CN208760876U - A kind of gravity adjusting device when the execution multitask for AUV - Google Patents
A kind of gravity adjusting device when the execution multitask for AUV Download PDFInfo
- Publication number
- CN208760876U CN208760876U CN201821529145.0U CN201821529145U CN208760876U CN 208760876 U CN208760876 U CN 208760876U CN 201821529145 U CN201821529145 U CN 201821529145U CN 208760876 U CN208760876 U CN 208760876U
- Authority
- CN
- China
- Prior art keywords
- loading module
- auv
- adjusting device
- counter weight
- gravity adjusting
- 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
Landscapes
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The utility model discloses gravity adjusting devices when a kind of execution multitask for AUV, which includes loading module, counter weight strip and packing；Loading module is stitched together and is formed by three preceding loading module, intermediate loading module and rear loading module parts, and three parts are detachably connected；Intermediate loading module includes at least one load units, and the end face of load units is provided with several through-holes, after the through-hole alignment of the identical load units of all structures, is constituted several for placing the long holes of counter weight strip and packing；Packing is used to fill the gap between counter weight strip and long hole；The surface of intermediate loading module has at least one groove in the width direction, and hose clamp is placed in groove.Utility model device can quickly and efficiently adjust its gravity size, position of centre of gravity, positive buoyancy needed for can meeting normal/cruise and posture after replacing different equipment in AUV.Utility model device is simple to operate, simple and reliable for structure, low in cost, and applicability is wide.
Description
Technical field
The utility model belongs to Autonomous Underwater Vehicle field, is related to center of gravity tune when a kind of execution multitask for AUV
Regulating device.
Background technique
Autonomous Underwater Vehicle (Autonomous Underwater Vehicle, abbreviation AUV) be it is a kind of nobody, it is untethered
Formula underwater robot realizes different functions by the equipment for carrying different, as Underwater Target Detection, the bottom are imaged, under water
Camera shooting, Hydrological Data Acquisition etc..In the actual use process, in order to improve the service efficiency of AUV, in primary outgoing experiment
Several different equipment of current test can be taken turns.Due under AUV in water stationary state positive buoyancy and posture the navigation of AUV is played
Very crucial effect, and after more exchange device, the gravity and buoyancy of AUV entirety would generally change, center of gravity and floating
Heart position also changes therewith, cannot reach the requirement of positive buoyancy and posture required for navigating by water, and then influences its motion control effect
Fruit, and the ship resistance of AUV may be increased, reduce radius.
Existing trim scheme mainly includes following two: a kind of method be by mechanical device it is mobile inside pouring weight come
Adjust the pitching and roll of AUV；In Publication No. " 102145740 A of CN ", a kind of entitled " underwater robot center of gravity adjusting
In the patent document of device ", it is noted that the technical solution of gravity adjusting device for underwater robot, but the technical solution is on the one hand
Can only center-of-gravity regulating, be not adjustable gravity, center of gravity when being adapted for carrying out single task role is adjusted；On the other hand its mechanical device accounts for
With valuable inner space, while also increasing the cost of AUV.Another method be weight (such as stereotype) is made into
Directly be fixed on the outside of AUV after the identical shape of AUV shell with adhesive tape or other modes, this mode adjust compared with
Inconvenience, and for different tasks, the size of weight, position are usually different, in addition weight is paid no attention to AUV laminating degree
Think, the monnolithic case of AUV under different task caused to change, so AUV navigate by water when around flow field also change therewith, influence
Water performance.
Summary of the invention
The purpose of this utility model is that in view of the deficiencies of the prior art, provide a kind of when executing multitask for AUV
Gravity adjusting device, the technical problem to be solved by the utility model is to 1, can fast and effeciently adjust after more exchange device
AUV is met the operational configuration of certain positive buoyancy, pitch angle, roll angle by the gravity and center of gravity of AUV with Heisei；2, this is practical
It is novel to be not take up the inner space AUV, make each trim can be in AUV peripheral operation, cabin without tearing AUV open improves
Control efficiency is avoided because dismounting AUV cabin bring system risk；3, the utility model is fixed on outside AUV, is had streamlined
Design, play the role of reduce resistance.
