CN205770078U - A kind of gravity center adjusting mechanism of underwater glider - Google Patents
A kind of gravity center adjusting mechanism of underwater glider Download PDFInfo
- Publication number
- CN205770078U CN205770078U CN201620422832.7U CN201620422832U CN205770078U CN 205770078 U CN205770078 U CN 205770078U CN 201620422832 U CN201620422832 U CN 201620422832U CN 205770078 U CN205770078 U CN 205770078U
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- China
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- mobile platform
- underwater glider
- pressure hull
- leading screw
- adjusting mechanism
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Abstract
This utility model provides the gravity center adjusting mechanism of a kind of underwater glider, belongs to underwater glider technical field.The gravity center adjusting mechanism of this underwater glider, described underwater glider includes pressure hull, gravity center adjusting mechanism includes mobile platform, accumulator battery, mounting platform, two tracks it are provided with on the inwall of pressure hull, slide on track and be provided with mobile platform, in pressure hull, be provided with the drive mechanism one for driving mobile platform to move back and forth along track；The upper side of mobile platform is provided with two chutes, the downside of mounting platform is provided with some pieces of slide blocks, some pieces of slide blocks are slidably arranged in two chutes respectively, accumulator battery is connected on mounting platform, the cross section of chute and slide block is the most T-shaped, and mobile platform is provided with the drive mechanism two moved back and forth along chute for drive installation platform.This utility model can control elevating movement and the roll motion of underwater glider simultaneously, has the advantages such as easy to operate, reliable.
Description
Technical field
This utility model belongs to underwater glider technical field, relates to the gravity center adjusting mechanism of a kind of underwater glider.
Background technology
Underwater glider is the needs in order to meet current marine environmental monitoring and measurement, buoy technology is combined with underwater robot technology and a kind of underwater aircraft of developing.It is possible not only to be monitored operation along vertical section, it is also possible to carries out large-scale marine environment at horizontal profile and measures and monitoring.
Center of gravity of underwater glider regulation system is the Mass Distribution by adjusting carrier inside, thus changes the relative position of carrier center of gravity and centre of buoyancy, to produce rolling moment and pitching moment, realizes carrier revolution and elevating movement.
Generally, underwater glider is in motor process, and the position of centre of buoyancy is no variation in, and the most only changes the relative position of center of gravity and centre of buoyancy by changing center of gravity, thus produces lift.So, the design of gravity center adjusting mechanism just seems particularly critical.
But, realizing underwater glider at present needs to realize underwater glider roll and elevating movement respectively by two single mechanisms, thus adds the quantity and weight of underwater glider internal unit, adds the assembly difficulty of underwater glider.
Utility model content
The purpose of this utility model is to there are the problems referred to above for existing technology, propose the gravity center adjusting mechanism of a kind of underwater glider, this utility model can control elevating movement and the roll motion of underwater glider simultaneously, can also individually control elevating movement or the roll motion of underwater glider, there is simple in construction, the advantage such as easy to operate, reliable.
The purpose of this utility model can be realized by following technical proposal: the gravity center adjusting mechanism of a kind of underwater glider, described underwater glider includes the pressure hull of tubulose, described gravity center adjusting mechanism includes mobile platform, accumulator battery, mounting platform, two tracks it are arranged with in parallel on the inwall of described pressure hull, the length direction of described track is consistent with pressure hull axis direction, slide on described track and be provided with mobile platform, in described pressure hull, be additionally provided with the drive mechanism one for driving mobile platform to move back and forth along track；
The upper side of described mobile platform is provided with two chutes along the horizontally-parallel of pressure hull, the downside of described mounting platform is provided with some pieces of slide blocks, some pieces of described slide blocks are slidably arranged in two chutes respectively, described accumulator battery is connected on mounting platform, the cross section of described chute and slide block is the most T-shaped, and described mobile platform is additionally provided with the drive mechanism two moved back and forth along chute for drive installation platform.
In the gravity center adjusting mechanism of above-mentioned a kind of underwater glider, drive mechanism one includes motor one, leading screw one and feed screw nut, axially arranged along pressure hull of described leading screw one, described feed screw nut is arranged on the downside of mobile platform, described leading screw one is threadedly attached in feed screw nut, described motor one is fixed in pressure hull by pedestal, and the output shaft of described motor one and one end of leading screw one are connected, and the other end of described leading screw one is provided with limited block.
