CN114620208B - Modularized AUV capable of quickly adjusting posture - Google Patents
Modularized AUV capable of quickly adjusting posture Download PDFInfo
- Publication number
- CN114620208B CN114620208B CN202210283725.0A CN202210283725A CN114620208B CN 114620208 B CN114620208 B CN 114620208B CN 202210283725 A CN202210283725 A CN 202210283725A CN 114620208 B CN114620208 B CN 114620208B
- Authority
- CN
- China
- Prior art keywords
- cabin
- propulsion
- module
- worm
- auv
- 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.)
- Active
Links
- 238000007789 sealing Methods 0.000 claims abstract description 18
- 238000004891 communication Methods 0.000 claims abstract description 10
- 230000007246 mechanism Effects 0.000 claims description 17
- 230000005484 gravity Effects 0.000 claims description 14
- 239000011521 glass Substances 0.000 claims description 8
- 238000009434 installation Methods 0.000 claims description 7
- 238000013461 design Methods 0.000 description 8
- 108010066114 cabin-2 Proteins 0.000 description 3
- 108010066278 cabin-4 Proteins 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 108010066057 cabin-1 Proteins 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000009189 diving Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 238000007667 floating Methods 0.000 description 1
- 238000011835 investigation Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
- 238000012876 topography Methods 0.000 description 1
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
- B63G8/001—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
- B63G8/001—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
Abstract
The invention discloses a modularized AUV capable of quickly adjusting the posture, which comprises a sensing cabin, an auxiliary propulsion cabin, a control cabin and a tail propulsion cabin which are sequentially connected through modularized connection interfaces; the cabin bodies are in sealing connection through mechanical and electrical interfaces capable of being quickly abutted. The invention realizes the rapid combination and expansion of functions of sensing, propelling, communication, control, gesture adjustment and the like, has compact structure, convenient assembly and can rapidly adjust the gesture, and solves the problems of low connection efficiency, low maneuverability and inflexible gesture adjustment of each cabin section of the existing underwater robot.
Description
Technical Field
The invention relates to the field of underwater vehicles, in particular to a modularized AUV which is small in size, intelligent, combined with vector propulsion and multi-auxiliary steering, has a sectional design and a modularized interface and is used for realizing quick posture adjustment, high maneuverability, high connection efficiency and high reconfigurability.
Background
With the increasing decrease of non-renewable resources on land, the development and utilization of marine resources are receiving extensive attention from countries around the world. As an important carrier for ocean development, the underwater robot has irreplaceable functions in the aspects of seafloor topography exploration, ocean resources, geological exploration, biological investigation and the like. Compared with the traditional type, the novel underwater robot has higher requirements on the aspects of movement flexibility, operability, rapidity and the like of the robot body. The device has higher degree of freedom, better flexibility of space steering and pitching, higher operability and sailing speed and the like.
The traditional underwater robot mostly adopts the forms of a propeller and a steering rudder as a propulsion and steering device, and the thrust vector technology is still immature, and is mainly applied to the underwater robot, and the three schemes are that firstly, a vector water jet propulsion system is adopted, and the method is mainly in the form of a vector rudder, and combines the advantages of the water jet propeller and the thrust vector technology, but the method is still in a fin rudder steering mode, so that the problems of larger thrust loss, cavitation, noise and the like are still not solved well. Secondly, the application of the omni-directional propeller is realized. Thirdly, in a vector propeller propulsion system, a general driving part needs a relatively complex device, and a tail movable part has the possibility of rudder effect. Therefore, the existing research is difficult to meet the requirements of high mobility and quick movement. Once the design of the traditional underwater robot is finished, the structural function and the application range of the traditional underwater robot are determined, so that the use function of the underwater robot is limited to a great extent. Therefore, the modularized design method provides a feasible way for improving the expansion of functions of the underwater robot and the adaptability to different operation tasks.
Disclosure of Invention
The invention aims to solve the problems of insufficient flexibility of function and form expansion, difficult mobility handling of complex underwater environment and low decision capability of the existing AUV, and innovatively designs a modularized AUV capable of quickly adjusting the posture, which is small in size, intelligent, and has sectional design and modularized interfaces to realize quick posture adjustment, high mobility, high connection efficiency and high reconfigurability.
The modularized AUV capable of rapidly adjusting the posture comprises a sensing cabin, an auxiliary propulsion cabin, a control cabin and a tail propulsion cabin which are sequentially connected through modularized connection interfaces; the sensing cabin is used for collecting surrounding environment information; the auxiliary propulsion cabin is used for generating transverse and longitudinal propulsion power; the control cabin is used for adjusting the gravity center of the whole machine; the tail propulsion pod is configured to generate either linear propulsion power or steering power.
