CN217706239U - Attitude control and self-stabilization mechanism suitable for auv unmanned underwater vehicle - Google Patents
Attitude control and self-stabilization mechanism suitable for auv unmanned underwater vehicle Download PDFInfo
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- CN217706239U CN217706239U CN202222099255.0U CN202222099255U CN217706239U CN 217706239 U CN217706239 U CN 217706239U CN 202222099255 U CN202222099255 U CN 202222099255U CN 217706239 U CN217706239 U CN 217706239U
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Abstract
The utility model belongs to the technical field of unmanned underwater vehicle, especially, an attitude control and self-stabilizing mechanism who is suitable for auv unmanned underwater vehicle, including two sets of middle part flange rings, all fixed bottom of having cup jointed the ballast water sump on two sets of middle part flange rings, two ballast water sump symmetries set up, the tip flange ring has been cup jointed at the top in ballast water sump, and two tip flange rings and two sets of middle part flange rings pass through copper post fixed connection, are provided with upper flange ring, well flange ring and lower flange ring between two sets of middle part flange rings, the through-hole has all been seted up to the eccentric position of tip flange ring, middle part flange ring, upper flange ring, well flange ring and lower flange ring, and it installs same rack one to run through in a plurality of through-holes. The utility model discloses an adjustment battery package one and battery package two's position carries out stability control to the gesture of unmanned underwater vehicle, and can be quick adjust unmanned underwater vehicle gesture, and the unmanned underwater vehicle of being convenient for dives and come-up operation.
Description
Technical Field
The utility model relates to an unmanned underwater vehicle technical field especially relates to an attitude control and self-stabilization mechanism that is suitable for unmanned underwater vehicle of auv.
Background
The unmanned underwater vehicle has the characteristics of flexibility in movement, convenience in deployment and high safety, can execute tasks which are difficult to complete by manned underwater vehicles, and is greatly developed in various industry strong countries in recent years. The unmanned underwater vehicle has high autonomy, and a sensor carried by the unmanned underwater vehicle has the capabilities of navigation, perception, autonomous decision and the like, so that the unmanned underwater vehicle has more and more important functions in the scenes of environment measurement, surveying and mapping operation and the like.
The unmanned underwater vehicle mainly comprises two traditional type underwater vehicles, namely an unmanned Autonomous Underwater Vehicle (AUV) and an underwater remote control underwater vehicle (ROV), and although the existing unmanned underwater vehicle has the capability of quick maneuverability, the existing unmanned underwater vehicle can not realize quick submergence and floating up when being applied to deep sea, the positioning precision and stability are not high, and the submarine operation can not be realized.
SUMMERY OF THE UTILITY MODEL
The utility model aims at solving the shortcomings existing in the prior art, and providing an attitude control and self-stabilizing mechanism suitable for an auv unmanned underwater vehicle.
In order to achieve the above purpose, the utility model adopts the following technical scheme:
a posture control and self-stabilization mechanism suitable for an auv unmanned underwater vehicle comprises two groups of middle flange rings, wherein the bottoms of ballast water bins are fixedly sleeved on the two groups of middle flange rings, the two ballast water bins are symmetrically arranged, end flange rings are sleeved on the tops of the ballast water bins, the two end flange rings and the two groups of middle flange rings are fixedly connected through copper columns, an upper flange ring, a middle flange ring and a lower flange ring are arranged between the two groups of middle flange rings, through holes are formed in the eccentric positions of the end flange rings, the middle flange ring, the upper flange ring, the middle flange ring and the lower flange ring, a first battery pack is arranged on one side of the first rack and matched with the through holes, first motors are arranged at two ends of the first battery pack, main gears are fixedly arranged at output ends of the first motors, the first main gears are meshed with the first main gears, a first gear is meshed with the first rack, a push rod is installed in the ballast water bin and comprises a first rod, a second rod, a third rod and a fourth rod, the first rod, the second rod, the third rod and the fourth rod are in sliding sleeve joint with each other, a second motor is installed on one side of the second rod and one side of the third rod are fixedly provided with a second gear, one side of the third rod and one side of the fourth rod are provided with a second rack which is meshed with the second rack, the fourth rod is provided with a piston, a third motor is fixedly installed on the upper flange ring, a third main gear is fixedly installed on the output end of the third motor, the main gear is meshed with a driven gear, the driven gear is meshed with a reduction gear, the reduction gear is fixedly sleeved with an intermediate shaft, two ends of the intermediate shaft respectively penetrate through the upper flange ring, the middle flange ring and the lower flange ring, and two ends of the intermediate shaft are respectively in rotating connection with the two groups of middle flange rings, and a battery pack II is arranged between the middle flange ring and the lower flange ring.
