheel 706 and the opening wheel 707 due to the action of gravity and the elastic force of the spring piece 704; the ball head of the ball head support 708 can slide in the annular groove 723 between the rotating wheel 706 and the opening wheel 707 until the position of the opening 724 of the opening wheel 707 rotates to the position of the ball head support 708, the ball head loses the limiting effect of the annular groove 723, and the ball head support 708 and the lead block 709 are separated under the combined action of the gravity of the ball head support 708 and the elastic force of the spring piece 704; after the ball head support 708 is separated from the lead block 709, the weight of the whole glider is reduced, the buoyancy is larger than the gravity of the glider, and the glider floats out of the water.
The 1500-meter hybrid-driven underwater glider with the propeller has certain advantages in the aspect of detection speed, can reach about 3 knots in the mode of simultaneously starting buoyancy driving and propeller driving, and ensures that the glider can penetrate through some high-current sea areas.
Claims (9)
1. The utility model provides a 1500 meters level hybrid drive formula glider under water which characterized in that: comprises a glider body (1), a main control system (2), a pitching adjusting system (3), a buoyancy adjusting system (4), a steering adjusting system (5), an energy system (6), an emergency load rejection system and a propeller system (8), wherein the glider body (1) is in a modular design and is divided into a bow cabin section (9), a pitching cabin section (10), a fixed wing cabin section (11) and a stern cabin section (12), the bow cabin section (9) is externally hung with a sensor, the main control system (2), the pitching adjusting system (3) and the energy system (6) are respectively arranged on the pitching cabin section, the buoyancy adjusting system (4) is arranged in the stern cabin section (12), the steering adjusting system (5) and the propeller system (8) are respectively arranged on a stern end cover behind the stern cabin section (12), and the stern end cover is also provided with an emergency load rejection system; the pitching adjusting system (3), the buoyancy adjusting system (4), the steering adjusting system (5), the emergency load rejection system and the propeller system (8) are respectively connected with the main control system (2).
2. The 1500-meter hybrid drive underwater glider of claim 1, characterized in that: and the bow cabin section (9) is respectively provided with an altimeter (901), a temperature and salt depth sensor (902) and a DVL sensor (903), and connecting cables of the altimeter (901), the temperature and salt depth sensor (902) and the DVL sensor (903) are vulcanized together to form a single connector and are connected with the main control system (2).
3. The 1500-meter hybrid drive underwater glider of claim 1, characterized in that: the pitching adjusting system (3) comprises a motor (301), a worm and gear assembly A (302), a gear (303), a rack (304), supporting square steel (305), supporting rings (306) and a pull rod (307), wherein the two ends of the supporting square steel (305) are respectively connected with the supporting rings (306), the supporting rings (306) at the two ends are fixedly connected in the pitching cabin section (10) after being connected through the pull rod (307), the energy system can be sleeved on the supporting square steel (305) in a relatively sliding manner, a rectangular hole is formed in the supporting square steel (305) along the length direction, and the rack (304) is arranged in the supporting square steel (305) through the rectangular hole and is fixed; the motor (301) is installed on an energy system (6), the output end of the motor is connected with a gear (303) through the worm gear assembly A (302), and the gear (303) is meshed with the rack (304).
4. The 1500-meter hybrid drive underwater glider of claim 1, characterized in that: the buoyancy adjusting system (4) comprises a buoyancy motor (401), a plunger pump (402), an inner oil bag assembly (403), an outer oil bag (404), a diaphragm pump (405), an end cover (406) and a connecting rod (407), wherein the outer oil bag (404) is installed on the end cover (406) and is immersed in sea water where the underwater glider is located, the end cover (406) is hermetically connected with a stern section (12), the inner oil bag assembly (403) is connected with the end cover (406) through the connecting rod (407), a fixing plate is installed on the connecting rod (407), and the buoyancy motor (401), the plunger pump (402) and the diaphragm pump (405) are respectively installed on the fixing plate; two hydraulic pipelines are connected in parallel between the outer oil bag (404) and the inner oil bag in the inner oil bag assembly (403), one hydraulic pipeline is connected with the plunger pump and a one-way valve which can only discharge oil from the inner oil bag to the outer oil bag (404), and the other hydraulic pipeline is connected with the diaphragm pump and the electromagnetic switch valve; buoyancy motor (401) drive plunger pump (402) are discharged hydraulic oil into outer oil bag (404) by interior oil bag, and then increase buoyancy makes glider come-up under water, diaphragm pump (405) are discharged hydraulic oil back to interior oil bag by outer oil bag (404), and then reduce buoyancy and make glider dive under water.
5. The 1500-meter hybrid drive underwater glider of claim 1, characterized in that: turn to governing system (5) including turning to motor (501), worm gear subassembly B (502), rudder piece (503), rudder axle (504), motor fixing base (505) and stabilizer blade (506), this turns to motor (501) and installs on stern cabin section (12) through motor fixing base (505), stabilizer blade (506) rigid coupling is on motor fixing base (505), the output that turns to motor (501) passes through worm gear subassembly B (502) and links to each other with rudder axle (504), the lower extreme and the rudder axle (504) of rudder piece (503) are connected, the upper end with stabilizer blade (506) rotate and connect.
6. The 1500-meter hybrid drive underwater glider of claim 5, characterized in that: the rudder shaft (504) is rotatably connected with the motor fixing seat (505), a worm in the worm gear assembly B (502) is connected with the output end of the steering motor (501), and a worm wheel is linked with the rudder shaft (504) and meshed with the worm.