In the gravity center adjusting mechanism of above-mentioned a kind of underwater glider, described drive mechanism two includes motor two, fixed block and leading screw two, described leading screw two is along the horizontally set of pressure hull, described motor two and fixed block are each attached on mobile platform and lay respectively at the two ends of chute, it is provided with internal thread hole on described mounting platform, described internal thread hole axially the most consistent with the length direction of chute, described leading screw two is threadedly attached in internal thread hole, one end of described leading screw two and the output shaft fixed connection of motor two, other end is rotatably connected on fixed block,
In the gravity center adjusting mechanism of above-mentioned a kind of underwater glider, the left and right sides of described mobile platform is respectively arranged with some connection posts, the free end of every described connection post is all rotatably connected to roller, it is provided with lateral slot on the opposite flank of track described in two, gathering sill alongst it is provided with in described track, described lateral slot connects with gathering sill, and described roller is arranged in gathering sill, and described connection post is positioned at lateral slot.
Compared with prior art, this utility model can control elevating movement and the roll motion of underwater glider simultaneously, it is also possible to individually controls elevating movement or the roll motion of underwater glider, has simple in construction, the advantage such as easy to assembly, easy to operate, reliable.
Accompanying drawing explanation
Fig. 1 is structure sectional view during this utility model vertical view.
Fig. 2 is the sectional view in Fig. 1 at A-A.
Fig. 3 is the enlarged drawing in Fig. 2 at B.
Fig. 4 is the sectional view in Fig. 2 at C-C.
In figure, 1, pressure hull；2, motor one；3, pedestal；4, leading screw one；4a, limited block；5, mobile platform；5a, connection post；6, accumulator battery；7, leading screw two；8, motor two；9, chute；10, fixed block；11, track；11a, roller；11b, lateral slot；11c, gathering sill；12, mounting platform；12a, internal thread hole；13, feed screw nut；14, slide block.
Detailed description of the invention
The following is specific embodiment of the utility model and combine accompanying drawing, the technical solution of the utility model is further described, but this utility model is not limited to these embodiments.
As shown in Figures 1 to 4, a kind of gravity center adjusting mechanism of underwater glider, described underwater glider includes the pressure hull 1 of tubulose, the i.e. cross section of pressure hull 1 presents circle, described gravity center adjusting mechanism includes mobile platform 5, accumulator battery 6, mounting platform 12, two tracks 11 it are arranged with in parallel on the inwall of described pressure hull 1, the length direction of described track 11 is consistent with pressure hull 1 axis direction, slide on described track 11 and be provided with mobile platform 5, the drive mechanism one for driving mobile platform 5 to move back and forth it is additionally provided with along track 11 in described pressure hull 1；
The upper side of described mobile platform 5 is provided with two chutes 9 along the horizontally-parallel of pressure hull 1, the downside of described mounting platform 12 is provided with some pieces of slide blocks 14, some pieces of described slide blocks 14 are slidably arranged in two chutes 9 respectively, described accumulator battery 6 is connected on mounting platform 12, the cross section of described chute 9 and slide block 14 is the most T-shaped, and described mobile platform 5 is additionally provided with the drive mechanism two moved back and forth along chute 9 for drive installation platform 12.
The purpose that the cross section of described chute 9 and slide block 14 is the most T-shaped is that anti-limited slip block 14 departs from chute 9.
Accumulator battery 6 is the parts that underwater glider weight inside is maximum, so directly utilizing the weight of accumulator battery 6 to regulate the position of centre of gravity of underwater glider, the quantity of underwater glider internal part and the overall weight of underwater glider can be reduced, be conducive to saving the energy of underwater glider, increase the flying power of underwater glider.
Drive mobile platform 5 to move back and forth along track 11 by drive mechanism one, it is achieved the center of gravity of underwater glider moves axially along pressure hull 1, thus control the elevating movement of underwater glider；
Moved back and forth along chute 9 by drive mechanism two drive installation platform 12, control the center of gravity transverse shifting along pressure hull 1 of underwater glider, thus control the roll motion of underwater glider；
When drive mechanism one and drive mechanism two work simultaneously, it is possible to achieve underwater glider carries out elevating movement and roll motion simultaneously；
The gravity center adjusting mechanism of underwater glider has simple in construction, the advantage such as easy to assembly, easy to operate, reliable.