Preferably, the two sets of middle flange rings are fixedly connected through a first connecting piece.
Preferably, the upper flange ring, the middle flange ring and the lower flange ring are fixedly connected with each other through a second connecting piece.
Preferably, the number of the middle flange rings is three, two clamping lugs are mounted on one of the middle flange rings, the ballast water bin is located between the two clamping lugs, and the push rod far away from the piston is fixed on the middle flange ring far away from the end flange ring.
Preferably, the inner walls of the first rod, the second rod and the third rod are provided with clamping blocks, and the clamping blocks are matched with the second rod, the third rod and the fourth rod.
Preferably, bearings are installed in the center positions of the upper flange ring, the middle flange ring and the lower flange ring, and the intermediate shaft is sleeved on the bearings.
Preferably, a water pipe is installed at the end of the ballast water bin.
Preferably, two ends of the rack are respectively installed on two end flange rings, arc-shaped holes are formed in the upper flange ring, the middle flange ring and the lower flange ring, and the rack is movably installed in the arc-shaped holes.
In the utility model, the attitude control and self-stabilization mechanism suitable for the auv unmanned underwater vehicle drives the second gear to rotate through the second motor on the push rod, and the second gear is meshed with the second rack, so that the second rod, the third rod and the fourth rod on the push rod are successively pushed out and retracted, and the piston is driven to move; when the posture is required to be adjusted, the first gear is driven to rotate by the motor, the first gear moves on the first rack, so that the first battery pack is driven to move, the posture leveling position is adjusted by the dead weight of the first battery pack, meanwhile, the third motor drives the driven gear to rotate, the driven gear drives the reduction gear to rotate, the reduction gear drives the middle shaft to rotate, the middle shaft rotates to drive the upper flange ring, the middle flange ring and the lower flange ring to integrally rotate, namely, the second battery pack serves as a balancing weight to rotate, the posture leveling position is adjusted, and the posture leveling position adjustment in the horizontal direction and the vertical direction is achieved.
The utility model discloses an adjustment battery package one and battery package two's position carries out stability control to the gesture of unmanned underwater vehicle, and can be quick adjust unmanned underwater vehicle gesture, and the unmanned underwater vehicle of being convenient for dives and come-up operation.
Drawings
Fig. 1 is a schematic structural view of an attitude control and self-stabilizing mechanism suitable for an auv unmanned underwater vehicle provided by the present invention;
fig. 2 is a schematic diagram of a push rod structure of an attitude control and self-stabilizing mechanism suitable for an auv unmanned underwater vehicle provided by the present invention;
fig. 3 is a schematic diagram of a battery pack two leveling structure of an attitude control and self-stabilizing mechanism suitable for an auv unmanned underwater vehicle.
In the figure: 1 ballast water bin, 2 end flange rings, 3 middle flange rings, 4 copper columns, 5 through holes, 6 battery pack I, 7 motor I, 8 gear I, 9 rack I, 10 water pipe, 11 push rod, 12 gear II, 13 rack II, 14 piston, 15 fixture block, 16 upper flange ring, 17 middle flange ring, 18 lower flange ring, 19 connecting piece II, 20 battery pack II, 21 motor III, 22 driven gear, 23 reduction gear, 24 middle shaft and 25 connecting piece I.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments.