Further, the modular connection interface includes a mechanical interface and an electrical interface; the mechanical interface comprises a male interface and a female interface; the male connector is provided with a plurality of clamping blocks and a plurality of positioning through holes which are distributed circumferentially; the female connector is provided with a chute for butting a male connector clamping block, a threaded blind hole concentric with the male connector positioning through hole after butting, and two sealing grooves; the electrical interface comprises a connecting end cover, a watertight plug and an O-shaped sealing ring; the connecting end cover is connected with the mechanical interface through a bolt, and two sealing grooves are formed in the connecting end cover.
Further, the sensing cabin comprises a glass pressure-resistant cover which is of a bullet-shaped structure, and a male interface is arranged in the glass pressure-resistant cover and is connected with a female interface on the auxiliary propulsion cabin; and the pressure-resistant outer cylinder is respectively provided with a connecting end cover, and the electric connection of each cabin section is realized through watertight plugs on the connecting end covers.
Further, the auxiliary propulsion cabin comprises a horizontal propulsion module, a longitudinal propulsion module, a communication module, a propulsion cabin pressure-resistant outer cylinder and a connecting end cover; female connectors are respectively arranged at the front end and the rear end of the pressure-resistant outer cylinder of the propulsion cabin; the two connecting end covers are respectively connected with the front end and the rear end of the pressure-resistant outer cylinder of the propulsion cabin; the horizontal propulsion module, the vertical propulsion module and the communication module are electrically connected with the control cabin through watertight plugs arranged on a connecting end cover at the rear end of the pressure-resistant outer cylinder of the propulsion cabin.
Further, the transverse propulsion module comprises a transverse propeller and a supporting assembly for fixing the position of the transverse propeller, and the AUV is used for assisting in adjusting the yaw angle through the transverse propulsion module; the AUV comprises a machine body, a longitudinal propulsion module and a control module, wherein the longitudinal propulsion module comprises a longitudinally arranged propeller and a supporting component for fixing the installation position of the propeller; the supporting assembly comprises a supporting base, a supporting frame and a limiting block; the supporting base is provided with a lug which can slide relatively with the groove on the supporting frame, and the supporting frame is fixed on the supporting base through a limiting block; the supporting base is fixed on the pressure-resistant outer cylinder of the propulsion cabin through a positioning screw.
Further, the control cabin comprises a gravity center adjusting module, a control cabin pressure-resistant outer cylinder, a connecting end cover and a watertight plug; the gravity center adjusting module is connected with the control module and is fixed in the pressure-resistant outer cylinder of the control cabin.
Further, the gravity center adjusting module comprises an eccentric battery pack, an axial adjusting module and a radial adjusting module; the radial adjusting module comprises a ring gear I and a ring gear II which are provided with a cross support frame structure, a plurality of connecting rods fixedly connected between the ring gear I and the ring gear II, a pinion I and a pinion II which are respectively connected through a crank I and a crank II and are correspondingly meshed with the ring gear I and the ring gear II, and a driving self-locking mechanism for driving the pinion I to rotate around the axis of the ring gear I; the driving self-locking mechanism comprises a worm motor fixed in the middle of the cross support frame structure, and a large worm and a small worm which are meshed with each other; the worm motor is used for driving the large worm and the crank I to synchronously rotate; the small worm is coaxially and fixedly connected to the small gear I; the axial adjusting module comprises an objective table commonly supported by a small worm rotating shaft and a small gear II rotating shaft, a sliding block fixedly provided with the eccentric battery pack and a screw nut mechanism used for driving the sliding block to axially slide in a reciprocating manner.
Further, the large worm is fixedly connected to an output shaft of the worm motor; the small worm is meshed with the large worm and is fixedly connected with the small gear coaxially; one end of the crank I is fixedly connected with a driving shaft of the large worm, and the other end of the crank I is sleeved on a connecting shaft between the small worm and the small gear I in an empty mode; the small worm is internally provided with a bearing and is connected with a connecting shaft at one side of the objective table; a bearing and a rotating shaft are arranged in the cross support frame of the ring gear II; the crank II is connected with the pinion II and the rotating shaft at the same time; and the pinion II is connected with a connecting shaft at the other side of the objective table.
Further, the tail propulsion cabin comprises a linear motion module, a posture adjustment module and a propeller group; the gesture adjusting module comprises a movable rod, a cambered surface sliding block and a connecting rod group, wherein the movable rod is rotatably connected with the whole tail part structure and used for fixedly installing a propeller, and the connecting rod group is connected between the movable rod and the cambered surface sliding block; the movable rod, the connecting rod group and the cambered surface sliding block jointly form a sliding block rocker mechanism; the linear motion module comprises a cross slide block and a waterproof electric push rod, the cross slide block is connected with the gesture adjustment module and the waterproof electric push rod, and the waterproof electric push rod drives the cross slide block to conduct linear motion and drives the slide block rocker mechanism to move, so that the pushing angle of the propeller set is changed.
After the technical scheme is adopted, the invention has the beneficial effects that:
1. according to the invention, the whole cabin sections are subjected to modularized design, and the functional modules such as sensing, auxiliary propulsion, communication, control, attitude adjustment, active propulsion and the like in the cabin sections are subjected to independent modularized design, so that the rapid combination and expansion of different functions are realized, the assembly is faster and simpler, and a large amount of time is saved.
2. The invention has compact design structure, small volume, and is designed with modularized and universal mechanical interface and
the electric interface realizes the quick connection of each cabin section and the double-layer sealing of the cabin body, and further improves the modularization degree of the underwater robot and the connection efficiency of each cabin section.
3. The gravity center adjusting module provided by the invention combines a worm gear set with a screw nut mechanism, and adopts a battery pack as a movable weight, so that the internal space of the cabin is greatly saved, the structure is compact, the gravity center can be adjusted rapidly in the axial direction and the radial direction, self-locking can be realized, the maneuverability and the operation efficiency of the AUV in the floating and diving movements are greatly improved, and the driving energy consumption is reduced.
4. The attitude adjusting module adopts the sliding block and connecting rod mechanism to realize synchronous motion of a plurality of propellers, and can actively change the arrangement of the propellers according to actual motion conditions, thereby realizing flexible steering, realizing quick linear motion and greatly improving the thrust efficiency of the propellers.
Drawings
The invention is further described below with reference to the drawings and examples.
FIG. 1 is a block diagram of a modular AUV of the present invention with quick attitude adjustment;
fig. 2 is a cross-sectional view of a modular AUV of the present invention with quick attitude adjustment;
FIG. 3 is an internal structural view of the auxiliary propulsion compartment of the present invention;
FIG. 4 is an internal structural view of the control pod of the present invention;
FIG. 5 is an internal structural view of the aft propulsion pod of the present invention;
fig. 6 is a schematic diagram of a mechanical interface of the present invention.
Reference numerals 1-sensor cabin, 2-auxiliary propulsion cabin, 3-control cabin, 4-tail propulsion cabin, 5-glass pressure-proof hood, 6-underwater lamp, 7-underwater high definition camera, 8-connection end cap I, 9-watertight plug I, 10-mechanical interface, 11-longitudinal propulsion module, 12-propulsion cabin pressure-proof outer cylinder, 13-transverse propulsion module, 14-communication module, 15-watertight plug II, 16-connection end cap II, 17-control cabin pressure-proof outer cylinder, 18-gravity center adjusting module, 19-control module, 20-tail cabin pressure-proof outer cylinder, 21-waterproof electric push rod, 22-attitude adjusting module, 23-propeller group, 24-rectilinear motion module, 25-watertight plug III, 26, connection end cap III, 27-longitudinal propeller, 28-support base I, 29-stopper I, 30, transverse propeller 33, waterproof antenna, 32-stopper II, 34-support base II, 35-support baffle II, 36-support baffle I, 37-support bracket I, 38-pinion I, 39-motor support, 39-gear wheel, 40-sun gear, 40-carrier, 45-ring gear support, 45-carrier, 48-motor support, 45-carrier, ring gear support, 47-carrier, 52-motor support gear, and 47-carrier, and controller II, and crank-drive shaft assembly, and motor support system, 55-screw nut mechanism, 56-small worm, 57-crank I, 58-connecting seat I, 59-connecting seat II, 60-connecting rod, 61-movable rod, 62-propeller, 63-arc slide block, 64-cross slide block, 65-fixed chuck, 66-push rod supporting chuck, 67-female interface, 68-sealing groove, 69-S-type sealing groove, 70-male interface, 71-locating hole, 72-fixture block, 73-sliding groove, 74-connecting end cover and 75-clamping seat.
Description of the embodiments
The modularized AUV capable of quickly adjusting the posture comprises a sensing cabin 1, an auxiliary propulsion cabin 2, a control cabin 3 and a tail propulsion cabin 4, wherein the cabin sections are respectively and quickly connected through a mechanical interface 10 on a pressure-resistant outer cylinder of the cabin sections, a connecting end cover 74 is respectively arranged on the pressure-resistant outer cylinder, and the electric connection of the cabin sections is realized through a watertight plug on the connecting end cover 74; the connecting end cap 74 is provided with two sealing grooves and is provided with O-shaped sealing rings to realize sealing.
As shown in fig. 6, the pressure-resistant outer cylinders are provided with mechanical interfaces 10, including a male interface 70 and a female interface 67; the male connector 70 is provided with three clamping blocks 72 and three positioning through holes which are circumferentially distributed in the pressure-resistant outer cylinder; the female connector 67 is provided with two sealing rings, a sliding groove 73 for abutting against a clamping block 72 of the male connector 70 and a threaded blind hole concentric with a positioning through hole of the male connector 70; one sealing ring on the female interface 67 is arranged in an S shape. During assembly, three clamping blocks 72 of the male connector 70 on each pressure-resistant outer cylinder are respectively aligned with the sliding groove 73 on the female connector 67, the male connector 70 is axially pushed into the sliding groove 73 and then rotated to the bottom of the sliding groove 73 by a certain angle, the clamping blocks 72 and the sliding groove 73 are in clearance fit, quick alignment is easy, axial movement and unidirectional radial rotation of the pressure-resistant outer cylinder are limited after the clamping blocks 72 are screwed into the bottom of the sliding groove 73, positioning screws are connected with threaded blind holes of the female connector 67 through positioning holes 71 circumferentially arranged on the male connector 70, so that radial rotation of the pressure-resistant outer cylinder is completely limited, and a sealing ring circumferentially arranged and a sealing ring in S-shaped arrangement are respectively arranged at two sides of the threaded blind holes, so that the sealing performance of the pressure-resistant outer cylinder is further improved.
As shown in fig. 1-3, the sensing cabin 1 comprises a glass pressure-resistant cover 5, an underwater lamp 6, an underwater high-definition camera 7 and a watertight plug I9; the glass pressure-resistant cover 5 is of a bullet-shaped structure, and a male connector 70 is arranged in the glass pressure-resistant cover and is connected with the auxiliary propulsion cabin 2. The auxiliary propulsion cabin 2 comprises a transverse propulsion module 13, a longitudinal propulsion module 11, a communication module 14, a propulsion cabin pressure-resistant outer cylinder 12, a connection end cover I8 and a connection end cover II16; female interfaces 67 are respectively arranged at the front end and the rear end of the propulsion cabin pressure-resistant outer cylinder 12; the transverse propulsion module 13 comprises a transverse propeller 30 and a supporting assembly for fixing the position of the transverse propeller, wherein the supporting assembly comprises a supporting base II34, a supporting frame II33, a limiting block II32 and a supporting baffle II35; during installation, the transverse propeller 30 is firstly installed on the support frame II33 through bolts, then the groove of the support frame II33 is aligned with the convex block on the support base II34 and pushed into the position of the limiting block II32, the limiting block II32 is fixed on the support base II34 through bolts, and finally the support baffle II35 is fixed on the support base II34, so that the positioning and the installation of the transverse propulsion module 13 are realized. The vertical propulsion module 11 comprises a vertical propulsion 27 and a supporting assembly for fixing the installation position of the vertical propulsion module, the supporting assembly comprises a supporting base I28, a supporting frame I37, a limiting block I29 and a supporting baffle I36, and the installation of the vertical propulsion module 11 is the same as the installation mode of the horizontal propulsion module 13. The modularized AUV capable of quickly adjusting the attitude is used for assisting in adjusting the pitch angle through the longitudinal propulsion module 11 and assisting in adjusting the yaw angle through the transverse propulsion module 13. The communication module 14 comprises a waterproof antenna 31 arranged on a supporting base II34, a depth sensor arranged on a connecting end cover II16 and a receiver; the communication module 14 is connected to the control module 19 by means of a watertight plug II15 mounted on the connection end cap II 16.