The purpose of this utility model is achieved through the following technical solutions: when a kind of execution multitask for AUV
Gravity adjusting device, the device include loading module, counter weight strip and packing；The loading module is by preceding loading module, centre
Three parts of loading module and rear loading module are stitched together to be formed, and three parts are detachably connected；The intermediate loading
Module includes at least one load units, and the end face of load units is provided with several through-holes, the identical load units of all structures
After through-hole alignment, constitute several for placing the long hole of counter weight strip and packing；The packing is for filling counter weight strip and length
Gap between hole；The surface of the intermediate loading module has at least one groove in the width direction, and hose clamp is placed in recessed
In slot, for gravity adjusting device to be fixedly connected with AUV shell.
Further, the material selection lead or copper of the counter weight strip；The material selection ABS of the packing, nylon, engineering
Plastics or organic glass；Material selection ABS, nylon, engineering plastics or the organic glass of the loading module.
Further, the counter weight strip is identical with the cross sectional dimensions of packing, described using vertical prismatic shape or cylinder
The shape of through-hole is matched with counterweight strip.
Further, the end face that the preceding loading module/rear loading module is contacted with intermediate loading module is plane or tool
Have and the matched groove of long hole.
Further, the loading module is designed as the streamline shape being bonded with AUV shell.
Further, the preceding loading module, intermediate loading module and rear loading module all have perforative mounting hole, long
Screw rod passes through mounting hole, these three loading modules of connecting, and is fastened by fastener.
The beneficial effects of the utility model are: the utility model provides a kind of center of gravity adjusting dress being installed on outside AUV
It sets, can quickly and efficiently adjust its gravity size, position of centre of gravity after different equipment is replaced in AUV, can meet normal
Positive buoyancy and posture needed for navigation.The intermediate loading module of the utility model can increase and decrease of load units according to demand
Number, adjustable sphere of gravity are larger.Entire gravity adjusting device is connected to outside AUV by two hose clamps, adjusts counterweight
When, dismantle preceding loading module or rear loading module, can take out inside counter weight strip and packing；By larynx when adjustment pitch angle
Hoop is unscrewed, and gravity adjusting device is moved axially；Counter weight strip is moved in different long holes when adjusting roll.Center of gravity is adjusted
Device fine can must be bonded with the shape of AUV, and shape is streamlined, can reduce resistance when navigation.The utility model weight
Heart regulating device is simple to operate, and the simple and reliable for structure, low in cost of whole device, applicability are wide.
Detailed description of the invention
Fig. 1 is the component part of gravity adjusting device；
Fig. 2 is the gravity adjusting device after combination；
Fig. 3 is the gravity adjusting device being fixed on AUV；
Fig. 4 is intermediate loading module section.
Specific embodiment
The utility model is described in further detail in the following with reference to the drawings and specific embodiments.
Gravity adjusting device when a kind of execution multitask for AUV provided by the utility model, the gravity adjusting device
Including loading module 1, counter weight strip 2 and packing 3；The loading module 1 by preceding loading module 11, intermediate loading module 12 and after
13 3 parts of loading module are stitched together to be formed, and three parts are detachably connected；The intermediate loading module 12 includes
At least one load units 121 (number of load units 121 is chosen according to the required length for loading counter weight strip 2), loads single
The end face of member 121 is provided with several through-holes 4, after the through-hole alignment of the identical load units 121 of all structures, constitutes several for putting
The long hole of counter weight strip 2 and packing 3 is set, to adjust the weight and roll of AUV7；The packing 3 for fill counter weight strip 2 with
Gap between long hole avoids counter weight strip 2 slide in slot hole；The surface of the intermediate loading module 12 has at least one edge
The groove 5 of width direction, hose clamp 6 are placed in groove 5, for gravity adjusting device to be fixedly connected with the shell of AUV7.
Further, the counter weight strip 2 selects high density material, including lead or copper；The packing 3 selects density and water
Close to (1.05g/cm3), water imbibition is low, meets intensity and resistance to pressure request, the material convenient for machining, including ABS, nylon,
Engineering plastics, organic glass；The material selection density of the loading module 1 and water are close to (1.05g/cm3), water imbibition it is low, full
Sufficient intensity and resistance to pressure request, the material convenient for machining, including ABS, nylon, engineering plastics, organic glass.
Further, the counter weight strip 2 is identical with the cross sectional dimensions of packing 3, can use vertical prismatic shape or cylinder
The shape of shape, the through-hole 4 is matched with 2 shape of counter weight strip, is changed with the shape of counter weight strip 2.
Further, the end face that loading module 13 is contacted with intermediate loading module 12 after the preceding loading module 11/ is flat
Face or have with the matched groove of long hole, the effect of preceding loading module 11 and rear loading module 13 is with packing 3 together to matching
Weight item 2 provides the limit of an axial direction.
Further, the loading module 1 is designed as the streamline shape being bonded with the shell of AUV7, can make entire center of gravity
Regulating device generates lesser resistance under sail.Respectively to without gravity adjusting device, band blunt form gravity adjusting device,
Simulation calculation is carried out with the AUV under three kinds of states of streamlined gravity adjusting device, resistance when its direct route is obtained, is shown in Table 1.
1 gravity adjusting device of table brings resistance to change
| Sail through to resistance | |
| Without gravity adjusting device | D |
| Band blunt form gravity adjusting device | 1.18D |
| With streamlined gravity adjusting device | 1.09D |
Further, the preceding loading module 11, intermediate loading module 12 and rear loading module 13 all have perforative peace
Hole 8 is filled, long bolt 9 passes through mounting hole 8, these three loading modules of connecting, and is fastened by fastener 10.
Further, the intermediate loading module 12 uses modularized design, can increase and decrease load units 121 according to demand
Number, and then increase and decrease accommodate counter weight strip 2 space.
Method using gravity adjusting device adjustment AUV center of gravity is specific as follows:
2 quantity of counter weight strip is estimated, by gravity adjusting device by hose clamp fixed on the shell of AUV7；
After AUV7 is lauched: if positive buoyancy needed for navigation cannot be reached because of estimation error, increasing or decreasing the number of counter weight strip 2
Amount；
If AUV pitch angle has deviation, gravity adjusting device is axially moveable；
If AUV roll angle has deviation, the counter weight strip 2 swerved the weight in regulating device is arrived in different long holes, for example will match
Weight item 2 is moved to the long hole of middle position from the long hole of the extreme side；
AUV has executed trim again according to the above method after a subtask replaces test equipment again.
When adjusting counter weight strip 2, loading module 11 or rear loading module 13 before dismantling；Hose clamp 6 is unscrewed when adjusting pitch angle,
Move axially gravity adjusting device.
Above-described embodiment is used to illustrate the utility model, rather than limits the utility model, practical at this
In novel spirit and scope of protection of the claims, to any modifications and changes that the utility model is made, this reality is both fallen within
With novel protection scope.
Claims (6)
1. it is a kind of for AUV execute multitask when gravity adjusting device, which is characterized in that including loading module, counter weight strip and
Packing；The loading module is stitched together shape by preceding loading module, intermediate three parts of loading module and rear loading module
At, and three parts are detachably connected；The intermediate loading module includes at least one load units, and the end face of load units is opened
There are several through-holes, after the through-hole alignment of the identical load units of all structures, constitutes several for placing counter weight strip and packing
Long hole；The packing is used to fill the gap between counter weight strip and long hole；The surface of the intermediate loading module has extremely
A few groove in the width direction, hose clamp is placed in groove, for gravity adjusting device to be fixedly connected with AUV shell.
2. gravity adjusting device when a kind of execution multitask for AUV according to claim 1, which is characterized in that institute
State the material selection lead or copper of counter weight strip；Material selection ABS, nylon, engineering plastics or the organic glass of the packing；It is described
Material selection ABS, nylon, engineering plastics or the organic glass of loading module.
3. gravity adjusting device when a kind of execution multitask for AUV according to claim 1, which is characterized in that institute
It is identical with the cross sectional dimensions of packing to state counter weight strip, using vertical prismatic shape or cylinder, the shape and counter weight strip of the through-hole
Shape matching.
4. gravity adjusting device when a kind of execution multitask for AUV according to claim 1, which is characterized in that institute
The end face that preceding loading module/rear loading module is contacted with intermediate loading module is stated to be plane or have and the matched groove of long hole.
5. gravity adjusting device when a kind of execution multitask for AUV according to claim 1, which is characterized in that institute
It states loading module and is designed as the streamline shape being bonded with AUV shell.
6. gravity adjusting device when a kind of execution multitask for AUV according to claim 1, which is characterized in that institute
It states preceding loading module, intermediate loading module and rear loading module and all has perforative mounting hole, long bolt passes through mounting hole, series connection
These three loading modules, and fastened by fastener.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821529145.0U CN208760876U (en) | 2018-09-18 | 2018-09-18 | A kind of gravity adjusting device when the execution multitask for AUV |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821529145.0U CN208760876U (en) | 2018-09-18 | 2018-09-18 | A kind of gravity adjusting device when the execution multitask for AUV |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208760876U true CN208760876U (en) | 2019-04-19 |
Family
ID=66136813
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821529145.0U Active CN208760876U (en) | 2018-09-18 | 2018-09-18 | A kind of gravity adjusting device when the execution multitask for AUV |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208760876U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109050847A (en) * | 2018-09-18 | 2018-12-21 | 浙江九段智能科技有限公司 | Gravity adjusting device and method when a kind of execution multitask for AUV |
| CN112776963A (en) * | 2021-02-01 | 2021-05-11 | 上海中车艾森迪海洋装备有限公司 | Deep sea operation level ROV adjustable buoyancy system |
-
2018
- 2018-09-18 CN CN201821529145.0U patent/CN208760876U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109050847A (en) * | 2018-09-18 | 2018-12-21 | 浙江九段智能科技有限公司 | Gravity adjusting device and method when a kind of execution multitask for AUV |
| CN109050847B (en) * | 2018-09-18 | 2023-12-15 | 浙江九段智能科技有限公司 | Gravity center adjusting device and method for AUV (autonomous Underwater vehicle) in multitasking |
| CN112776963A (en) * | 2021-02-01 | 2021-05-11 | 上海中车艾森迪海洋装备有限公司 | Deep sea operation level ROV adjustable buoyancy system |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN208760876U (en) | A kind of gravity adjusting device when the execution multitask for AUV | |
| CN207157467U (en) | Frame-type underwater robot | |
| KR100922817B1 (en) | Small Autonomous Underwater Vehicle Test-bed | |
| CN100431917C (en) | Underwater robot sliding driven by buoyant force | |
| CN103523199A (en) | Novel tubular-structure electric unmanned helicopter | |
| CN109050847A (en) | Gravity adjusting device and method when a kind of execution multitask for AUV | |
| CN101870351B (en) | Deep-sea oil-pocket buoyancy regulation device | |
| CN103863536B (en) | One under water external discharges attitude regulating mechanism certainly | |
| CN108438183A (en) | Oceanographic observation submersible | |
| CN103612728A (en) | Underwater three-dimensional detection gliding robot | |
| CN205554623U (en) | Optical zoom nacelle | |
| CN105711777A (en) | Micro-miniature modularized AUV (autonomous underwater vehicle) | |
| CN109050791A (en) | A kind of navigation unit by water and marine equipment | |
| CN208715452U (en) | A kind of device for adjusting posture of underwater glider | |
| CN108791773B (en) | A kind of air-drop type underwater glider based on electromagnetism spademan | |
| CN207510644U (en) | A kind of solar energy binary unmanned boat of long-distance remote control seawater sampling | |
| CN109911198A (en) | A kind of wave energy self power generation fixed-wing sea base unmanned plane | |
| US11959700B2 (en) | Liquefaction apparatus, methods, and systems | |
| US9604712B2 (en) | Methods, systems, and apparatuses for inverting a submersible craft | |
| CN110816793B (en) | Underwater robot and working method thereof | |
| CN110459855A (en) | One kind being based on 6/6-UPU type parallel antenna structure system | |
| CN203864968U (en) | Underwater external self-release posture adjusting device | |
| CN209274842U (en) | A kind of steady binary unmanned boat of microlight-type | |
| CN210310845U (en) | Marine compression condensing unit | |
| CN108583800B (en) | A kind of integrated form active-passive composite heave compensator and its working method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |