CN218617142U - Underwater unmanned underwater vehicle - Google Patents

Abstract

The utility model provides an unmanned underwater vehicle belongs to underwater vehicle technical field, include the water supply and drainage system and the focus governing system that set gradually along the axial, focus governing system includes: the gravity center adjusting bin, the two end covers, the supporting shaft, the two rotating discs, the lead screw, the nut, the guide shaft, the sliding block, the counterweight component, the first driving motor and the second driving motor. The utility model provides a pair of unmanned underwater vehicle has integrated original vertical adjustment mechanism and horizontal adjustment mechanism together, and vertical adjustment mechanism and horizontal adjustment mechanism share a counter weight, so shortened the length and size of unmanned underwater vehicle greatly.

Description

Underwater unmanned underwater vehicle

Technical Field

The utility model belongs to the technical field of the ware of diving into water, more specifically say, relate to an unmanned ware of diving into water.

Background

The vast sea area of China contains abundant resources, and the sea is a new power for future economic development and is an important strategic space closely related to national safety. Manned underwater vehicles are often large in size, inflexible in movement, and unsuitable for operation in narrow water areas. The size of the underwater unmanned underwater vehicle can be large or small, people do not need to be underwater, and the underwater unmanned underwater vehicle can adapt to more complicated and changeable water area environments. The underwater unmanned underwater vehicle mainly adjusts the gravity center position of the underwater vehicle by an internal gravity center adjusting system. The center of gravity adjustment system includes a longitudinal adjustment mechanism and a lateral adjustment mechanism. Two separate cavities are arranged in sequence along the length direction (namely axial direction) of the underwater vehicle to install the longitudinal adjusting mechanism and the transverse adjusting mechanism, so that the length of the underwater vehicle is overlong.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide an unmanned underwater vehicle, it has the problem of horizontal length overlength to aim at solving current underwater vehicle.

In order to achieve the above object, the utility model adopts the following technical scheme: provided is an underwater unmanned underwater vehicle, including: along water supply and drainage system and the focus governing system that the axial set gradually, its characterized in that, the focus governing system includes: the gravity center adjusting bin, the two end covers, the supporting shaft, the two rotating discs, the lead screw, the nut, the guide shaft, the sliding block, the counterweight component, the first driving motor and the second driving motor; the two end covers are arranged at two axial ends of the gravity center adjusting bin and used for plugging two axial end openings of the gravity center adjusting bin; the supporting shaft is fixedly arranged between the two end covers and is arranged along the axial direction of the gravity center adjusting bin; the two rotating discs are respectively and rotatably arranged on the supporting shaft and are positioned between the two end covers; the screw rod is rotatably arranged between the two rotating discs and is parallel to the supporting shaft; the nut is in threaded connection with the screw rod; the guide shaft is fixedly arranged between the two rotating discs and is parallel to the screw rod; the sliding block is slidably mounted on the guide shaft and is fixedly connected with the nut; the counterweight component is fixedly arranged on the sliding block; the first driving motor and the second driving motor are both installed on the rotating disc, the first driving motor is used for driving the rotating disc to rotate around the shaft on the supporting shaft, and the second driving motor is used for driving the screw rod to rotate around the shaft.

In a possible implementation manner, a driving gear is mounted on the output shaft of the first driving motor, and a driven gear meshed with the driving gear is mounted on the supporting shaft.

In a possible implementation manner, the number of the guide shafts is two, and the guide shafts are symmetrically arranged on two sides of the screw rod.

In one possible implementation, the counterweight assembly includes a support plate and a counterweight; the backup pad is fixed the slider is close to one side of back shaft, counterweight fixed mounting in the backup pad deviates from one side of slider.

In a possible implementation manner, the weight member is a power supply member, and the power supply member is respectively connected with the first driving motor and the second driving motor through leads.

In one possible implementation manner, the water inlet and outlet system comprises a water inlet and outlet bin, a piston, a screw rod and a third driving motor; the water inlet and outlet bin is provided with a water inlet and outlet hole, the piston is in sliding fit with the inner wall of the water inlet and outlet bin, and the screw is connected with the piston through threads; and the third driving motor is fixedly arranged in the water inlet and outlet bin and is used for driving the screw rod to rotate around the shaft.