As shown in fig. 4, the control cabin 3 comprises a gravity center adjusting module 18, a control module 19, a control cabin pressure-resistant outer cylinder 17, a connecting end cover III26 and a watertight plug III25; the gravity center adjusting module 18 comprises a gear set consisting of a large worm 41, a small worm 56, a small gear I38, a crank I57, a worm motor 39 and a ring gear 40, a clamping seat 75, an objective table 47, a screw nut mechanism 55, an eccentric battery pack and a motor driver 46; the eccentric battery pack comprises a battery support frame 42 and a battery pack 43; the gear set comprises a ring gear 40 provided with a cross support frame structure, the worm motor 39 is arranged in the middle of the cross support frame of the ring gear 40 and drives the large worm 41 and the crank I57 to rotate, the large worm 41 is meshed with the small worm 56, one end of the crank I57 is fixed with a driving shaft of the large worm 41, and the other end of the crank I is sleeved with the driving shaft of the small worm 56, so that the worm motor 39 can drive the small gear I38 meshed with the ring gear 40 to rotate through the crank I57; pinion I38 is coaxially and fixedly connected with a small worm 56 to drive the small worm 56 to rotate; the connecting shaft at one side of the objective table 47 is connected with a bearing in the small worm 56, the connecting shaft at the other side is connected with a bearing in the connecting shaft of the pinion II48, and the pinion II48 is connected with the connecting shaft of the ring gear II50 through a crank II 54; while the pinion 56 and the pinion I38 rotate in the ring gear 40, the stage 47 rotates relatively while remaining horizontal, thereby effecting center-of-gravity position adjustment of the entire center-of-gravity adjustment module 18; since the head ratio of the large worm 41 and the small worm 56 is 2:1, the ratio of pinion to ring gear is also 2:1, during the center of gravity adjustment, the large worm 41 and the small worm 56 are driven to rotate by the worm motor 39 and the pinion I38, respectively, so that the mutual engagement of the large worm 41 and the small worm 56 does not hinder the adjustment of the radial position of the stage 47. When the worm motor 39 stops rotating, the small worm 56 cannot directly drive the large worm 41 to rotate, so that the large worm 41 can prevent the small worm 56 from rotating, and the pinion I38 coaxially connected with the small worm 56 cannot rotate, at this time, the stage 47 will remain in a fixed position, thereby realizing self-locking.
The screw nut mechanism 55 is fixed on the objective table 47 through a bolt, the screw motor 44 drives the screw nut mechanism 55 to move and drives the sliding block 45 to perform linear motion, the battery pack 43 is fixedly installed on the sliding block 45 through the battery supporting frame 42, and the adjustment and control of the front and rear positions of the eccentric battery pack are realized through controlling the rotation of the screw motor 44. The control module 19 comprises a control center 51, a plurality of control bottom plates 52 and a control module outer cylinder 53; one side of the outer cylinder 53 of the control module is provided with a groove, and is connected and positioned with a bump of a cross support frame on the ring gear 40, and then the gravity center adjusting module 18 is connected with the control module 19 and then pushed to the inner wall of the pressure-resistant outer cylinder 17 of the control cabin, and the outer part of the ring gear 40 is clamped by the clamping seat 75 to fix the whole module.
As shown in fig. 5, the tail propulsion cabin 4 comprises a linear motion module 24, a posture adjustment module 22, a propeller group 23 and a tail cabin pressure-resistant outer cylinder 20; the gesture adjusting module 22 comprises a movable rod 61 rotatably connected to the whole tail part structure and used for fixedly mounting a propeller 62, and a connecting rod group connected between the movable rod 61 and a cambered surface sliding block 63; the connecting rod group comprises a connecting seat I58, a connecting seat II59 and a connecting rod 60; the connecting seat I58 is fixed on the pressure-resistant outer cylinder 20 of the tail cabin through a screw; the movable rod 61 is internally provided with a bearing and is rotatably connected with the connecting seat I58 through a constant-height limit bolt; the connecting seat II59 is connected with the cambered surface sliding block 63 through a screw, is internally provided with a bearing and is rotatably connected with the connecting rod 60 through a constant-height limit bolt; the connecting rod 60 is internally provided with a bearing and is rotatably connected with the movable rod 61 through a constant-height limit bolt. The linear motion module 24 comprises a cross slide block 64, a cambered surface slide block 63 and a waterproof electric push rod 21; the cross slide block 64 is connected with the cambered surface slide block 63 and the waterproof electric push rod 21; the linear motion module 24 and the posture adjustment module 22 have four groups in total; the waterproof electric push rod 21 is connected with the push rod supporting chuck 66 and the fixed chuck 65, and drives the cross slide block 64 to perform linear motion, so as to drive the whole slide block rocker mechanism formed by the movable rod 61, the connecting rod group and the cambered surface slide block 63 to move so as to change the arrangement of the propeller group 23. The pressure-resistant outer cylinder 20 of the tail cabin is internally provided with a chute, the linear motion module 24 and the push rod supporting chuck 66 are pushed in along the chute during assembly, one surface of the fixed chuck 65 is contacted with the inner wall of the pressure-resistant outer cylinder 20 of the tail cabin to realize single-side fixation, the tail propulsion cabin 4 is finally connected with the control cabin 3, and the pressure-resistant outer cylinder 17 of the control cabin is just clamped with the other surface of the fixed chuck 65 to realize fixation of all modules.
