CN218368239U - Attitude adjusting device of underwater glider - Google Patents

Abstract

The utility model discloses an attitude adjusting device of an underwater glider, which comprises a front rib ring, a front retainer ring, a front cabin guide rail, a rolling adjusting mechanism and a counterweight mechanism, wherein two ends of the front cabin guide rail are respectively arranged on the front rib ring and the front retainer ring; the rolling adjusting mechanism is arranged on the front retaining ring and is connected with one end of the front cabin guide rail so as to drive the counterweight mechanism to rotate around the central axis of the front cabin guide rail; this application eccentric pouring weight both is pitching adjustment mechanism's counter weight, and for rolling adjustment mechanism's counter weight again, eccentric pouring weight eccentric mounting through pitching adjustment mechanism and the cooperation of rolling adjustment mechanism, under the limited circumstances of glider inner space under water, greatly increased glider pitch angle control range under water for the sky of carrying leads to/big dipper antenna has better communication effect.

Description

Attitude adjusting device of underwater glider

Technical Field

The utility model relates to an ocean exploration equips technical field, concretely relates to gesture adjusting device of glider under water.

Background

The underwater glider is a novel ocean detection device, and is widely applied to ocean information observation and ocean development and utilization due to the characteristics of small size, long time sequence, large range and high autonomy. The buoyancy change is realized through changing self volume to the glider under water, and then realizes the heaving motion of glider under water, produces the lift through both sides horizontal wing, adjusts the position around the inside pouring weight again and changes the position of the focus of self, realizes the regulation of whole gesture, realizes the "cockscomb structure" gliding motion of dive and the come-up of low head.

At present, the underwater glider generally moves the weight back and forth through the pitch adjusting structure, the position of the whole gravity center in the axial direction is changed to realize the adjustment of the communication posture, the movement stroke of the pitch adjusting structure is limited by the whole structure and cannot be too large, so that the pitch angle adjusting range of the existing underwater glider is +/-60 degrees, and the vertical posture cannot be realized. However, the skywalking antenna and the Beidou antenna have higher requirements on the attitude angle of the antenna, and the application of the skywalking/Beidou antenna on an underwater glider is limited by a small pitch angle adjusting range.

SUMMERY OF THE UTILITY MODEL

To the defect among the prior art, the utility model aims at providing a bigger posture control device of glider under water of angle of pitch control accommodation.

The utility model adopts the technical proposal that:

the attitude adjusting device of the underwater glider comprises a front rib ring, a front retainer ring, a front cabin guide rail, a rolling adjusting mechanism and a counterweight mechanism, wherein two ends of the front cabin guide rail are respectively arranged on the front rib ring and the front retainer ring; the rolling adjusting mechanism is installed on the front retaining ring and connected with one end of the front cabin guide rail to drive the counterweight mechanism to rotate around the central axis of the front cabin guide rail.

Further, the longitudinal distance from the center of gravity of the counterweight mechanism to the central axis is equal to the longitudinal distance from the center of gravity of other structures of the glider to the central axis.

Further, the pitching adjusting mechanism comprises a linear guide rail, a pitching motor, a screw rod and a sliding block; an output shaft of the pitching motor is connected with the screw rod and drives the screw rod to rotate; the linear guide rail is axially arranged along the front cabin guide rail, and the sliding block is arranged on the linear guide rail in a sliding manner and driven by the screw rod to slide along the linear guide rail; the eccentric weight is arranged on the sliding block in a rotation stopping manner.

Furthermore, a support frame is fixedly arranged on the sliding block, and the eccentric weight block is detachably arranged on the support frame.

Furthermore, the front cabin guide rail is provided with a square section, a square opening matched with the square section of the front cabin guide rail is axially arranged along the eccentric weight block, the square section is matched in the square opening, and two sides of the square opening of the eccentric weight block are respectively detachably mounted on the support frame.

Furthermore, every single move adjustment mechanism still includes the sensor of acting as go-between, this sensor of acting as go-between fixed mounting is in the position that is close to every single move motor, the end of acting as go-between of the sensor of acting as go-between is fixed on the front rib ring.

Furthermore, every single move adjustment mechanism still includes the lead screw safety cover, and the one end of this lead screw safety cover is fixed on preceding rib ring, and the other end and lead screw thread fit.

Further, the roll adjustment mechanism includes roll motor, gear wheel and pinion, the roll motor fixed mounting on the preceding fender ring, and its output shaft with the pinion is connected, gear wheel fixed mounting on the front deck guide rail, and with the pinion meshing.

Furthermore, the rolling adjusting mechanism further comprises an angle sensor and a rotary change gear, the rotary change gear is meshed with the large gear, and a detection shaft of the angle sensor is connected with the rotary change gear.

Furthermore, the forecabin guide rail is of a hollow structure, and a control line of the pitching adjusting mechanism penetrates through the forecabin guide rail.

Additional aspects and advantages of the present application will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the present application.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the embodiments or the technical solutions in the prior art will be briefly described below. Throughout the drawings, like elements or portions are generally identified by like reference numerals. In the drawings, elements or portions are not necessarily drawn to scale.

Fig. 1 is an exploded view of an attitude adjustment device of an underwater glider according to an embodiment of the present application;

fig. 2 is a schematic structural diagram of an attitude adjustment device of an underwater glider according to an embodiment of the present application;

FIG. 3 is a schematic structural diagram of a pitch adjustment mechanism and a roll adjustment mechanism according to an embodiment of the present disclosure;

FIG. 4 is a schematic side view of a roll adjustment mechanism according to an embodiment of the present disclosure;

FIG. 5 is a schematic side view of another roll adjustment mechanism according to an embodiment of the present disclosure.

The front cabin comprises a front cabin guide rail 1, a linear guide rail 2, a support frame 3, a pitching motor driver 4, a pitching motor 5, a pull wire sensor 6, a sliding block 7, a screw rod 8, a pinion 9, a rotary gear 10, a screw rod protection cover 11, a pitching limiting block 12, a pitching fixing frame 13, a front rib ring 14, an eccentric weight 15, a large gear 16, a front retaining ring 17, a rolling motor 18, an angle sensor 19, a bearing 20, a rolling motor driver 21, a rolling motor base 22 and an angle sensor fixing base 23.

Detailed Description

Here, it is to be noted that the functions, methods, and the like related to the present invention are only conventional adaptive applications of the related art. Therefore, the present invention is an improvement of the prior art, which substantially lies in the connection relationship between hardware, not in the functions and methods themselves, that is, the present invention relates to a few functions and methods, but does not include the improvements proposed in the functions and methods themselves. The present invention is directed to the description of the functions and methods for better illustration, so as to better understand the present invention.

Embodiments of the present invention will be described in detail below with reference to the accompanying drawings. The following examples are only for illustrating the technical solutions of the present invention more clearly, and therefore are only examples, and the protection scope of the present invention is not limited thereby.

It is to be noted that unless otherwise specified, technical or scientific terms used herein shall have the ordinary meaning as understood by those skilled in the art to which the present invention belongs.

Referring to fig. 1 to 5, the attitude adjusting device of the underwater glider comprises a front rib ring 14, a front retainer ring 17, a front cabin guide rail 1, a rolling adjusting mechanism and a counterweight mechanism, wherein two ends of the front cabin guide rail 1 are respectively installed on the front rib ring 14 and the front retainer ring 17, the counterweight mechanism comprises an eccentric weight 15 eccentrically installed on the front cabin guide rail 1 and a pitching adjusting mechanism driving the eccentric weight 15 to move along the axial direction of the front cabin guide rail 1, and the eccentric weight 15 is a battery pack; the rolling adjusting mechanism is installed on the front check ring 17 and connected with one end of the front cabin guide rail 1 to drive the counterweight mechanism to rotate around the central axis of the front cabin guide rail 1.

The pitching adjusting mechanism and the battery pack are used as balance weight mechanisms of the rolling adjusting mechanism, the battery pack is arranged to be of an eccentric weight block 15 structure, the eccentric weight block 15 is eccentrically installed on the front cabin guide rail 1 and is driven by the pitching adjusting mechanism to move along the axial direction of the front cabin guide rail 1, and the pitching attitude of the underwater glider is adjusted; the rolling adjusting mechanism is arranged on the front check ring 17 and is connected with one end of the front cabin guide rail 1 so as to drive the counterweight mechanism to rotate around the central axis of the front cabin guide rail 1 and adjust the rolling attitude of the underwater glider.

Because the weight of every single move adjustment mechanism is less than the weight of group battery greatly, the weight of counter weight mechanism is mainly provided by eccentric pouring weight 15 (also be the group battery), eccentric pouring weight 15 both is the counter weight of every single move adjustment mechanism, and the counter weight of adjustment mechanism rolls again, eccentric pouring weight 15 eccentric installation, through every single move adjustment mechanism and the cooperation of roll adjustment mechanism, can synthesize the focus of regulation glider under water in axial and radial ascending position, under the limited circumstances of glider inner space under water, greatly increased glider pitch angle control range under water, make the sky of carrying lead to/big dipper antenna have better communication effect, whole posture adjusting device structure is compacter, simple and reliable.

Preferably, the longitudinal distance from the center of gravity of the counterweight mechanism to the central axis is equal to the longitudinal distance from the center of gravity of other structures of the glider to the central axis.

Other structures of the glider are structures except for the counterweight mechanism, mainly structures except for the eccentric weight 15. The central axis is the axis of the front cabin guide rail 1 or coincides with the axis of the front cabin guide rail 1.

Assuming that the longitudinal distance from the gravity center of the counterweight mechanism to the central axis is d, and the longitudinal distance from the gravity center of other structures of the glider to the central axis is d, when the gravity center of the counterweight mechanism is positioned right below the central axis in the longitudinal direction, the rolling angle is 0 degree, and the longitudinal distance from the integral gravity center of the underwater glider to the central axis is 2d; when the counterweight mechanism rotates 180 degrees, the gravity center of the counterweight mechanism is positioned right above the central axis and is opposite to the gravity center direction of other structures of the underwater glider, the integral gravity center of the underwater glider is positioned on the central axis at the moment, and the gravity center height is 0mm; at this time, the pitch adjusting mechanism moves the eccentric weight 15 forward by a small distance in the axial direction, and the underwater glider can realize a vertical posture.

The center of gravity of the counterweight mechanism and the center of gravity of other structures of the glider are set to be equal in the longitudinal direction, the counterweight mechanism is driven by the rolling adjusting mechanism to rotate 360 degrees, the integral center of gravity of the underwater glider can be converted between the maximum and the minimum, and meanwhile, the underwater glider can achieve a vertical posture by being matched with the back-and-forth movement of the eccentric weight 15, and when the underwater glider is on the water surface, the communication quality of the skyway antenna can be improved under the vertical posture; when the underwater vehicle is submerged and floated in a vertical posture, the motion mode of the section buoy is changed.

The pitching adjusting mechanism comprises a linear guide rail 2, a pitching motor 5, a screw rod 8 and a sliding block 7; an output shaft of the pitching motor 5 is connected with the screw rod 8 and drives the screw rod 8 to rotate; the linear guide rail 2 is axially arranged along the front cabin guide rail 1, and the sliding block 7 is arranged on the linear guide rail 2 in a sliding manner and driven by the screw rod 8 to slide along the linear guide rail 2; the eccentric weight 15 is mounted on the slide 7 in a rotationally fixed manner.

During pitch adjustment, the pitch motor 5 drives the screw rod 8 to rotate, so that the sliding block 7 is driven to move back and forth along the linear guide rail 2, the eccentric weight 15 is driven to move back and forth along the sliding block 7, the position of the gravity center of the underwater glider in the axial direction is adjusted, and a pitch angle is generated.

The linear guide rail 2 is a rolling linear guide rail 2, and has a prominent point in the aspect of friction characteristics, and the friction resistance of the rolling linear guide rail is far smaller than that of a sliding friction guide rail, so that the friction resistance of the eccentric weight 15 in the moving process on the linear guide rail 2 is reduced, the load of the pitching motor 5 is further reduced, and the power consumption is reduced.

The number of the sliding blocks 7 is three, and the three sliding blocks 7 are arranged at intervals along the linear guide rail 2. Each sliding block 7 is fixedly provided with a support frame 3, and the eccentric weight 15 is detachably arranged on the support frame 3.

Preferably, the front cabin guide rail 1 is provided with a square section, a square opening matched with the square section of the front cabin guide rail 1 is axially arranged along the eccentric weight 15, so that the cross section of the eccentric weight 15 is of a C-shaped structure, the square section is matched in the square opening, and two sides of the square opening of the eccentric weight 15 are respectively detachably mounted on the support frame 3.

The glider is in order to pursue single duration under water, the disposable lithium cell that energy density is higher is generally adopted, this has just also decided the glider needs frequent change of carrying out the group battery to maintain under water, this application sets up the group battery into the C type structure that has square open-ended through having, every single move adjustment mechanism can be followed the direction open position of group battery and packed into, and adopt bolt-up, the convenient rotation stopping cooperation of group battery and front deck guide rail 1 of having guaranteed in the party, another convenient installation or dismantlement group battery of being convenient for, make things convenient for the change of group battery, the maintainability of glider under water has been improved greatly.

Preferably, the pitch adjusting mechanism further comprises a screw rod 8 protective cover, one end of the screw rod 8 protective cover is fixed on the front rib ring 14, and the other end of the screw rod 8 protective cover is in threaded fit with the screw rod 8.

Specifically, one end of the front cabin guide rail 1 is rotatably fitted with the front retainer 17 through a bearing 20, and the other end is rotatably fitted with the front rib ring 14 through a bearing 20. A pitch fixing frame 13 is fixedly installed at the other end of the front cabin guide rail 1, and the pitch fixing frame 13 rotates along with the front cabin guide rail 1 when the front cabin guide rail 1 rotates. One end of the pitch fixing frame 13 extends upward to form an extension portion. The pitching motor 5 can be fixedly arranged on the support frame 3 of the middle slide block 7, and an output shaft of the pitching motor penetrates through the support frame 3 and is connected with one end of the screw rod 8. One end of the screw rod 8 protective cover is fixedly arranged on the extending part of the pitching fixing frame 13 through the pitching limiting block 12, and the other end of the screw rod 8 protective cover passes through the supporting frame 3 of the sliding block 7 close to one end of the front rib ring and is in threaded fit with the screw rod 8. The pitching motor driver 4 of the pitching motor 5 is arranged on the supporting frame 3 of the sliding block 7 far away from one end of the front rib ring. The eccentric weight 15 is matched with the square section of the front cabin guide rail 1 in a rotation stopping way, and two sides of the opening in the direction are respectively fixed on the support frame 3 corresponding to the sliding block 7 through bolts. The other end of the screw rod 8 is driven to be screwed into or out of the screw rod 8 protective cover through forward rotation or reverse rotation of the pitching motor 5 so as to adjust the distance between the pitching motor 5 and the front rib ring, and therefore the three sliding blocks 7 are driven to slide along the linear guide rail 2 so as to adjust the position of the eccentric weight block 15 in the axial direction and realize pitch angle adjustment.

In order to detect the position of the eccentric weight 15 in the axial direction in real time, the pitch adjustment mechanism further includes a pull sensor 6, the pull sensor 6 is fixedly installed at a position close to the pitch motor 5, and a pull end of the pull sensor 6 is fixed to the front rib ring 14.

Specifically, the stay wire sensor 6 is mounted on the support frame 3 of the middle slider 7, the stay wire end of the stay wire sensor is pulled out and fixed on the extension part of the pitching fixing frame 13, when the slider 7 slides along the linear guide rail 2, the stay wire sensor 6 synchronously moves, the stay wire length changes along with the movement, and therefore the position of the eccentric weight 15 on the linear guide rail 2 is detected according to the change of the stay wire length.

Roll adjustment mechanism includes roll motor 18, gear wheel 16 and pinion 9, roll motor 18 fixed mounting on the preceding retaining ring 17 and its output shaft with pinion 9 is connected, gear wheel 16 fixed mounting on the front deck guide rail 1, and with the pinion 9 meshing.

Specifically, the roll motor 18 is fixedly mounted on the front retaining ring 17 through a roll motor base 22, and a roll motor 18 driver for driving the roll motor 18 is fixed on the front retaining ring 17. The output shaft of the rolling motor 18 is connected with the pinion 9, the torque of the rolling motor is transmitted to the big gear 16 meshed with the pinion 9 through the pinion 9, so that the front cabin guide rail 1 is driven to rotate, the counterweight mechanisms (the pitching adjustment mechanism and the eccentric weight 15) installed on the front cabin guide rail 1 are driven to rotate, and the rolling adjustment of the underwater glider is realized.

The rolling motor 18 is a direct current brush motor with a worm gear reducer, the worm gear reducer enables the rolling motor 18 to have a self-locking function, and the rolling structure keeps the position unchanged after the rolling motor 18 is powered off.

Through the structure, the large gear 16, the pitching adjusting mechanism and the eccentric weight 15 can rotate for 360 degrees under the driving of the rolling motor 18, and the rolling adjusting mechanism and the pitching adjusting mechanism can work in parallel without mutual influence.

In order to detect the rolling angle, the rolling adjusting mechanism further comprises an angle sensor 19 and a rotary variable gear 10, the rotary variable gear 10 is meshed with the large gear 16, and a detection shaft of the angle sensor 19 is connected with the rotary variable gear 10.

Specifically, the angle sensor 19 is fixedly mounted on the front retainer ring 17 through an angle sensor fixing seat 23, and a detection shaft of the angle sensor is connected with the rotary variable gear 10.

When the large gear 16 is rotated by the roll motor 18, the resolver gear 10 engaged with the large gear 16 is rotated in synchronization, so that the rotational angle thereof is detected by the angle sensor 19 connected to the resolver gear 10.

In order to avoid the influence on the wiring harness when the attitude adjusting mechanism operates, the front cabin guide rail 1 is of a hollow structure, and a control wire of the pitching adjusting mechanism penetrates through the front cabin guide rail 1.

In this application, unless expressly stated or limited otherwise, the terms "connected," "secured," and the like are to be construed broadly and can include, for example, fixed connections, removable connections, or integral combinations thereof; may be an electrical connection; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meaning of the above terms in the present invention can be understood according to specific situations by those of ordinary skill in the art.

In the specification of the present invention, a large number of specific details are explained. It is understood, however, that embodiments of the invention may be practiced without these specific details. In some instances, well-known methods, systems, and techniques have not been shown in detail in order not to obscure an understanding of this description.

In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, system, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, systems, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Moreover, various embodiments or examples and features of various embodiments or examples described in this specification can be combined and combined by one skilled in the art without being mutually inconsistent.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; although the present invention has been described in detail with reference to the foregoing embodiments, it should be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; such modifications and substitutions do not depart from the spirit and scope of the embodiments of the present invention, and they should be construed as being included in the scope of the claims and description of the present invention.

Claims (10)

1. The attitude adjusting device of the underwater glider comprises a front rib ring, a front retainer ring, a front cabin guide rail, a rolling adjusting mechanism and a counterweight mechanism, wherein two ends of the front cabin guide rail are respectively arranged on the front rib ring and the front retainer ring; the rolling adjusting mechanism is installed on the front retaining ring and connected with one end of the front cabin guide rail to drive the counterweight mechanism to rotate around the central axis of the front cabin guide rail.

2. The attitude adjustment apparatus of an underwater glider according to claim 1, wherein a longitudinal distance from the center of gravity of the weight mechanism to the central axis is equal to a longitudinal distance from the center of gravity of other structures of the glider to the central axis.

3. The attitude adjusting apparatus of an underwater glider according to claim 1, wherein the pitch adjusting mechanism comprises a linear guide, a pitch motor, a screw, and a slider; an output shaft of the pitching motor is connected with the screw rod and drives the screw rod to rotate; the linear guide rail is axially arranged along the front cabin guide rail, and the sliding block is arranged on the linear guide rail in a sliding manner and driven by the screw rod to slide along the linear guide rail; the eccentric weight is arranged on the sliding block in a rotation stopping manner.

4. The attitude adjusting apparatus for an underwater glider according to claim 3, wherein a support is fixedly provided to the slider, and the eccentric weight is detachably mounted to the support.

5. The attitude adjusting apparatus for an underwater glider according to claim 4, wherein the nacelle guide has a square section, a square opening fitted to the square section of the nacelle guide is provided in an axial direction of the eccentric weight, the square section is fitted to the square opening, and both sides of the square opening of the eccentric weight are detachably mounted to the support frame, respectively.

6. The attitude adjustment apparatus of an underwater glider according to claim 3, wherein the pitch adjustment mechanism further comprises a pull wire sensor fixedly installed at a position close to the pitch motor, a pull wire end of the pull wire sensor being fixed to the front rib ring.

7. The attitude adjusting apparatus of an underwater glider according to claim 3, wherein the pitch adjusting mechanism further comprises a screw protector having one end fixed to the front rib and the other end screw-engaged with the screw.

8. The attitude adjustment device of an underwater glider according to claim 1, wherein the rolling adjustment mechanism includes a rolling motor, a large gear and a small gear, the rolling motor is fixedly mounted on the front retainer ring, and an output shaft thereof is connected with the small gear, the large gear is fixedly mounted on the front deck guide rail and is engaged with the small gear.

9. The attitude adjusting apparatus for an underwater glider according to claim 8, wherein the rolling adjusting mechanism further comprises an angle sensor and a rotation gear, the rotation gear is engaged with the large gear, and a detection shaft of the angle sensor is connected to the rotation gear.

10. The attitude adjustment device of an underwater glider according to claim 1, wherein the nacelle guide is a hollow structure, and a control line of the pitch adjustment mechanism passes through the nacelle guide.

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