Specifically, drive mechanism one includes motor 1, leading screw 1 and feed screw nut 13, axially arranged along pressure hull 1 of described leading screw 1, described feed screw nut 13 is arranged on the downside of mobile platform 5, described leading screw 1 is threadedly attached in feed screw nut 13, described motor 1 is fixed in pressure hull 1 by pedestal 3, and the output shaft of described motor 1 and one end of leading screw 1 are connected, and the other end of described leading screw 1 is provided with limited block 4a.
As preferably, being coaxially disposed of described leading screw 1 and pressure hull 1
Drive mobile platform 5 to move back and forth along track 11 by motor 1, it is possible to achieve axially the moving back and forth of center of gravity aerodone under water, thus realize the elevating movement of underwater glider；
Motor is the opened loop control unit motor part that electric impulse signal is changed into angular displacement or displacement of the lines.In the case of non-overload, the rotating speed of motor, the position of stopping are solely dependent upon frequency and the umber of pulse of pulse signal, and do not changed by load and affected, when step actuator receives a pulse signal, it rotates a fixing angle with regard to drive stepping motor by the direction set, being referred to as " step angle ", its rotation is to run step by step with fixing angle.Pilot angle displacement can be carried out by controlling pulse number, thus reach the purpose being accurately positioned；Speed and the acceleration of electric machine rotation can be controlled simultaneously by controlling pulse frequency, thus reach the purpose of speed governing.
Specifically, described drive mechanism two includes motor 28, fixed block 10 and leading screw 27, described leading screw 27 is along the horizontally set of pressure hull 1, i.e. leading screw 27 and leading screw 1 is vertical, described motor 28 and fixed block 10 are each attached on mobile platform 5 and lay respectively at the two ends of chute 9, i.e. motor 28 and fixed block 10 is respectively positioned between two chutes 9 and is oppositely arranged, it is provided with internal thread hole 12a on described mounting platform 12, described internal thread hole 12a's is the most consistent with the length direction of chute 9, described leading screw 27 is threadedly attached in internal thread hole 12a, one end of described leading screw 27 and the output shaft fixed connection of motor 28, other end is rotatably connected on fixed block 10.
Described internal thread hole 12a is between two chutes 9, and as preferably, the center of described internal thread hole 12a is equal to the vertical dimension of two chutes 9.
Moved back and forth along chute 9 by motor 28 drive installation platform 12, it is possible to achieve center of gravity aerodone under water transverse reciprocating motion, such that it is able to realize the roll motion of underwater glider；
If while motor 28 drive installation platform 12 moves back and forth along chute 9, drive mobile platform 5 moving back and forth on the rail 11 also by motor 1, the most just can realize underwater glider and carry out roll motion and elevating movement simultaneously.
Specifically, the left and right sides of described mobile platform 5 is respectively arranged with some connection post 5a, the free end of every described connection post 5a is all rotatably connected to roller 11a, it is provided with lateral slot 11b on the opposite flank of track 11 described in two, gathering sill 11c alongst it is provided with in described track 11, described lateral slot 11b connects with gathering sill 11c, and described roller 11a is arranged in gathering sill 11c, and described connection post 5a is positioned at lateral slot 11b.
Mobile platform 5 is arranged in gathering sill 11c by roller 11a so that mobile platform 5 is when moving back and forth along track 11, and the frictional force being subject to is little, moves smooth and easy.
Specific embodiment described herein is only to this utility model spirit explanation for example.Described specific embodiment can be made various amendment or supplements or use similar mode to substitute by this utility model person of ordinary skill in the field, but without departing from spirit of the present utility model or surmount scope defined in appended claims.
Claims (4)
1. the gravity center adjusting mechanism of a underwater glider, described underwater glider includes the pressure hull (1) of tubulose, described gravity center adjusting mechanism includes mobile platform (5), accumulator battery (6), mounting platform (12), two tracks (11) it are arranged with in parallel on the inwall of described pressure hull (1), the length direction of described track (11) is consistent with pressure hull (1) axis direction, the upper slip of described track (11) is provided with mobile platform (5), the drive mechanism one for driving mobile platform (5) to move back and forth it is additionally provided with along track (11) in described pressure hull (1)；
The upper side of described mobile platform (5) is provided with two chutes (9) along the horizontally-parallel of pressure hull (1), the downside of described mounting platform (12) is provided with some pieces of slide blocks (14), some pieces of described slide blocks (14) are slidably arranged in two chutes (9) respectively, described accumulator battery (6) is connected on mounting platform (12), the cross section of described chute (9) and slide block (14) is the most T-shaped, the drive mechanism two moved back and forth for drive installation platform (12) it is additionally provided with along chute (9) on described mobile platform (5).
The gravity center adjusting mechanism of a kind of underwater glider the most according to claim 1, it is characterized in that, drive mechanism one includes motor one (2), leading screw one (4) and feed screw nut (13), axially arranged along pressure hull (1) of described leading screw one (4), described feed screw nut (13) is arranged on the downside of mobile platform (5), described leading screw one (4) is threadedly attached in feed screw nut (13), described motor one (2) is fixed in pressure hull (1) by pedestal (3), the output shaft of described motor one (2) and one end of leading screw one (4) are connected, the other end of described leading screw one (4) is provided with limited block (4a).
nullThe gravity center adjusting mechanism of a kind of underwater glider the most according to claim 2，It is characterized in that，Described drive mechanism two includes motor two (8)、Fixed block (10) and leading screw two (7)，Described leading screw two (7) is along the horizontally set of pressure hull (1)，Described motor two (8) and fixed block (10) are each attached on mobile platform (5) and lay respectively at the two ends of chute (9)，Internal thread hole (12a) it is provided with on described mounting platform (12)，Described internal thread hole (12a) axially the most consistent with the length direction of chute (9)，Described leading screw two (7) is threadedly attached in internal thread hole (12a)，One end of described leading screw two (7) and the output shaft fixed connection of motor two (8)，Other end is rotatably connected on fixed block (10).
The gravity center adjusting mechanism of a kind of underwater glider the most according to claim 3, it is characterized in that, the left and right sides of described mobile platform (5) is respectively arranged with some connection posts (5a), the free end of every described connection post (5a) is all rotatably connected to roller (11a), lateral slot (11b) it is provided with on the opposite flank of track described in two (11), gathering sill (11c) alongst it is provided with in described track (11), described lateral slot (11b) connects with gathering sill (11c), described roller (11a) is arranged in gathering sill (11c), described connection post (5a) is positioned at lateral slot (11b).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620422832.7U CN205770078U (en) | 2016-05-11 | 2016-05-11 | A kind of gravity center adjusting mechanism of underwater glider |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620422832.7U CN205770078U (en) | 2016-05-11 | 2016-05-11 | A kind of gravity center adjusting mechanism of underwater glider |
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| Publication Number | Publication Date |
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| CN205770078U true CN205770078U (en) | 2016-12-07 |
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| CN201620422832.7U Expired - Fee Related CN205770078U (en) | 2016-05-11 | 2016-05-11 | A kind of gravity center adjusting mechanism of underwater glider |
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Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106828886A (en) * | 2017-01-16 | 2017-06-13 | 北京猎鹰无人机科技有限公司 | A kind of aircraft center of gravity dynamically balancing device |
| CN107117266A (en) * | 2017-05-11 | 2017-09-01 | 江苏科技大学 | A kind of self balancing device, unmanned vehicles and its control system |
| CN108042878A (en) * | 2018-01-31 | 2018-05-18 | 南阳医学高等专科学校 | A kind of anti-down infusion support of hospital care infusion |
| CN108404247A (en) * | 2018-02-09 | 2018-08-17 | 南阳市中心医院 | A kind of anti-down children's infusion support of intelligence |
| CN108438180A (en) * | 2018-03-20 | 2018-08-24 | 哈尔滨工程大学 | A kind of gravity center adjusting mechanism of underwater glider |
| CN108674619A (en) * | 2018-04-27 | 2018-10-19 | 江苏泰姆仕机器人科技有限公司 | A kind of regulating device and method of underwater robot operation posture |
| CN109164042A (en) * | 2018-10-30 | 2019-01-08 | 叶锦程 | The weight gain device of airport surface friction coefficient vehicle |
| CN110027689A (en) * | 2019-04-19 | 2019-07-19 | 盐城骏拔汽车零部件有限公司 | Based on Gravity changer semi-submersible type cruise unmanned boat and method partly latent |
| CN111547203A (en) * | 2020-05-28 | 2020-08-18 | 中国船舶工业集团公司第七0八研究所 | Modular-design inland river small-sized lithium battery power ship and construction method |
| CN111996843A (en) * | 2020-04-30 | 2020-11-27 | 中船第九设计研究院工程有限公司 | Guide rail for underwater traveling wheels and machining method of guide rail |
| CN113002744A (en) * | 2021-03-09 | 2021-06-22 | 鹏城实验室 | Four-rotor underwater vehicle |
| CN113071642A (en) * | 2021-04-16 | 2021-07-06 | 中国船舶科学研究中心 | Mechanical type pitching balancing device for submersible and operation method |
| CN115009484A (en) * | 2022-06-28 | 2022-09-06 | 江苏科技大学 | Device for improving maneuverability of wing body integrated underwater glider and working method thereof |
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- 2016-05-11 CN CN201620422832.7U patent/CN205770078U/en not_active Expired - Fee Related
Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106828886A (en) * | 2017-01-16 | 2017-06-13 | 北京猎鹰无人机科技有限公司 | A kind of aircraft center of gravity dynamically balancing device |
| CN107117266A (en) * | 2017-05-11 | 2017-09-01 | 江苏科技大学 | A kind of self balancing device, unmanned vehicles and its control system |
| CN108042878A (en) * | 2018-01-31 | 2018-05-18 | 南阳医学高等专科学校 | A kind of anti-down infusion support of hospital care infusion |
| CN108404247A (en) * | 2018-02-09 | 2018-08-17 | 南阳市中心医院 | A kind of anti-down children's infusion support of intelligence |
| CN108438180A (en) * | 2018-03-20 | 2018-08-24 | 哈尔滨工程大学 | A kind of gravity center adjusting mechanism of underwater glider |
| CN108674619B (en) * | 2018-04-27 | 2019-10-11 | 江苏泰姆仕机器人科技有限公司 | A kind of regulating device and method of underwater robot operation posture |
| CN108674619A (en) * | 2018-04-27 | 2018-10-19 | 江苏泰姆仕机器人科技有限公司 | A kind of regulating device and method of underwater robot operation posture |
| CN109164042A (en) * | 2018-10-30 | 2019-01-08 | 叶锦程 | The weight gain device of airport surface friction coefficient vehicle |
| CN109164042B (en) * | 2018-10-30 | 2020-12-04 | 温州高伟通工业设计有限公司 | Weight increasing device of aerodrome pavement friction coefficient vehicle |
| CN110027689A (en) * | 2019-04-19 | 2019-07-19 | 盐城骏拔汽车零部件有限公司 | Based on Gravity changer semi-submersible type cruise unmanned boat and method partly latent |
| CN111996843A (en) * | 2020-04-30 | 2020-11-27 | 中船第九设计研究院工程有限公司 | Guide rail for underwater traveling wheels and machining method of guide rail |
| CN111547203A (en) * | 2020-05-28 | 2020-08-18 | 中国船舶工业集团公司第七0八研究所 | Modular-design inland river small-sized lithium battery power ship and construction method |
| CN113002744A (en) * | 2021-03-09 | 2021-06-22 | 鹏城实验室 | Four-rotor underwater vehicle |
| CN113071642A (en) * | 2021-04-16 | 2021-07-06 | 中国船舶科学研究中心 | Mechanical type pitching balancing device for submersible and operation method |
| CN115009484A (en) * | 2022-06-28 | 2022-09-06 | 江苏科技大学 | Device for improving maneuverability of wing body integrated underwater glider and working method thereof |
| CN115009484B (en) * | 2022-06-28 | 2024-03-15 | 江苏科技大学 | Device for improving maneuverability of wing body fusion underwater glider and working method thereof |
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| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20161207 Termination date: 20170511 |