Finally, it is noted that the above embodiments are only for illustrating the technical solution of the present invention and not for limiting the same, and although the present invention has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that modifications and equivalents may be made thereto without departing from the spirit and scope of the technical solution of the present invention, which is intended to be covered by the scope of the claims of the present invention.
Claims (8)
1. A modular AUV with rapid attitude adjustment, characterized by: the device comprises a sensing cabin, an auxiliary propulsion cabin, a control cabin and a tail propulsion cabin which are sequentially connected through a modularized connecting interface; the sensing cabin is used for collecting surrounding environment information; the auxiliary propulsion cabin is used for generating transverse and longitudinal propulsion power; the control cabin is used for adjusting the gravity center of the whole machine; the tail propulsion cabin is used for generating linear propulsion power or steering power;
the modular connection interface includes a mechanical interface and an electrical interface; the mechanical interface comprises a male interface and a female interface; the male connector is provided with a plurality of clamping blocks and a plurality of positioning through holes which are distributed circumferentially; the female connector is provided with a chute for butting a male connector clamping block, a threaded blind hole concentric with the male connector positioning through hole after butting, and two sealing grooves; the electrical interface comprises a connecting end cover, a watertight plug and an O-shaped sealing ring; the connecting end cover is connected with the mechanical interface through a bolt, and two sealing grooves are formed in the connecting end cover.
2. The modular AUV of claim 1 wherein the attitude is quickly adjustable, wherein: the sensing cabin comprises a glass pressure-resistant cover which is of a bullet-shaped structure, and a male interface is arranged in the glass pressure-resistant cover and is connected with a female interface on the auxiliary propulsion cabin; the pressure-resistant outer cylinders of the cabin sections are respectively provided with a connecting end cover, and the electric connection of the cabin sections is realized through watertight plugs on the connecting end covers.
3. The modular AUV of claim 1 wherein the attitude is quickly adjustable, wherein: the auxiliary propulsion cabin comprises a transverse propulsion module, a longitudinal propulsion module, a communication module, a propulsion cabin pressure-resistant outer cylinder and a connecting end cover; female connectors are respectively arranged at the front end and the rear end of the pressure-resistant outer cylinder of the propulsion cabin; the two connecting end covers are respectively connected with the front end and the rear end of the pressure-resistant outer cylinder of the propulsion cabin; the horizontal propulsion module, the vertical propulsion module and the communication module are electrically connected with the control cabin through watertight plugs arranged on a connecting end cover at the rear end of the pressure-resistant outer cylinder of the propulsion cabin.
4. A modular AUV with quick attitude adjustment according to claim 3, wherein: the AUV is used for assisting in adjusting the yaw angle through the transverse propulsion module; the AUV comprises a machine body, a longitudinal propulsion module and a control module, wherein the longitudinal propulsion module comprises a longitudinally arranged propeller and a supporting component for fixing the installation position of the propeller; the supporting assembly comprises a supporting base, a supporting frame and a limiting block; the supporting base is provided with a lug which can slide relatively with the groove on the supporting frame, and the supporting frame is fixed on the supporting base through a limiting block; the supporting base is fixed on the pressure-resistant outer cylinder of the propulsion cabin through a positioning screw.
5. The modular AUV of claim 1 wherein the attitude is quickly adjustable, wherein: the control cabin comprises a gravity center adjusting module, a control cabin pressure-resistant outer cylinder, a connecting end cover and a watertight plug; the gravity center adjusting module is connected with the control module and is fixed in the pressure-resistant outer cylinder of the control cabin.
6. The modular AUV of claim 5 wherein the attitude is quickly adjustable: the gravity center adjusting module comprises an eccentric battery pack, an axial adjusting module and a radial adjusting module; the radial adjusting module comprises a ring gear I and a ring gear II which are provided with a cross support frame structure, a plurality of connecting rods fixedly connected between the ring gear I and the ring gear II, a pinion I and a pinion II which are respectively connected through a crank I and a crank II and are correspondingly meshed with the ring gear I and the ring gear II, and a driving self-locking mechanism for driving the pinion I to rotate around the axis of the ring gear I; the driving self-locking mechanism comprises a worm motor fixed in the middle of the cross support frame structure, and a large worm and a small worm which are meshed with each other; the worm motor is used for driving the large worm and the crank I to synchronously rotate; the small worm is coaxially and fixedly connected to the small gear I; the axial adjusting module comprises an objective table commonly supported by a small worm rotating shaft and a small gear II rotating shaft, a sliding block fixedly provided with the eccentric battery pack and a screw nut mechanism used for driving the sliding block to axially slide in a reciprocating manner.