Referring to fig. 1-3, an attitude control and self-stabilization mechanism suitable for an auv unmanned underwater vehicle comprises two sets of middle flange rings 3, the bottoms of two sets of middle flange rings 3 are fixedly sleeved with the bottoms of two ballast water tanks 1, the two ballast water tanks 1 are symmetrically arranged, the top of the ballast water tank 1 is sleeved with an end flange ring 2, the two end flange rings 2 and the two sets of middle flange rings 3 are fixedly connected through a copper column 4, an upper flange ring 16, a middle flange ring 17 and a lower flange ring 18 are arranged between the two sets of middle flange rings 3, the end flange rings 2, the middle flange rings 3, the upper flange ring 16, the middle flange ring 17 and the lower flange ring 18 are provided with through holes 5 at eccentric positions, a same rack gear 9 is installed in the through holes 5, a battery pack first 6 is arranged on one side of the rack gear 9, the battery pack first 6 is adapted to the through holes 5, motor first 7 is installed on both ends of the battery pack first 7, a first motor 7 is fixedly installed on output ends of the first motor gears 7, two rack gears 8 are engaged with the same rack gear, a first gear 8, a second motor 12 is installed on the rack gear, a second motor 12 is installed on the second motor, a second motor 12 is installed on the second motor 12, a second motor 12 and a second motor 12, a third motor 12 are installed on a second motor 12, a third motor 12, the driven gear 22 is engaged with a reduction gear 23, the reduction gear 23 is fixedly sleeved with an intermediate shaft 24, two ends of the intermediate shaft 24 penetrate through the upper flange ring 16, the middle flange ring 17 and the lower flange ring 18 respectively, two ends of the intermediate shaft 24 are rotatably connected with the two groups of middle flange rings 3 respectively, and a battery pack II 20 is arranged between the middle flange ring 17 and the lower flange ring 18.
The utility model discloses in, through a connecting piece 25 fixed connection between two sets of middle part flange rings 3.
In the utility model, the upper flange ring 16, the middle flange ring 17 and the lower flange ring 18 are fixedly connected with each other through the connecting piece II 19.
The utility model discloses in, a set of middle part flange ring 3 is three, and installs two clamping lugs on one of them middle part flange ring 3, and ballast water storehouse 1 is located between two clamping lugs, and the push rod 11 of keeping away from piston 14 is fixed on a middle part flange ring 3 of keeping away from tip flange ring 2.
The utility model discloses in, install fixture block 15 on the inner wall of first pole, second pole and third pole, and fixture block 15 and second pole, third pole and fourth pole looks adaptation.
The utility model discloses in, go up flange ring 16, well flange ring 17 and lower flange ring 18's central point and put and install the bearing, jackshaft 24 cup joints on the bearing.
In the utility model, the water pipe 10 is installed to the tip of ballast water storehouse 1.
The utility model discloses in, rack 9's both ends are installed respectively on two tip flange rings 2, have seted up the arc hole on going up flange ring 16, well flange ring 17 and the lower flange ring 18, and rack 9 movable mounting is downthehole at the arc.
In the utility model, when in use, the second gear 12 is driven to rotate by the second motor on the push rod 11, and the second gear 12 is meshed with the second rack 13, so that the second rod, the third rod and the fourth rod on the push rod 11 are successively pushed out and retracted, and the piston 14 is driven to move; when the posture is required to be adjusted, the first gear 8 is driven to rotate through the first motor 7, the first gear 8 moves on the first rack 9, the first battery pack 6 is driven to move, the posture adjusting and leveling position is adjusted through the self weight of the first battery pack 6, meanwhile, the third motor 21 drives the driven gear 22 to rotate, the driven gear 22 drives the reduction gear 23 to rotate, the reduction gear 23 drives the intermediate shaft 24 to rotate, the intermediate shaft 24 rotates to drive the upper flange ring 16, the middle flange ring 17 and the lower flange ring 18 to integrally rotate, namely, the second battery pack 20 rotates as a balancing weight, the posture adjusting and leveling position is adjusted, and therefore the posture adjusting and leveling position adjusting in the horizontal direction and the vertical direction is achieved.
The above, only be the embodiment of the preferred of the present invention, but the protection scope of the present invention is not limited thereto, and any person skilled in the art is in the technical scope of the present invention, according to the technical solution of the present invention and the utility model, which are designed to be replaced or changed equally, all should be covered within the protection scope of the present invention.