7. The 1500-meter hybrid drive underwater glider of claim 1, characterized in that: the emergency load rejection system comprises a motor fixing seat (701), a shaft sealing seat (703), a spring plate (704), a load rejection rotating shaft (705), a rotating wheel (706), an opening wheel (707), a ball head support piece (708), a lead block (709), a direct current motor (710) and a planetary gear reducer (711), wherein the motor fixing seat (701) is hermetically connected with a stern end cover, the direct current motor (710) and the planetary gear reducer (711) are sequentially inserted in the motor fixing seat (701), the shaft sealing seat (703) is hermetically connected with the motor fixing seat (701), the load rejection rotating shaft (705) is hermetically inserted with the shaft sealing seat (703), one end of the load rejection rotating shaft (705) is positioned in the shaft sealing seat (703) and is rotatably connected with the shaft sealing seat (703) through a bearing, and the other end of the load rejection rotating shaft (705) penetrates out of the shaft sealing seat (703) and is connected with the rotating wheel (706), one end of the load rejection rotating shaft (705) is connected with an output shaft of the planetary gear reducer (711) and is driven to rotate by the direct current motor (710) and the planetary gear reducer (711); the rotating wheel (706) is provided with a threaded shaft (725), the threaded shaft (725) is connected with an opening wheel (707) rotating along with the rotating wheel (706), annular grooves (723) are formed in the opposite surfaces of the opening wheel (707) and the rotating wheel (706), and notches (724) are formed in the annular grooves (723) of the opening wheel (707); a ball head support piece (708) is arranged on the lead block (709), and a ball head of the ball head support piece (708) is contained in the rotating wheel (706) and the annular groove (723) of the opening wheel (707); one side of the spring piece (704) is sleeved on the shaft sealing seat (703), the other side of the spring piece (704) abuts against the inner side face of the lead block (709), the load rejection rotating shaft (705) drives the rotating wheel (706) and the opening wheel (707) to synchronously rotate, the opening (724) rotates to the position of the ball head, and the load rejection of the ball head support piece (708) and the lead block (709) is realized through the elasticity of the spring piece (704).
8. The 1500-meter hybrid drive underwater glider of claim 7, characterized in that: one end of the load rejection rotating shaft (705) is provided with a U-shaped hole, a cylindrical pin (715) is inserted into an output shaft of the planetary gear reducer (711), the output shaft of the planetary gear reducer (711) is inserted into the load rejection rotating shaft (705), the cylindrical pin (715) is accommodated in the U-shaped hole, and two ends of the cylindrical pin (715) are respectively abutted to the inner surfaces of two side walls of the U-shaped hole.
9. The 1500-meter hybrid drive underwater glider of claim 7, characterized in that: the rotating wheel (706) is coaxially arranged on the load rejection rotating shaft (705), the middle part of the rotating wheel extends along the axial direction to form the threaded shaft (725), and the opening wheel (707) is connected to the threaded shaft (725) in a threaded mode.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202011492080.9A CN112498634A (en) | 2020-12-17 | 2020-12-17 | 1500-meter-level hybrid driving type underwater glider |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202011492080.9A CN112498634A (en) | 2020-12-17 | 2020-12-17 | 1500-meter-level hybrid driving type underwater glider |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113448354A (en) * | 2021-05-31 | 2021-09-28 | 青岛海洋地质研究所 | Deep sea camera system and control method thereof |
| CN115009486A (en) * | 2022-07-14 | 2022-09-06 | 飞马滨(青岛)智能科技有限公司 | Gravity center adjusting method of underwater robot |
| CN115817773A (en) * | 2023-01-04 | 2023-03-21 | 北京先驱高技术开发有限责任公司 | Buoyancy equalizing mechanism for underwater robot |
| CN115959272A (en) * | 2023-01-04 | 2023-04-14 | 北京先驱高技术开发有限责任公司 | Sectional type modularization underwater robot |
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2020
- 2020-12-17 CN CN202011492080.9A patent/CN112498634A/en active Pending
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113448354A (en) * | 2021-05-31 | 2021-09-28 | 青岛海洋地质研究所 | Deep sea camera system and control method thereof |
| CN113448354B (en) * | 2021-05-31 | 2022-06-14 | 青岛海洋地质研究所 | Deep sea camera system and control method thereof |
| CN115009486A (en) * | 2022-07-14 | 2022-09-06 | 飞马滨(青岛)智能科技有限公司 | Gravity center adjusting method of underwater robot |
| CN115817773A (en) * | 2023-01-04 | 2023-03-21 | 北京先驱高技术开发有限责任公司 | Buoyancy equalizing mechanism for underwater robot |
| CN115959272A (en) * | 2023-01-04 | 2023-04-14 | 北京先驱高技术开发有限责任公司 | Sectional type modularization underwater robot |
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Effective date of registration: 20240605 Address after: Building 7, No. 45 Muning Road, Binhai New Area Economic and Technological Development Zone, Tianjin, 300457 Applicant after: Shenzhen Blue Ocean Technology Co.,Ltd. Country or region after: China Address before: No.114, Nanta street, Shenhe District, Shenyang City, Liaoning Province, 110016 Applicant before: SHENYANG INSTITUTE OF AUTOMATION, CHINESE ACADEMY OF SCIENCES Country or region before: China |