7. The modular AUV of claim 6 wherein the attitude is quickly adjustable: the large worm is fixedly connected to an output shaft of the worm motor; the small worm is meshed with the large worm and is fixedly connected with the small gear coaxially; one end of the crank I is fixedly connected with a driving shaft of the large worm, and the other end of the crank I is sleeved on a connecting shaft between the small worm and the small gear I in an empty mode; the small worm is internally provided with a bearing and is connected with a connecting shaft at one side of the objective table; a bearing and a rotating shaft are arranged in the cross support frame of the ring gear II; the crank II is connected with the pinion II and the rotating shaft at the same time; and the pinion II is connected with a connecting shaft at the other side of the objective table.
8. The modular AUV of claim 1 wherein the attitude is quickly adjustable, wherein: the tail propulsion cabin comprises a linear motion module, a gesture adjustment module and a propeller group; the gesture adjusting module comprises a movable rod, a cambered surface sliding block and a connecting rod group, wherein the movable rod is rotatably connected with the whole tail part structure and used for fixedly installing a propeller, and the connecting rod group is connected between the movable rod and the cambered surface sliding block; the movable rod, the connecting rod group and the cambered surface sliding block jointly form a sliding block rocker mechanism; the linear motion module comprises a cross slide block and a waterproof electric push rod, the cross slide block is connected with the gesture adjustment module and the waterproof electric push rod, and the waterproof electric push rod drives the cross slide block to conduct linear motion and drives the slide block rocker mechanism to move, so that the pushing angle of the propeller set is changed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210283725.0A CN114620208B (en) | 2022-03-22 | 2022-03-22 | Modularized AUV capable of quickly adjusting posture |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210283725.0A CN114620208B (en) | 2022-03-22 | 2022-03-22 | Modularized AUV capable of quickly adjusting posture |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114620208A CN114620208A (en) | 2022-06-14 |
| CN114620208B true CN114620208B (en) | 2023-12-05 |
Family
ID=81903209
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210283725.0A Active CN114620208B (en) | 2022-03-22 | 2022-03-22 | Modularized AUV capable of quickly adjusting posture |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114620208B (en) |
Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB191321233A (en) * | 1913-09-19 | 1914-09-03 | William John Mellersh-Jackson | An Improved Method and Means for Controlling Ships' Rudders particularly applicable to Submarine Vessels. |
| WO2014122204A1 (en) * | 2013-02-06 | 2014-08-14 | Cgg Services Sa | Jet-pump operated autonomous underwater vehicle and method for coupling to ocean bottom during marine seismic survey |
| JP2015110374A (en) * | 2013-12-06 | 2015-06-18 | 三菱重工業株式会社 | Autonomous movable body route creation assist device, autonomous mobile body route creation assist method, and program |
| CN110077563A (en) * | 2019-05-13 | 2019-08-02 | 西北工业大学 | A kind of vector propulsion submarine navigation device based on Self homeostasis adjustment device |
| CN110641663A (en) * | 2019-09-21 | 2020-01-03 | 天津大学 | Large underwater vehicle with self-disposable wings |
| CN111319734A (en) * | 2020-04-15 | 2020-06-23 | 浙江大学 | Modularized reconfigurable underwater robot |
| WO2021000628A1 (en) * | 2019-07-04 | 2021-01-07 | 中国科学院自动化研究所 | Bionic robotic manta ray |
| CN212829001U (en) * | 2020-06-29 | 2021-03-30 | 青岛海力旭机电科技发展有限公司 | Miniature underwater robot with operation device |
| CN113232804A (en) * | 2021-04-19 | 2021-08-10 | 北京化工大学 | Modular underwater snake-shaped robot |
| CN113602459A (en) * | 2021-08-17 | 2021-11-05 | 中国科学院沈阳自动化研究所 | Miniature autonomous underwater robot |
| CN113772061A (en) * | 2021-10-11 | 2021-12-10 | 中国船舶科学研究中心 | Underwater unmanned vehicle recovery device and operation method |