In a possible implementation manner, the water inlet and outlet bin and the gravity center adjusting bin are fixedly connected through two semicircular pressing plates, a first clamping groove and a second clamping groove are respectively formed in the peripheries of the water inlet and outlet bin and the gravity center adjusting bin, and a first locking hook and a second locking hook which are matched with the first clamping groove and the second clamping groove are correspondingly arranged on the inner wall of each semicircular pressing plate.

In a possible implementation mode, the two semicircular pressure plates are connected through a hoop, and the hoop is sleeved on the outer side of each semicircular pressure plate.

In a possible realization mode, a fixed wing is installed on the outer wall of the gravity center adjusting bin.

In a possible implementation manner, the fixed wing is provided with a hoisting hole.

Compared with the prior art, the shown scheme of this application embodiment, the utility model discloses an unmanned underwater vehicle, drainage system advances realizes this unmanned underwater vehicle's come-up and sink through intaking and drainage operation. The center of gravity adjustment system includes: the gravity center adjusting bin, the two end covers, the supporting shaft, the two rotating discs, the lead screw, the nut, the guide shaft, the sliding block, the counterweight component, the first driving motor and the second driving motor. Two end covers are arranged at two axial end openings of the gravity center adjusting bin. The support shaft is fixedly arranged between the two end covers. Two rotating discs are rotatably mounted on the support shaft. The lead screw and the guide shaft are both arranged on the two rotating discs, the nut is arranged on the lead screw, the sliding block is arranged on the guide shaft, the sliding block is fixedly connected with the nut, the counterweight component is arranged on the sliding block, and the first driving motor and the second driving motor are both arranged on the end cover. When the transverse position of the gravity center of the underwater unmanned underwater vehicle needs to be adjusted, the first driving motor drives the rotating coil to rotate around the supporting shaft, and the counterweight assembly is driven to rotate around the axial direction of the supporting shaft through the guide shaft and the sliding block, so that the transverse position of the gravity center of the underwater unmanned underwater vehicle is changed; when the longitudinal position of the gravity center of the underwater unmanned underwater vehicle needs to be adjusted, the second driving motor drives the screw rod to rotate around the shaft, and the balance weight assembly is driven by the nut and the sliding block to do linear motion along the axial direction of the supporting shaft, so that the longitudinal position of the gravity center of the underwater unmanned underwater vehicle is changed. According to the underwater unmanned underwater vehicle, the original longitudinal adjusting mechanism and the original transverse adjusting mechanism are integrated together, and the longitudinal adjusting mechanism and the transverse adjusting mechanism share one balance weight, so that the length size of the underwater unmanned underwater vehicle is greatly shortened.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.

Fig. 1 is a schematic perspective view of an underwater unmanned underwater vehicle according to an embodiment of the present invention;

fig. 2 is an exploded view of a center of gravity adjusting bin and an end cover according to an embodiment of the present invention;

FIG. 3 is an enlarged view taken at A in FIG. 2;

fig. 4 is a schematic perspective view of a first gravity center adjusting system (not including a gravity center adjusting bin) according to an embodiment of the present invention;

fig. 5 is a schematic perspective view of a gravity center adjusting system (not including a gravity center adjusting bin) according to an embodiment of the present invention;

fig. 6 is a front view of a water inlet and outlet bin provided by the embodiment of the present invention;

fig. 7 is a perspective view of a water inlet and outlet system (excluding a water inlet and outlet bin) provided by an embodiment of the present invention;

fig. 8 is a perspective view of a semicircular pressing plate according to an embodiment of the present invention;

fig. 9 is a schematic view of an assembly structure of two semicircular pressing plates provided by the embodiment of the present invention;

fig. 10 is a cross-sectional view of a semicircular pressing plate and a clamping band according to an embodiment of the present invention.

In the figure: 1. a water intake and drainage system; 101. a water inlet and drainage bin; 102. a piston; 103. a screw; 104. a third drive motor; 105. a water inlet and outlet hole; 2. a center of gravity adjustment system; 201. a center of gravity adjusting bin; 202. an end cap; 203. a support shaft; 204. rotating the disc; 205. a screw rod; 206. a nut; 207. a guide shaft; 208. a slider; 210. a first drive motor; 211. a second drive motor; 212. a drive gear; 213. a driven gear; 214. a support plate; 215. a counterweight; 216. a fixed wing; 217. hoisting holes; 3. a semicircular pressing plate; 301. a first card slot; 302. a second card slot; 303. a first locking hook; 304. a second locking hook; 305. and (5) clamping a hoop.

Detailed Description

In order to make the technical problem, technical solution and advantageous effects to be solved by the present invention more clearly understood, the following description is given in conjunction with the accompanying drawings and embodiments to illustrate the present invention in further detail. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

Referring to fig. 1, fig. 2, fig. 4 and fig. 5, an underwater unmanned underwater vehicle according to the present invention will now be described. The underwater unmanned underwater vehicle comprises: along the water inlet and outlet system 1 and the gravity center adjusting system 2 that the axial set gradually, the gravity center adjusting system 2 includes: the gravity center adjusting device comprises a gravity center adjusting bin 201, two end covers 202, a supporting shaft 203, two rotating discs 204, a screw rod 205, a nut 206, a guide shaft 207, a sliding block 208, a counterweight component, a first driving motor 210 and a second driving motor 211; the two end covers 202 are installed at two axial ends of the gravity center adjusting bin 201 and used for plugging two axial end openings of the gravity center adjusting bin 201; the supporting shaft 203 is fixedly arranged between the two end covers 202, and the supporting shaft 203 is arranged along the axial direction of the gravity center adjusting bin 201; the two rotating discs 204 are respectively and rotatably arranged on the supporting shaft 203, and the rotating discs 204 are positioned between the two end covers 202; the screw 205 is rotatably mounted between the two rotating discs 204 and is parallel to the support shaft 203; the nut 206 is in threaded connection with the screw rod 205; the guide shaft 207 is fixedly arranged between the two rotating discs 204 and is parallel to the screw rod 205; the sliding block 208 is slidably mounted on the guide shaft 207 and fixedly connected with the nut 206; the counterweight assembly is fixedly mounted on the sliding block 208; a first driving motor 210 and a second driving motor 211 are both mounted on the rotating disc 204, the first driving motor 210 is used for driving the rotating disc 204 to rotate around the supporting shaft 203, and the second driving motor 211 is used for driving the screw rod 205 to rotate around the shaft.

Compared with the prior art, the underwater unmanned underwater vehicle provided by the embodiment has the advantages that the water inlet and outlet system 1 achieves floating and sinking of the underwater unmanned underwater vehicle through water inlet and outlet operations. The center of gravity adjusting system 2 includes: the gravity center adjusting device comprises a gravity center adjusting bin 201, two end covers 202, a supporting shaft 203, two rotating discs 204, a screw rod 205, a nut 206, a guide shaft 207, a sliding block 208, a counterweight component, a first driving motor 210 and a second driving motor 211. Two end covers 202 are installed on two axial ends of the center of gravity adjusting bin 201. The support shaft 203 is fixedly mounted between the two end caps 202. Two rotating discs 204 are rotatably mounted on the support shaft 203. The lead screw 205 and the guide shaft 207 are both arranged on the two rotating discs 204, the nut 206 is arranged on the lead screw 205, the sliding block 208 is arranged on the guide shaft 207, the sliding block 208 is fixedly connected with the nut 206, the counterweight component is arranged on the sliding block 208, and the first driving motor 210 and the second driving motor 211 are both arranged on the end cover 202. When the transverse position of the gravity center of the underwater unmanned underwater vehicle needs to be adjusted, the first driving motor 210 drives the rotating disc 204 to rotate around the supporting shaft 203, and the counterweight assembly is driven to rotate around the axial direction of the supporting shaft 203 through the guide shaft 207 and the sliding block 208, so that the transverse position of the gravity center of the underwater unmanned underwater vehicle is changed; when the longitudinal position of the gravity center of the underwater unmanned underwater vehicle needs to be adjusted, the second driving motor 211 drives the screw rod 205 to rotate around the shaft, and the nut 206 and the sliding block 208 drive the counterweight assembly to do linear motion along the axial direction of the supporting shaft 203, so that the longitudinal position of the gravity center of the underwater unmanned underwater vehicle is changed. According to the underwater unmanned underwater vehicle, the original longitudinal adjusting mechanism and the original transverse adjusting mechanism are integrated together, and the longitudinal adjusting mechanism and the transverse adjusting mechanism share one balance weight, so that the length size of the underwater unmanned underwater vehicle is greatly shortened.

In this embodiment, since the number of the end covers 202 is two, the first driving motor 210 and the second driving motor 211 may be mounted on the same end cover 202, or may be mounted on different end covers 202, respectively. The center of gravity adjustment bin 201 is cylindrical. The end cover 202 is fixedly installed inside the center of gravity adjusting bin 201.

In some embodiments, referring to fig. 4 and 5, a driving gear 212 is mounted on an output shaft of the first driving motor 210, and a driven gear 213 engaged with the driving gear 212 is mounted on the supporting shaft 203. In this embodiment, the first drive motor 210 is installed on the side of the end cover 202 near the weight assembly, and the output shaft of the first drive motor 210 is kept parallel to the axial direction of the support shaft 203. The output shaft of the first drive motor 210 extends through the entire end cap 202. The driving gear 212 is fixedly installed on an output shaft of the first driving motor 210. The support shaft 203 is provided with a driven gear 213 engaged with the drive gear 212, and the driven gear 213 is keyed with the support shaft 203. The driving gear 212 and the driven gear 213 constitute a planetary gear mechanism, so that the first driving motor 210 operates to rotate the rotating disk 204 on the support shaft 203. Since the weight assembly is connected to the rotating disk 204 through the slider 208 and the guide shaft 207, the weight assembly is driven to rotate synchronously when the rotating disk 204 rotates.

In some embodiments, referring to fig. 4 and 5, the number of the guide shafts 207 is two, and the guide shafts are symmetrically arranged on two sides of the screw rod 205. In this embodiment, two ends of the slider 208 are respectively slidably engaged with the two guide shafts 207. The center of the sliding block 208 is correspondingly provided with an abdicating groove for abdicating the screw rod 205. The two guide shafts 207 simultaneously guide the sliding block 208, so that the stability of the sliding block 208 in the operation process is ensured. Since the two guide shafts 207 are symmetrically arranged on both sides of the lead screw 205, when the lead screw 205 drives the weight assembly to move through the nut 206, the force applied to the weight assembly is more balanced.

In some embodiments, referring to fig. 4, the weight assembly includes a support plate 214 and a weight member 215; the supporting plate 214 is fixed on one side of the sliding block 208 close to the supporting shaft 203, and the weight member 215 is fixedly arranged on one side of the supporting plate 214 away from the sliding block 208. In this embodiment, the weight assembly is located on one side of the sliding block 208 close to the supporting shaft 203, and the lead screw 205 and the guiding shaft 207 are both located on the outer side of the weight assembly, so as to avoid collision between the weight assembly and other components in the center of gravity adjusting bin 201 during the movement process. The number of the sliders 208 is two, and is arranged in the axial direction of the guide shaft 207. The number of the nuts 206 is one, and one of the sliders 208 is fixedly connected by a bolt.

In some embodiments, referring to fig. 4, the weight 215 is a power source, and the power source is connected to the first driving motor 210 and the second driving motor 211 through wires. In this embodiment, the power supply is used as the weight 215, and other weights 215 are not required to be arranged, so that the number of parts is reduced, and the power supply is placed in the support plate 214, so that the space in the gravity center adjusting bin 201 is reasonably utilized, and the structure is more compact.

In some embodiments, referring to fig. 1, fig. 6 and fig. 7, the water inlet and outlet system 1 includes a water inlet and outlet bin 101, a piston 102, a screw 103 and a third driving motor 104; a water inlet and outlet hole 105 is formed in the water inlet and outlet bin 101, the piston 102 is in sliding fit with the inner wall of the water inlet and outlet bin 101, and the screw 103 is connected with the piston 102 through threads; the third driving motor 104 is fixedly installed inside the water inlet and outlet bin 101, and is used for driving the screw 103 to rotate around the shaft. In this embodiment, the water inlet and outlet sump 101 has a cylindrical shape. The bottom of the water inlet and drainage bin 101 is provided with a water inlet and drainage hole 105. The piston 102 divides the inner cavity of the inlet and outlet sump 101 into two chambers. The water inlet and outlet hole 105 and the third driving motor 104 correspond to the two cavities, respectively. An output shaft of the third driving motor 104 is fixedly connected with the screw 103 through a coupler. The other end of the screw 103 is connected with the piston 102 through threads. The piston 102 can only move linearly in the water inlet and outlet bin 101 along the axial direction of the water inlet and outlet bin 101. The third driving motor 104 rotates through the driving screw 103, so as to drive the piston 102 to reciprocate along the axial direction of the water inlet and outlet bin 101, and further realize the water inlet and outlet operation.

In some embodiments, referring to fig. 1, fig. 3, fig. 6, fig. 8 and fig. 9, the water inlet and outlet bin 101 and the center-of-gravity adjusting bin 201 are fixedly connected through two semicircular pressing plates 3, the peripheries of the water inlet and outlet bin 101 and the center-of-gravity adjusting bin 201 are respectively provided with a first clamping groove 301 and a second clamping groove 302, and the inner wall of the semicircular pressing plate 3 is correspondingly provided with a first locking hook 303 and a second locking hook 304 which are installed in cooperation with the first clamping groove 301 and the second clamping groove 302. In this embodiment, two semicircular pressing plates 3 are buckled together to form a complete ring. The circular ring is sleeved outside the water inlet and outlet bin 101 and the gravity center adjusting bin 201. The semicircular pressing plate 3 is made of metal, such as 45 steel. The water inlet and outlet bin 101 and the gravity center adjusting bin 201 have the same outer diameter. The periphery of the connecting end of the water inlet and outlet bin 101 and the gravity center adjusting bin 201 is provided with a first clamping groove 301 and a second clamping groove 302 respectively. The inner wall of the semicircular pressing plate 3 is provided with a first locking hook 303 and a second locking hook 304 which are matched with the first clamping groove 301 and the second clamping groove 302, and the first locking hook 303 and the second locking hook 304 have the same structure and are semicircular bulges. The two semicircular pressing plates 3 are installed by matching the first clamping groove 301 with the first locking hook 303 and the second clamping groove 302 with the second locking hook 304, so that the water inlet and drainage bin 101 and the gravity center adjusting bin 201 are fixedly connected. The two semicircular pressing plates 3 can only limit the axial direction of the water inlet and drainage bin 101 and the gravity center adjusting bin 201, so that a positioning block is further arranged between the water inlet and drainage bin 101 and the gravity center adjusting bin 201, and positioning grooves for mounting the positioning block are respectively arranged on the water inlet and drainage bin 101 and the gravity center adjusting bin 201. The positioning block can limit the axial rotation of the water inlet and outlet bin 101 and the gravity center adjusting bin 201.

In some embodiments, referring to fig. 10, two semicircular pressure plates 3 are connected by a clip 305, and the clip 305 is sleeved on the outer side of the semicircular pressure plate 3. In this embodiment, the clamp 305 is a connection device for connecting grooved pipes, valves, and pipe fittings, and the clamp 305 is used to provide a tight connection between connectors, typically connectors with gaskets, rubber, silicone, and teflon. The clamp 305 has good performance, high sealing performance and simple installation. The outer peripheral surfaces of the two semicircular pressure plates 3 are provided with annular grooves for mounting the clips 305, so that the clips 305 are positioned, and the clips 305 can be prevented from being displaced in the axial direction of the semicircular pressure plates 3.

In some embodiments, referring to fig. 1, the outer wall of the center of gravity adjusting bin 201 is provided with a fixed wing 216. In this embodiment, the fixed wing 216 is parallel to the axial direction of the center of gravity adjusting bin 201, and is located at the top of the center of gravity adjusting bin 201. The fixed wing 216 is fixed to the center of gravity adjusting bin 201 by welding or screws. By installing the fixed wing 216 on the outer wall of the gravity center adjusting bin 201, the stability of the underwater unmanned underwater vehicle in the operation process is further improved.

In some embodiments, referring to fig. 1, the fixed wing 216 has a lifting hole 217. In this embodiment, the hoisting hole 217 is a through hole. The lifting hole 217 is perpendicular to the side wall of the fixed wing 216. The lifting hook of the lifting device can hook out the lifting hole 217, so that the underwater unmanned underwater vehicle can be carried.

It should be noted that the underwater unmanned underwater vehicle further comprises other cabin bodies, and the connection mode between the gravity center adjusting cabin 201 and/or the water inlet and drainage cabin 101 and the other cabin bodies is the same as the connection mode between the gravity center adjusting cabin 201 and the water inlet and drainage cabin 101.

The above description is only exemplary of the present invention and should not be taken as limiting the scope of the present invention, as any modifications, equivalents, improvements and the like made within the spirit and principles of the present invention are intended to be included within the scope of the present invention.

Claims (10)

1. An underwater unmanned underwater vehicle comprising: along water supply and drainage system and the focus governing system that the axial set gradually, its characterized in that, the focus governing system includes: the gravity center adjusting bin, the two end covers, the supporting shaft, the two rotating discs, the lead screw, the nut, the guide shaft, the sliding block, the counterweight component, the first driving motor and the second driving motor; the two end covers are arranged at two axial ends of the gravity center adjusting bin and used for plugging two axial end openings of the gravity center adjusting bin; the supporting shaft is fixedly arranged between the two end covers and is arranged along the axial direction of the gravity center adjusting bin; the two rotating discs are respectively and rotatably arranged on the supporting shaft and are positioned between the two end covers; the screw rod is rotatably arranged between the two rotating discs and is parallel to the supporting shaft; the nut is in threaded connection with the screw rod; the guide shaft is fixedly arranged between the two rotating discs and is parallel to the screw rod; the sliding block is slidably mounted on the guide shaft and is fixedly connected with the nut; the counterweight component is fixedly arranged on the sliding block; the first driving motor and the second driving motor are both installed on the rotating disc, the first driving motor is used for driving the rotating disc to rotate around the shaft on the supporting shaft, and the second driving motor is used for driving the screw rod to rotate around the shaft.

2. The underwater unmanned underwater vehicle as claimed in claim 1, wherein a driving gear is mounted on an output shaft of the first driving motor, and a driven gear engaged with the driving gear is mounted on the supporting shaft.

3. The underwater unmanned underwater vehicle as claimed in claim 1, wherein the number of the guide shafts is two, and the guide shafts are symmetrically arranged on both sides of the screw rod.

4. An underwater unmanned underwater vehicle as claimed in claim 1, wherein the counterweight assembly comprises a support plate and a counterweight; the backup pad is fixed the slider is close to one side of back shaft, counterweight fixed mounting in the backup pad deviates from one side of slider.

5. The underwater unmanned underwater vehicle as claimed in claim 4, wherein the weight member is a power supply member, and the power supply member is connected to the first driving motor and the second driving motor through wires, respectively.

6. The underwater unmanned underwater vehicle of claim 1, wherein the water intake and drainage system comprises a water intake and drainage bin, a piston, a screw and a third driving motor; the water inlet and outlet bin is provided with a water inlet and outlet hole, the piston is in sliding fit with the inner wall of the water inlet and outlet bin, and the screw is connected with the piston through threads; and the third driving motor is fixedly arranged in the water inlet and outlet bin and is used for driving the screw rod to rotate around the shaft.

7. The underwater unmanned underwater vehicle of claim 6, wherein the water inlet and outlet bin and the center of gravity adjusting bin are fixedly connected through two semicircular pressing plates, the peripheries of the water inlet and outlet bin and the center of gravity adjusting bin are respectively provided with a first clamping groove and a second clamping groove, and the inner wall of each semicircular pressing plate is correspondingly provided with a first locking hook and a second locking hook which are matched with the first clamping groove and the second clamping groove.

8. The underwater unmanned underwater vehicle of claim 7, wherein the two semicircular pressure plates are connected through a clamp, and the clamp is sleeved on the outer side of the semicircular pressure plates.

9. The underwater unmanned underwater vehicle as claimed in claim 1, wherein a fixed wing is installed on an outer wall of the center of gravity adjusting chamber.

10. The underwater unmanned underwater vehicle of claim 9, wherein the fixed wings are provided with lifting holes.

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