Claims (8)
1. The attitude control and self-stabilization mechanism is suitable for an auv unmanned underwater vehicle and is characterized by comprising two groups of middle flange rings (3), wherein the bottoms of two ballast water bins (1) are fixedly sleeved on the two groups of middle flange rings (3), the two ballast water bins (1) are symmetrically arranged, the top of each ballast water bin (1) is sleeved with an end flange ring (2), the two end flange rings (2) and the two groups of middle flange rings (3) are fixedly connected through copper columns (4), an upper flange ring (16), a middle flange ring (17) and a lower flange ring (18) are arranged between the two groups of middle flange rings (3), through holes (5) are formed in the eccentric positions of the end flange rings (2), the middle flange rings (3), the upper flange rings (16), the middle flange rings (17) and the lower flange rings (18), the same rack gear (9) is installed in the through holes (5), one side of the rack gear (9) is provided with a battery pack one (6), the battery pack (6) is matched with the through holes (5), two gear packs are installed at the ends of the same gear pack (7), and two gear packs are installed at the ends of the same gear pack (8), and one gear pack (7) is installed at the output end of a main gear pack (8), the push rod (11) comprises a first rod, a second rod, a third rod and a fourth rod, the first rod, the second rod, the third rod and the fourth rod are sleeved in a sliding mode, a second motor is installed on one side of the second rod and the third rod, a second gear (12) is fixedly installed at the output end of the second motor, a second rack (13) is installed on one side of the third rod and one side of the fourth rod, the second gear (12) is meshed with the second rack (13), a piston (14) is installed on the fourth rod, a third motor (21) is fixedly installed on the upper flange ring (16), a main gear is fixedly installed at the output end of the third motor (21), a driven gear (22) is meshed with the main gear, a reduction gear (23) is meshed with the driven gear (22), an intermediate shaft (24) is fixedly sleeved on the reduction gear (23), two ends of the intermediate shaft (24) penetrate through the upper flange ring (16), the intermediate flange ring (17) and the lower flange ring (18), two ends of the intermediate shaft (24) rotate with the two sets of the flange rings (3) respectively, and are connected with the intermediate flange rings (18), and a battery pack (20) is installed between the intermediate flange ring (18).
2. The attitude control and self-stabilization mechanism suitable for the auv unmanned underwater vehicle is characterized in that the two sets of middle flange rings (3) are fixedly connected through a first connecting piece (25).
3. The attitude control and self-stabilization mechanism suitable for the auv unmanned underwater vehicle as claimed in claim 1, wherein the upper flange ring (16), the middle flange ring (17) and the lower flange ring (18) are fixedly connected with each other through a second connecting piece (19).
4. The attitude control and self-stabilizing mechanism suitable for the auv unmanned underwater vehicle is characterized in that the number of the middle flange rings (3) is three, two clamping lugs are arranged on one of the middle flange rings (3), the ballast water tank (1) is positioned between the two clamping lugs, and the push rod (11) far away from the piston (14) is fixed on the middle flange ring (3) far away from the end flange ring (2).
5. The attitude control and self-stabilization mechanism suitable for the auv unmanned underwater vehicle as claimed in claim 1, wherein the inner walls of the first rod, the second rod and the third rod are provided with a fixture block (15), and the fixture block (15) is matched with the second rod, the third rod and the fourth rod.
6. The attitude control and self-stabilization mechanism suitable for the auv unmanned underwater vehicle is characterized in that bearings are mounted at the central positions of the upper flange ring (16), the middle flange ring (17) and the lower flange ring (18), and the intermediate shaft (24) is sleeved on the bearings.
7. The attitude control and self-stabilization mechanism suitable for the auv unmanned underwater vehicle as claimed in claim 1, wherein the end of the ballast water tank (1) is provided with a water pipe (10).
8. The attitude control and self-stabilizing mechanism suitable for the auv unmanned underwater vehicle as claimed in claim 1, wherein two ends of the first rack (9) are respectively installed on the two end flange rings (2), the upper flange ring (16), the middle flange ring (17) and the lower flange ring (18) are provided with arc-shaped holes, and the first rack (9) is movably installed in the arc-shaped holes.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202222099255.0U CN217706239U (en) | 2022-08-10 | 2022-08-10 | Attitude control and self-stabilization mechanism suitable for auv unmanned underwater vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202222099255.0U CN217706239U (en) | 2022-08-10 | 2022-08-10 | Attitude control and self-stabilization mechanism suitable for auv unmanned underwater vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN217706239U true CN217706239U (en) | 2022-11-01 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202222099255.0U Active CN217706239U (en) | 2022-08-10 | 2022-08-10 | Attitude control and self-stabilization mechanism suitable for auv unmanned underwater vehicle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN217706239U (en) |
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2022
- 2022-08-10 CN CN202222099255.0U patent/CN217706239U/en active Active
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