| CN113928518A (en) * | 2021-12-07 | 2022-01-14 | 重庆大学 | Underwater vector propulsion device with variable posture |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US10669000B2 (en) * | 2017-07-11 | 2020-06-02 | The Governement Of The United States Of America, As Represented By The Secretary Of The Navy | Mobile underwater docking system for an underwater vehicle |
-
2022
- 2022-03-22 CN CN202210283725.0A patent/CN114620208B/en active Active
Patent Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB191321233A (en) * | 1913-09-19 | 1914-09-03 | William John Mellersh-Jackson | An Improved Method and Means for Controlling Ships' Rudders particularly applicable to Submarine Vessels. |
| WO2014122204A1 (en) * | 2013-02-06 | 2014-08-14 | Cgg Services Sa | Jet-pump operated autonomous underwater vehicle and method for coupling to ocean bottom during marine seismic survey |
| JP2015110374A (en) * | 2013-12-06 | 2015-06-18 | 三菱重工業株式会社 | Autonomous movable body route creation assist device, autonomous mobile body route creation assist method, and program |
| CN110077563A (en) * | 2019-05-13 | 2019-08-02 | 西北工业大学 | A kind of vector propulsion submarine navigation device based on Self homeostasis adjustment device |
| WO2021000628A1 (en) * | 2019-07-04 | 2021-01-07 | 中国科学院自动化研究所 | Bionic robotic manta ray |
| CN110641663A (en) * | 2019-09-21 | 2020-01-03 | 天津大学 | Large underwater vehicle with self-disposable wings |
| CN111319734A (en) * | 2020-04-15 | 2020-06-23 | 浙江大学 | Modularized reconfigurable underwater robot |
| CN212829001U (en) * | 2020-06-29 | 2021-03-30 | 青岛海力旭机电科技发展有限公司 | Miniature underwater robot with operation device |
| CN113232804A (en) * | 2021-04-19 | 2021-08-10 | 北京化工大学 | Modular underwater snake-shaped robot |
| CN113602459A (en) * | 2021-08-17 | 2021-11-05 | 中国科学院沈阳自动化研究所 | Miniature autonomous underwater robot |
| CN113772061A (en) * | 2021-10-11 | 2021-12-10 | 中国船舶科学研究中心 | Underwater unmanned vehicle recovery device and operation method |
| CN113928518A (en) * | 2021-12-07 | 2022-01-14 | 重庆大学 | Underwater vector propulsion device with variable posture |
Non-Patent Citations (2)
| Title |
|---|
| 3-PUU并联机器人轨迹规划与控制系统设计;余伟;信息科技辑;全文 * |
| 连续电驱动四足机器人腿部机构设计与分析;柏龙;机器人;全文 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN114620208A (en) | 2022-06-14 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111361717B (en) | Autonomous underwater vehicle with double-propeller vector control and foldable antenna | |
| WO2021208409A1 (en) | Modular reconfigurable underwater robot | |
| CN212149252U (en) | Modular reconfigurable underwater robot | |
| US20110263165A1 (en) | Electric Marine Surface Drive | |
| CN113147291A (en) | Amphibious cross-medium unmanned vehicle | |
| CN211731773U (en) | Underwater submerging device with full freedom degree | |
| CN110775265A (en) | Oil-electricity hybrid driving amphibious aircraft and control method thereof | |
| CN101513928A (en) | Omnibearing active vector propulsion underwater screw propeller device based on spherical gear mechanism | |
| CN202609068U (en) | Vector propulsion device applied to small-sized unmanned underwater vehicle | |
| CN113697078B (en) | Underwater robot | |
| CN114620208B (en) | Modularized AUV capable of quickly adjusting posture | |
| CN109895980A (en) | A kind of small underwater robot with vector propulsion functions | |
| CN109515666A (en) | A kind of vector propeller of underwater robot | |
| CN110406652B (en) | Two-degree-of-freedom joint for deep-sea multi-joint submersible vehicle | |
| CN112356041A (en) | Novel eight-degree-of-freedom diving robot | |
| CN116238673A (en) | Bionic underwater robot based on MPF long-wave motion propulsion principle | |
| CN111762306A (en) | Hybrid-drive underwater glider with ring wings | |
| CN109866902B (en) | Single-propeller vector propulsion device | |
| CN209600767U (en) | A kind of vector propeller of underwater robot | |
| CN212099300U (en) | Eight-propeller underwater movable operation platform | |
| CN112109851B (en) | Portable hybrid power vector propulsion unmanned ship | |
| CN107953981B (en) | A kind of serial mixed power change aerofoil profile bionic mechanical fish formula submariner device | |
| CN114872870B (en) | Self-locking gravity center adjusting mechanism for AUV | |
| CN216684811U (en) | Chain type multi-body autonomous underwater robot | |
| CN218172558U (en) | Bionic cuttlefish submersible |
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 | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |