JP2018039469A - Underwater vehicle and turning method thereof - Google Patents

Abstract

PROBLEM TO BE SOLVED: To perform turning operation by reducing occurrence of a water flow.SOLUTION: A turning device 4 is provided on a machine body 2 of an underwater vehicle. The turning device 4 comprises: a rotor 6 which has a rotation axis 7 in a vertical direction and stored in a rotor storage part 5; support means 8 for supporting the rotor rotatable from the machine body 2; and rotation drive means 9. The rotor 6 comprises a cylindrical member 12, an upper end wall 13, and a rotation member 11 attached to inside of the upper end wall. By reaction when rotation of the rotor 6 is accelerated in a state in which a liquid 10 is filled in inside of the rotor 6, the underwater vehicle is turned in a direction opposite to a rotation direction where the rotor 6 is accelerated. When rotation of the rotor 6 is decelerated, deceleration degree is made smaller than acceleration degree, and a torque generated in a same direction with the rotation direction of the rotor 6 does not exceed resistance of the water which acts on the machine body 2.SELECTED DRAWING: Figure 2

Description

  The present invention relates to an underwater machine that performs a turning operation in water, and a turning method of the underwater machine.

  As one of the underwater aircraft for performing various observations and operations in the water, a remotely operated underwater explorer called a so-called ROV (remotely operated vehicle) is used.

  This type of underwater probe has a plurality of thrusters arranged in the front-rear direction, the left-right direction, the up-down direction, and the like on the fuselage, and obtains three-axis motility in the front-rear direction, the left-right direction, and the up-down direction. Often there are.

  In addition, the underwater probe is often configured to have a pair of front and rear thrusters arranged in a front and rear posture on both left and right sides of the aircraft (for example, patents) Reference 1).

  In such a type of underwater probe, either the left front-rear direction thruster and the right front-rear direction thruster are operated while only one is stopped and water is jetted in either front-rear direction, or The left and right front / rear thrusters are operated so as to inject water in the opposite directions of the front and rear, thereby turning the aircraft in water.

JP-A-1-186491

  However, the conventional underwater probe requires that water be jetted in the front-rear direction from either one or both of the pair of left and right front-rear thrusters when performing the turning motion of the aircraft in water. . For this reason, conventional underwater probes, for example, when the aircraft is swiveled in the vicinity of the bottom of a dam or in an environment where sediment is generated in a substantially hydrostatic area, The reality is that deposits may be rolled up by the water flow generated by jetting water in the front-rear direction.

  Such roll-up of deposits may cause problems in observation by various observation devices, particularly observation by an imaging device such as a camera. In addition, for example, when the work is performed remotely while watching the video imaged by the imaging device, there is a possibility that it is difficult to visually recognize the work target part.

  Furthermore, the piled-up deposits may adhere to the underwater spacecraft and the observation equipment.

  Therefore, the present invention intends to provide an underwater machine and a turning method of the underwater machine that enable a turning operation in water even if the generation of water flow is reduced as compared with the prior art.

  In order to solve the above-described problems, the present invention provides an underwater machine used in a liquid, wherein the body includes a turning device, and the turning device includes a rotating body housing provided in the body and a rotation extending in the vertical direction. A rotating body having a shaft and housed and disposed in the rotating body housing portion, a support unit that is installed in the machine body and rotatably supports the rotating body, and a rotation driving unit that rotationally drives the rotating body The rotating body is an underwater machine having a configuration including a rotating member that imparts a motion in a rotational direction to the liquid inside the rotating body housing portion when the rotating body rotates.

  The rotating body may include an internal space that fills the liquid inside the rotating body accommodating portion, and the rotating member may be provided in the space inside the rotating body.

  The rotating body may include an opening that allows the internal space to communicate with the outside.

  The rotating body may include a cylindrical member, the inside of the cylindrical member may be the internal space, and the rotating member may be a flat plate disposed along the radial direction of the cylindrical member. .

  The rotating member may be configured to be attached to the inner peripheral surface of the cylindrical member.

  The rotator accommodating portion is filled with liquid, and the rotator is attached to an outer periphery of the shaft member connected to the rotating shaft and the shaft member. It is good also as a structure provided with the rotating member which gives rotational motion with respect to the satisfy | filled liquid.

  The rotating body housing portion may include a lid having an opening.

  The airframe includes a turning device, and the turning device has a rotating body housing portion provided in the airframe, a rotating body housed and arranged in the rotating body housing portion with a rotating shaft extending in the vertical direction, A support unit that is installed in the machine body and rotatably supports the rotating body; and a rotation driving unit that rotationally drives the rotating body. An underwater machine having a configuration provided with a rotating member that gives a movement in the rotational direction to the liquid inside is disposed in the liquid, and the rotating body is rotated in one direction or the other direction around the rotation axis. This is a method of turning an underwater aircraft that causes the airframe to turn in a direction opposite to the direction of rotation of the rotating body accelerated by a reaction when the vehicle is accelerated.

  As a method of making the absolute value of the negative acceleration during deceleration smaller than the acceleration during acceleration when the rotating body is decelerated after accelerating rotation in one direction or the other direction around the rotation axis Good.

  According to the underwater machine and the turning method of the underwater machine of the present invention, it is possible to perform the turning operation of the machine body underwater by reducing the generation of water flow compared to the prior art.

It is a figure showing an outline of a 1st embodiment of an underwater machine. It is a figure which expands and shows the turning apparatus of the underwater machine of FIG. It is a figure explaining the rotational drive method of the rotary body in a turning apparatus. It is a figure which shows another example of a turning apparatus as 2nd Embodiment of an underwater machine. It is a figure which shows another example of a turning apparatus as 3rd Embodiment of an underwater machine.

  Hereinafter, embodiments for carrying out the present invention will be described with reference to the drawings.

[First Embodiment]
1A and 1B show a first embodiment of an underwater machine. FIG. 1A is a partially cut schematic side view, and FIG. 1B is a schematic plan view. 2 is an enlarged view of the swivel device provided in the underwater machine, FIG. 2 (a) is a partially cut side view, and FIG. 2 (b) is an enlarged view in the direction of arrows AA in FIG. 2 (a). FIG. FIG. 3 is a diagram for explaining a rotation driving method of the rotating body in the turning device.

  The underwater machine of this embodiment is indicated by reference numeral 1 in FIGS. 1 (a) and 1 (b), and the machine body 2 is provided with a thruster for propelling in the three axial directions of the front and rear direction, the left and right direction, and the up and down direction. Furthermore, the swivel device 4 is provided. FIGS. 1A and 1B show a configuration example in which a pair of front and rear direction thrusters 3a and 3b are provided on both left and right sides of the body 2 as thrusters for obtaining forward and backward propulsion in the body 2. . A thruster for obtaining propulsibility in the horizontal direction and the vertical direction in the airframe 2 is not shown. In addition, as long as the thruster for obtaining propulsibility in the front-rear direction, the left-right direction, and the up-down direction on the airframe 2 satisfies the condition that it does not interfere with the swivel device 4, the existing ROV and other types of underwater aircraft Of course, it is possible to adopt a thruster of the above-mentioned format or arrangement, or a conventionally proposed format or arrangement.

  As shown in FIGS. 1 (a), 1 (b), 2 (a) and 2 (b), the swivel device 4 has a rotating body accommodating portion 5 provided in the machine body 2 and a rotating shaft 7 in the vertical direction and rotates. Rotating body 6 accommodated and disposed in the body accommodating portion 5, support means 8 installed on the machine body 2 to rotatably support the rotating body 6, and rotation driving means capable of rotationally driving the rotating body 6 in both directions 9.

  Furthermore, the rotator 6 has a hollow structure, and a liquid 10 having the same or substantially the same density as fresh water or sea water as liquid existing in the use environment of the underwater machine 1 of the present embodiment. And a rotating member 11 that gives rotational movement to the liquid 10 inside the rotating body 6 when the rotating body 6 rotates.

  In the present embodiment, the rotating body 6 includes a hollow cylindrical container structure formed of a cylindrical member 12 extending in the vertical direction and an upper end wall 13 that closes the upper end side of the cylindrical member 12. The rotating body 6 is open at the lower end side.

  The lower end side of the rotating shaft 7 disposed coaxially with the cylindrical member 12 is connected to the upper side of the center portion of the upper end wall 13.

  Further, on the inner side of the cylindrical member 12, flat plate-like rotating members 11 are provided at a plurality of positions spaced at a set interval in the circumferential direction, for example, at eight circumferentially spaced intervals as shown in FIG. The cylindrical member 12 is arranged in a posture along the radial direction. Each rotating member 11 has an edge located on the outer peripheral side attached to the inner peripheral surface of the cylindrical member 12. An edge located on the upper end side of each rotating member 11 is attached to the lower surface of the upper end wall 13.

  In addition, the edge located in the inner peripheral side of each rotation member 11 may be arrange | positioned in the position separated from the axial center position of the cylindrical member 12, as shown in FIG.2 (b). However, it may extend to the axial center position of the cylindrical member 12. In the case where the inner peripheral end of each rotating member 11 is arranged at the axial center position of the cylindrical member 12, the inner peripheral end of each rotating member 11 may be connected to each other.

  The upper end wall 13 is provided with an opening 14 that communicates the inside and the outside of the rotating body 6 at a location closer to the center. In addition, when the edges on the inner peripheral side of each rotating member 11 are not connected to each other, the spaces formed between the adjacent rotating members 11 inside the rotating body 6 are all connected. In that case, the opening 14 may be provided in at least one location of the upper end wall 13.

  On the other hand, as described above, in the case where the inner peripheral ends of the respective rotating members 11 are connected to each other, a plurality of sections partitioned by the respective rotating members 11 are circumferentially arranged in the space inside the rotating body 6. In this case, the openings 14 may be provided corresponding to the respective sections.

  Thereby, in the rotator 6, the liquid 10 can be put into the internal space from the open part on the lower end side or the opening 14 while the internal air is drawn upward through the opening 14. Therefore, when the underwater machine 1 of the present embodiment starts diving, if water existing in the usage environment of the underwater machine 1 enters the rotating body housing 5, the water is supplied from the lower end side of the rotating body 6 to the rotating body. 6 can be put inside. Therefore, in this case, the water present in the usage environment of the underwater machine 1 of the present embodiment becomes the liquid 10 that fills the inside of the rotating body 6. The rotating body 6 does not need to be completely filled with the liquid 10, and some air may remain inside the rotating body 6.

  When the rotating body 6 rotates around the rotating shaft 7 with the liquid 10 filled therein, each rotating member 11 moves in the circumferential direction around the rotating shaft 7, so that the inside of the rotating body 6 is filled. Among the liquids 10, the liquids 10 that are present in the moving direction of the rotating members 11 are pushed by the rotating members 11 to cause movement in the rotating direction.

  Note that when the liquid 10 inside the rotating body 6 moves in the rotation direction, a centrifugal force acts on the liquid 10 moving in the rotation direction. At this time, the centrifugal force acting on the liquid 10 increases as the distance from the rotation center increases, that is, as the rotation body 6 approaches from the rotation center side to the outer peripheral side.

  In view of this point, it is preferable to provide the opening 14 at a position as close to the center of the upper end wall 13 as possible. This can prevent the liquid 10 in a state of receiving a large centrifugal force during the rotation of the rotating body 6 from flowing out of the rotating body 6 through the opening 14. This is because it is effective in suppressing the phenomenon that occurs.

  In addition, since the rotating body 6 of the present embodiment has a configuration in which the outer peripheral side edge of each rotating member 11 is attached to the inner peripheral surface of the cylindrical member 12, it receives a large centrifugal force when the rotating body 6 rotates. It is possible to receive and hold the liquid 10 in a wet state between the adjacent rotating members 11. Therefore, when the rotating body 6 rotates, the liquid 10 can be more reliably caused to move in the rotational direction.

  In the present embodiment, the rotating body accommodating portion 5 is provided on the upper side of the machine body 2 as an oval recess having a shape capable of accommodating the rotating body 6, for example, a planar shape extending in the front-rear direction. The rotating body 6 is accommodated in the rotating body accommodating portion 5 in an arrangement close to the front side. At this time, the position of the rotating shaft 7 of the rotating body 6 is preferably arranged immediately above the center of gravity of the machine body 2 but may be shifted.

  At this time, it is preferable that the inner bottom surface 5a of the rotating body accommodating portion 5 and the lower end portion of the rotating body 6 are arranged as close as possible. This is because, as described above, when the rotating body 6 rotates, the centrifugal force acts on the liquid 10 that rotates in accordance with the rotation of the rotating body 6 inside the rotating body 6, so that the centrifugal force is acting. This is to suppress the phenomenon that the liquid 10 flows out to the outside through the gap between the lower end portion of the rotating body 6 and the inner bottom surface 5a of the rotating body accommodating portion, and forms a flow of water outside the machine body 2.

  In addition, the underwater machine 1 of this embodiment is provided with the opening 15 in the inner bottom face 5a of the rotary body accommodating part 5, and this opening 15 accommodates the rotary body in the outer surface of the body 2 as shown to Fig.1 (a). You may make it provide the structure connected to the opening 16 provided in the position lower than the inner bottom face 5a of the part 5 via the communicating pipe 17. FIG. FIG. 1A shows a configuration example in which the opening 16 is provided in the lower part of the airframe 2.

  The opening 15 is preferably provided at a position where the distance from the rotation center of the rotating body 6 on the inner bottom surface 5a of the rotating body accommodating portion 5 is the same as or less than the opening 14 (see FIG. 2A). This is because, as described above, when the rotating body 6 rotates, the centrifugal force acts on the liquid 10 that rotates in accordance with the rotation of the rotating body 6 inside the rotating body 6, so that the centrifugal force is acting. This is to suppress the phenomenon that the liquid 10 flows out of the body 2 from the opening 15 through the communication pipe 17 and the opening 16 and forms a flow of water outside the body 2.

  According to this configuration, when the underwater machine 1 of the present embodiment is submerged, the water existing in the environment in which the underwater machine 1 is used is quickly supplied from the opening 16 to the rotating body housing 5 through the communication pipe 17 and the opening 15. Can flow in. Therefore, water can be quickly filled in the inside of the rotating body accommodating portion 5 and the rotating body 6.

  On the other hand, when the underwater machine 1 of the present embodiment is lifted from the water surface, the water that is the liquid 10 inside the rotator 6 and the water that is contained in the rotator accommodating portion 5 pass from the opening 15 to the communication pipe 17 and the opening. 16 can be discharged to the outside. Therefore, when the underwater machine 1 of the present embodiment is lifted and collected, the lifting load can be reduced.

  The opening 15 may be configured to be provided on the inner bottom surface 5a of the portion separated from the rotating body 6 in the rotating body housing portion 5 or the lower end side of the side wall.

  For example, as shown in FIGS. 1 (a) and 1 (b), the support means 8 is provided with a cylindrical housing 18 as a waterproof structure extending in the vertical direction at a position behind the rotating body 6 in the rotating body accommodating portion 5. The rear end side of the casing 19, which is a waterproof structure extending in the front-rear direction at a position above the rotating body 6, is water-tightly attached to the upper end side of the cylindrical casing 18. On the front end side of the housing 19, the rotating shaft 7 of the rotating body 6 is supported by the housing 19 so as to be rotatable via a bearing (not shown). Note that the housing 19 may not necessarily have a waterproof structure as long as there is no problem in use in water.

  In this embodiment, the rotation drive means 9 is attached to the motor 20 attached to the inside of the cylindrical housing 18, the pulley 21 attached to the output shaft of the motor 20 protruding inside the housing 19, and the rotary shaft 7. The pulley 22 and a power transmission mechanism constituted by a belt (not shown) hung between the pulleys 21 and 22 are provided. Therefore, the housing 19 that is the support means 8 of the rotating body 6 also has a function as a casing of the power transmission mechanism.

  The output side of the motor 20 is connected to the input side pulley 21 of the power transmission mechanism, and the output side pulley 22 of the power transmission mechanism is connected to the rotating shaft 7.

  Thereby, in the rotational drive means 9, when the motor 20 is rotationally driven, the rotary body 6 can be rotationally driven integrally with the rotary shaft 7 via the pulley 21, belt, and pulley 22 of the power transmission mechanism. By switching the rotation direction of the motor 20, the rotation direction of the rotating body 6 can be switched.

  The power transmission mechanism can transmit the rotational driving force of the motor 20 to the rotary shaft 7, and the rotational direction and rotational speed of the rotating body 6 can be changed according to changes in the rotational direction and rotational speed of the motor 20. As long as it can be changed, not only the pulley 21, the pulley 22, the belt hung between the pulleys 21 and 22, but the power transmission system and configuration such as the power transmission shaft, gear, chain and sprocket are Optional.

  Further, the rotation driving means 9 is configured to include a controller 23 connected to the motor 20.

  Here, a control method of the motor 20 by the controller 23 will be described.

  In the turning device 4, when the motor 20 of the rotation driving unit 9 is operated to rotate the rotating body 6, the liquid 10 pushed by the rotating member 11 inside the rotating body 6 is in the same direction as the rotating direction of the rotating body 6. Rotating motion. Therefore, in the swivel device 4, the sum of the mass of the rotating body 6 and the mass of the liquid 10 that rotates together with the rotating body 6 inside the rotating body 6 performs an inertial mass that rotates about the rotating shaft 7. It becomes. For convenience of description, in the following description, the rotating body 6 and the liquid 10 that rotates together with the rotating body 6 when the rotating body 6 rotates are collectively referred to as an inertial mass body.

  Here, first, in the turning device 4, the rotating body 6 is rotated in one direction, for example, in a clockwise direction (hereinafter referred to as s direction) in a plan view as indicated by an arrow s in FIG. explain.

  When the rotating body 6 is driven by the rotation driving means 9 and the rotational speed (or angular speed) in the s direction of the inertial mass body is accelerated including the acceleration from the stop state at zero speed, the reaction is performed on the rotating body. 6 is received by the airframe 2 which supports 6 through the support means 8. As a result, a torque is generated in the airframe 2 to turn in the counterclockwise direction (hereinafter referred to as the L direction) in a plan view indicated by an arrow L in FIG. . The magnitude of the torque in the L direction generated in the machine body 2 depends on the magnitude of the acceleration in the s direction rotation applied to the rotating body 6 from the rotation driving means 9.

  On the other hand, when the inertial mass body is rotated in the s direction and the rotational drive means 9 decelerates the rotary mass body including the rotary body 6 including a deceleration to a stop state where the speed becomes zero, As a reaction, a torque is generated in the airframe 2 to turn in the clockwise direction (hereinafter referred to as R direction) in a plan view indicated by an arrow R in FIG. . The magnitude of the torque in the R direction generated in the machine body 2 depends on the magnitude of the deceleration of the rotation in the s direction applied to the rotating body 6 by the rotation driving means 9, that is, the magnitude of the absolute value of the negative acceleration.

  By the way, the underwater machine 1 of this embodiment receives the resistance of the water which exists around the body 2 when turning in water. Therefore, in the underwater machine 1 of the present embodiment, even if the torque that causes the machine body 2 to turn in the L direction or the R direction is generated, the turning operation in the L direction or the R direction actually occurs. Only when the resistance of the water received by the aircraft 2 is overcome.

  Therefore, when turning the underwater machine 1 of the present embodiment in the L direction underwater, the controller 23 gives a command for rotating the rotating body 6 in the s direction to the motor 20 of the rotation driving means 9. The rotation of the motor 20 is controlled as shown in FIG.

  Specifically, in the underwater machine 1 of the present embodiment, the resistance of water that the airframe 2 receives when turning is known from the design information of the airframe 2 and the like. Therefore, the threshold value of the torque required to act on the airframe 2 in order to actually turn the underwater aircraft 1 of the present embodiment underwater can be obtained in advance. In addition, since the mass of the inertial mass body is known based on the design information of the rotating body 6 and the properties of water present in the usage environment of the underwater machine 1 of the present embodiment, it corresponds to the torque threshold value. And the threshold value of the acceleration of rotation of the said inertial mass body required in order to actually turn the underwater machine 1 of this embodiment can also be calculated | required. Further, based on the threshold value of the rotational acceleration of the inertial mass body and information on the reduction ratio of the power transmission mechanism connected to the output side of the motor 20 by the rotation driving means 9, the underwater machine of this embodiment is used. The threshold value x of the rotation acceleration of the motor 20 required for actually turning 1 is obtained.

  The threshold value x of the acceleration of the rotation of the motor 20 when the turning actually occurs in the underwater unit 1 is obtained on the basis of the test results performed using the model or actual machine of the underwater unit 1 of the present embodiment. Also good. Moreover, if the threshold value x of the acceleration of the rotation of the motor 20 required for actually turning the underwater machine 1 of the present embodiment can be obtained, the method for obtaining the threshold value x is other than that described above. Of course, any method may be used.

  In the controller 23, information on the threshold value x is registered in advance. In this state, when the controller 23 drives the motor 20 to rotate the rotating body 6 in the s direction, the acceleration when accelerating the rotation of the motor 20 is the threshold as shown in FIG. The control command is set to be larger than the value x, and the deceleration (negative acceleration) when decelerating the rotation of the motor 20 is a control command set so that the absolute value is smaller than the threshold value x. The motor 20 is provided with a function.

  When the acceleration of the motor 20 is controlled based on the control command from the controller 23, the inertial mass body including the rotator 6 rotates in the s direction while repeating acceleration and deceleration of the rotation speed. .

  During the period in which the rotation of the inertial mass body in the s direction is accelerated, the torque in the L direction generated in the airframe 2 overcomes the resistance of water received by the airframe 2. For this reason, the underwater machine 1 of this embodiment performs the turning operation | movement of the L direction.

  On the other hand, during the period in which the rotation of the inertial mass body in the s direction is decelerated, torque in the R direction is generated in the airframe 2, but the torque in the R direction does not overcome the resistance of water received by the airframe 2. Therefore, the turning operation in the R direction does not occur at this time in the underwater machine 1 of the present embodiment.

  Therefore, by repeating these two periods sequentially, the underwater machine 1 of the present embodiment intermittently performs the turning operation in the L direction.

  Next, in the swivel device 4, the rotating body 6 is moved in another direction opposite to the one direction (s direction), for example, counterclockwise in plan view as indicated by an arrow t in FIG. Hereinafter, the case of rotating in the t direction) will be described.

  When the rotating body 6 is driven by the rotation driving means 9 and the rotational speed (or angular speed) of the inertial mass body in the t direction is accelerated including the acceleration from the zero speed stop state, the reaction is performed as a reaction. In this case, a torque is generated to turn in the R direction around the position of the rotating shaft 7. The magnitude of the torque in the R direction generated in the machine body 2 depends on the magnitude of the acceleration in the t direction rotation applied to the rotating body 6 from the rotation driving means 9.

  On the other hand, when the inertial mass body is rotated in the t direction and the rotational drive means 9 decelerates the rotary mass body including the rotary body 6 including a deceleration to a stop state where the speed becomes zero, As a reaction thereof, a torque is generated in the airframe 2 to turn in the L direction around the position of the rotating shaft 7. The magnitude of the torque in the L direction generated in the machine body 2 depends on the magnitude of the deceleration of the t direction rotation applied to the rotating body 6 by the rotation driving means 9, that is, the magnitude of the absolute value of the negative acceleration.

  Therefore, when turning the underwater machine 1 of the present embodiment in the R direction underwater, the controller 23 gives a command for rotating the rotating body 6 in the t direction to the motor 20 of the rotation driving means 9. For the rotation of the motor 20, the same acceleration control as shown in FIG. 3 is performed.

  That is, when the controller 23 drives the motor 20 to rotate the rotating body 6 in the t direction, the acceleration when accelerating the rotation of the motor 20 is as shown in FIG. The deceleration (negative acceleration) when decelerating the rotation of the motor 20 is set to a control command set so that the absolute value is smaller than the threshold value x. Has the function to give.

  When the acceleration of the motor 20 is controlled based on the control command from the controller 23, the inertial mass body including the rotator 6 rotates in the t direction while repeating acceleration and deceleration of the rotation speed. .

  During the period in which the rotation of the inertial mass body in the t direction is accelerated, the torque in the R direction generated in the airframe 2 overcomes the resistance of water received by the airframe 2. For this reason, the underwater machine 1 of this embodiment performs the turning operation | movement of the R direction.

  On the other hand, during the period in which the rotation of the inertial mass body in the t direction is decelerated, torque in the L direction is generated in the airframe 2, but the torque in the L direction does not overcome the resistance of water received by the airframe 2. Therefore, at this time, the turning operation in the L direction does not occur in the underwater machine 1 of the present embodiment.

  Therefore, by repeating these two periods sequentially, the underwater machine 1 of the present embodiment intermittently performs the turning operation in the R direction.

  Thus, the underwater machine 1 of the present embodiment can freely turn in either the R direction or the L direction by the operation of the turning device 4.

  When performing this turning, in the underwater machine 1 of the present embodiment, the turning device 4 only needs to rotationally drive the rotating body 6 filled with the liquid 10, and the longitudinal thrusters 3 a and 3 b provided in the body 2. In addition, it is not necessary to operate a thruster (not shown) provided for obtaining the right and left direction and vertical direction propellability for the airframe 2.

  Therefore, underwater machine 1 of this embodiment can perform turning operation in water in the state where generation of water flow was reduced from the prior art.

  Further, in the present embodiment, the rotating body 6 is disposed in the rotating body accommodating portion 5 provided as a recess on the upper side of the machine body 2, so that the side and the lower side of the rotating body 6 are located on the rotating body accommodating portion 5. Covered with Therefore, even if the flow of water attracted by the rotation of the rotating body 6 is generated around the rotating body 6, the water flow is suppressed from reaching the side or the lower side of the body 2.

  Therefore, the underwater machine 1 of the present embodiment is an underwater machine that requires a swiveling operation in an environment where sediment is generated in the vicinity of the bottom of the dam or in other areas where the deposit is generated. Can also be suitable. Even in an environment where such deposits are generated, the generation of water flow can be reduced as compared with the prior art, so that observation by various observation devices, for example, observation by an imaging device such as a camera, is favorably performed. It becomes possible. In addition, for example, when the work is performed remotely while watching the video imaged by the imaging device, it is possible to satisfactorily view the work target portion.

  In the present embodiment, the swivel device 4 uses the mass of the rotating body 6 and the mass of the liquid 10 that rotates together with the rotating body 6 as the rotating body 6 rotates as the inertial mass. Reference numeral 10 denotes a water filled in the use environment of the underwater machine 1 inside the rotating body 6.

  For this reason, the liquid 10 used in the swivel device 4 has the same density as fresh water or sea water as liquid existing in the usage environment of the underwater machine 1 of the present embodiment. Therefore, in a state where the underwater machine 1 of the present embodiment is submerged, the liquid 10 filled in the rotating body 6 by the turning device 4 does not contribute to the neutral buoyancy of the underwater machine 1.

  In order to freely move in the front-rear direction, the left-right direction, and the up-down direction, the underwater machine 1 of the present embodiment is provided with a buoyancy body (not shown) so that the entire underwater machine 1 has almost neutral buoyancy when diving. However, the liquid 10 used for obtaining the inertial mass in the swivel device 4 does not need to be adjusted by a buoyancy body to obtain neutral buoyancy.

  In the turning device 4, in order to increase the torque in the L direction and the R direction generated in the airframe 2 by the acceleration of the rotation of the inertial mass body, it is advantageous that the inertial mass is large. From this point of view, even if the inertial mass is increased with the aim of increasing the torque generated in the airframe 2, in the swivel device 4 of the present embodiment, most of the inertial mass is due to the liquid 10. Since it is configured, the amount of increase of the buoyancy body may be only the amount corresponding to the weight increase of the rotating body 6.

  For example, when a metal flywheel that is generally used as a rotating inertial mass is used, a buoyancy body for obtaining neutral buoyancy by balancing with the entire flywheel is required. Moreover, if the flywheel is made heavy in order to increase the inertial mass, the amount of buoyant body used increases in proportion to the increase in the weight of the flywheel. Therefore, in this case, the size of the aircraft is increased. Or when the size of the fuselage is specified, the size of the flywheel that can be used is limited, and the inertial mass is limited.

  In addition, when a flywheel is used as the inertial mass, the position of the center of gravity of the underwater machine in water is greatly affected by the arrangement of the flywheel, so that it is difficult to adjust the distance (BG) between the center of gravity and the buoyancy. There is a case.

  On the other hand, in the underwater machine 1 of the present embodiment, the liquid 10 occupying most of the inertial mass can obtain neutral buoyancy in the water. It is much smaller than that. Therefore, the underwater machine 1 of this embodiment can make the adjustment of the distance (BG) between the center of gravity and the buoyancy easier.

  Furthermore, the underwater machine 1 of this embodiment is not filled with the liquid 10 inside the rotating body 6 of the swivel device 4 until it is submerged in the water. The liquid 10 filling the inside of the rotating body 5 can be discharged to the outside through the opening 15 in the inner bottom surface 5a of the rotating body accommodating portion 5. At this time, air can flow into the rotary body 6 through the opening 14 in the upper end wall 13 of the rotary body 6. Therefore, the underwater machine 1 of the present embodiment can reduce the weight until it is lowered to the water surface or after being pulled up from the water surface. For this reason, the underwater machine 1 of this embodiment can aim at reduction of the labor required for the operation | work in the case of handling on the ground like the operation | work lifted and moved.

[Second Embodiment]
FIG. 4 shows another example of the swivel device as the second embodiment of the underwater machine. FIG. 4 (a) is a partially cut side view, and FIG. 4 (b) is a B- in FIG. 4 (a). It is a B direction arrow directional view.

  4A and 4B, the same components as those shown in the first embodiment are denoted by the same reference numerals, and the description thereof is omitted.

  The turning device in the present embodiment is indicated by reference numeral 4a in FIGS. 4 (a) and 4 (b). The swivel device 4a can rotate the rotating body 6 by the supporting means 8 arranged outside the rotating body 6 in the same configuration as the swiveling device 4 shown in FIGS. 2A and 2B of the first embodiment. The cylindrical housing 24 is provided at a position along the inner axis of the rotating body 6 by passing the cylindrical housing 24 through the inner bottom surface 5a of the central portion of the rotating body housing portion 5. Is a support means for rotatably supporting the rotating body 6.

  For this reason, the rotating body 6 is connected to the lower end of the central portion of the upper end wall 13 at the upper end side of the rotating shaft 7, and this rotating shaft 7 is connected to the output shaft of the motor 20 attached inside the cylindrical housing 18. The motor 20 is rotatably supported.

  The rotation drive means 9 in this embodiment includes a motor 20 attached to the inside of the cylindrical housing 24 and a controller 23 connected to the motor 20, and connects the motor output shaft to the rotation shaft 7 so that the motor The rotary shaft 7 is directly driven to rotate with a driving force of 20.

  The swivel device 4a having the above-described configuration performs the same operation as that of the swivel device 4 in the first embodiment, so that the underwater machine 1 (see FIGS. 1A and 1B) can be operated in either the R direction or the L direction. It can be swung freely in the direction of.

  Therefore, the underwater machine 1 provided with the turning device 4a can also obtain the same effect as the first embodiment.

[Third Embodiment]
FIG. 5 shows still another example of the swivel device as the third embodiment of the underwater machine. FIG. 5 (a) is a partially cut side view, and FIG. 5 (b) is C in FIG. 5 (a). FIG.

  5A and 5B, the same components as those shown in the first embodiment and the second embodiment are denoted by the same reference numerals, and the description thereof is omitted.

  The turning device in the present embodiment is indicated by reference numeral 4b in FIGS. 5 (a) and 5 (b).

  The swivel device 4 b includes a machine body 2 and a bottomed cylindrical rotating body accommodating portion 5. Furthermore, as shown in FIG. 5A, the rotating body accommodating portion 5 is preferably configured to include a lid 25 on the upper end side. This is to prevent the flow generated in the liquid 10 stored in the rotating body storage portion 5 from flowing out of the body 2 with the rotation of the rotating body 6a described later.

  The lid 25 is provided with an opening 26 that communicates the inside and the outside of the rotating body housing portion 5 at a location closer to the center.

  Thereby, the rotating body accommodating part 5 can put the liquid 10 into the inside from the opening 15 of the inner bottom surface 5 a or the opening 26 while extracting the air inside the opening 26 upward. Therefore, in the present embodiment, when the underwater machine 1 (see FIGS. 1A and 1B) starts diving, water existing in the environment in which the underwater machine 1 is used enters the rotating body housing portion 5. Therefore, in this case, the water present in the usage environment of the underwater machine 1 of the present embodiment becomes the liquid 10 that fills the periphery of the rotating body 6a.

  The rotating body 6 a includes a shaft member 27 that is disposed at the axial center position of the rotating body housing portion 5 and extends in the vertical direction, and a plurality of rotating members 11 that are attached to the shaft member 27.

  In this embodiment, on the outer periphery of the shaft member 27, the flat plate-like rotating member 11 is provided at a plurality of positions spaced at intervals set in the circumferential direction, for example, 8 at equal intervals in the circumferential direction as shown in FIG. It arrange | positions with the attitude | position along the radial direction of the shaft member 27 in the location. Each rotating member 11 has an edge located on the inner peripheral side attached to the outer peripheral surface of the shaft member 27.

  The rotating shaft 7 is attached to the lower end side of the shaft member 27 in a concentric arrangement. The rotating shaft 7 is rotatably held by a portion of a through hole 28 provided on the inner bottom surface of the rotating body accommodating portion 5 via a bearing (not shown). Therefore, in the turning device 4b of the present embodiment, the portion of the through hole 28 that holds the rotating shaft 7 functions as a support unit that is installed in the machine body 2 and rotatably supports the rotating body 6a.

  As in the case of the second embodiment, a rotary drive means 9 having a motor (not shown) and a controller connected to the motor is connected to the lower end side of the rotary shaft 7 protruding below the through hole 28. Yes.

  In the swivel device 4b having the above-described configuration, when the rotary drive unit 9 is operated and the rotary body 6a is rotated integrally with the rotary shaft 7 in a state where the rotary body accommodating portion 5 is filled with the liquid 10, each rotary member is rotated. 11 moves in the circumferential direction around the shaft member 27 as the rotation center, and the liquid 10 existing in the moving direction of each rotating member 11 out of the liquid 10 filling the rotating body accommodating portion 5 is the rotating member. 11 to cause a rotational movement.

  Note that when the liquid 10 inside the rotating body 6 moves in the rotation direction, a centrifugal force acts on the liquid 10 moving in the rotation direction. At this time, the centrifugal force acting on the liquid 10 increases as the distance from the rotation center increases, that is, as the rotation body 6 approaches from the rotation center side to the outer peripheral side.

  In view of this point, it is preferable that the gap between the outer peripheral edge of each rotating member 11 and the inner surface of the peripheral wall of the rotating body housing portion 5 be as small as possible. This suppresses a phenomenon in which the liquid 10 in a state of receiving a large centrifugal force during rotation of the rotating body 6 passes through the gap, and the liquid 10 existing near the outer periphery of the rotating body accommodating portion 5 is also in the rotational direction. This is so that the movement can be generated more reliably.

  Thereby, in the turning device 4b of the present embodiment, the liquid 10 inside the rotating body housing portion 5 is pushed by the rotating member 11 when the rotating body 6a rotates and rotates in the same direction as the rotating direction of the rotating body 6a. . Therefore, in the swivel device 4 b, the sum of the mass of the rotating body 6 a and the mass of the liquid 10 that rotates together with the rotating body 6 a inside the rotating body accommodating portion 5 performs a rotational motion around the rotational shaft 7. Inertial mass.

  Therefore, also by the turning device 4b, the rotating body 6a and the liquid 10 that rotates together with the rotating body 6a inside the rotating body accommodating portion 5 when the rotating body 6a rotates can be used as an inertial mass body. Therefore, by performing the same operation as that of the turning device 4 in the first embodiment, the underwater machine 1 (see FIGS. 1A and 1B) can freely turn in either the R direction or the L direction. be able to.

  Therefore, the underwater machine 1 provided with the turning device 4b can also obtain the same effect as the first embodiment.

  In addition, this invention is not limited only to the said each embodiment, The length, external shape, cross-sectional shape, etc. of each structural member are examples, and may be changed suitably. Moreover, you may change freely the external shape of the underwater machine 1, and the structures of the airframes 2 other than the turning devices 4, 4a, 4b.

  The rotating body 6 in the first embodiment or the second embodiment may include a bottom plate having an opening on the lower end side of the cylindrical member 12.

  Furthermore, the rotating body 6 in the first and second embodiments is preferably configured to allow the liquid 10 inside to be taken in and out, but may be configured to enclose the liquid 10. In addition, the rotating body accommodating portion 5 in the third embodiment is preferably provided with an opening 26 that communicates with the outside of the machine body 2 so that the liquid 10 inside can be taken in and out. Good. In the case of these configurations, as the liquid 10 to be sealed, the liquid 10 having the same or substantially the same specific gravity as the liquid existing in the use environment of the underwater machine 1 is used. Adjustment with a buoyant body to obtain a traction can be almost unnecessary. Moreover, the adjustment of the distance (BG) between the center of gravity of the underwater machine 1 and the buoyancy can be made easy.

  The rotating body 6 according to the first embodiment and the second embodiment includes a rotating member 11 that can store the liquid 10 inside the rotating body 6 and imparts a rotating motion to the liquid 10 inside the rotating body 6. If it is, it may have an external shape other than that illustrated. For example, the rotating member 11 may have an outer shape whose diameter dimension changes in the axial direction.

  The rotating body 6a according to the third embodiment is not illustrated as long as the rotating member 11 provided with a rotating member 11 for applying a rotating motion to the liquid 10 filled inside the rotating body accommodating portion 5 is attached to the shaft member 27. You may have the structure of. For example, it is good also as a structure which attached the rotating member to the outer periphery of the shaft member 27 via the rod-shaped connection member.

  The rotating member 11 is preferably a flat plate arranged along the radial direction of the rotating body from the viewpoint of efficiently giving a rotational motion to the liquid 10 when the rotating bodies 6 and 6a rotate. . However, the rotating member 11 may adopt any shape other than the flat plate shape as long as the rotating bodies 6 and 6a rotate together to rotate the liquid 10 and can give a rotational motion to the liquid 10.

  The number of the rotating members 11 may be appropriately changed according to the size of the rotating bodies 6 and 6a.

  In 1st Embodiment and 2nd Embodiment, you may make it provide the lid | cover which has an opening in the upper part side of the rotary body accommodating part 5. FIG.

  Although the example provided with the upper part side of the body 2 showed the rotary body accommodating part 5, it is good also as a structure with which the intermediate part of the up-down direction of the body 2 and the lower part side were equipped. In this case, the rotating body accommodating portion 5 is configured so that the lower end side is closed with an end wall, or the rotating bodies 6 and 6a are provided with a bottom plate. Even if a centrifugal force acts on the liquid 10, it is only necessary to take measures to prevent the liquid 10 from flowing out downward from the rotating body accommodating portion 5.

  Although it is preferable that the rotating body accommodating portion 5 has a configuration in which the opening 15 provided on the inner bottom surface 5a and the like and the opening 16 provided on the outer surface of the machine body 2 are connected by the communication pipe 17, it may not be provided.

  In each of the embodiments described above, the configuration in which the motor 20 is used as the rotation driving unit 9 is illustrated, but an actuator other than the motor may be employed as long as it can output a rotation output.

  The underwater machine 1 of the present invention may be used for any purpose as long as the underwater machine 1 performs a turning operation in a still water region. Moreover, you may apply the underwater machine 1 of this invention to the autonomous underwater machine 1 besides the remote control type like ROV.

  Of course, various modifications can be made without departing from the scope of the present invention.

DESCRIPTION OF SYMBOLS 1 Submersible machine, 2 machine bodies, 4, 4a, 4b Swivel device, 5 Rotating body accommodating part, 6, 6a Rotating body, 7 Rotating shaft, 8 Support means, 9 Rotation drive means, 10 Liquid, 11 Rotating member, 12 Cylindrical member , 14 opening, 24 cylindrical housing (supporting means), 25 lid, 26 opening, 27 shaft member, 28 through hole (supporting means), s one direction, t other direction

Claims (9)

In submersibles used in liquids,
The aircraft is equipped with a swivel device,
The swivel device
A rotating body accommodating portion provided in the airframe;
A rotating body having a rotating shaft extending in the vertical direction and being housed and disposed in the rotating body housing portion;
A support means installed on the machine body for rotatably supporting the rotating body;
A rotation driving means for rotating the rotating body;
The underwater machine, wherein the rotating body includes a rotating member that imparts a rotational motion to the liquid inside the rotating body housing portion when the rotating body rotates. The rotating body includes an internal space that fills the liquid inside the rotating body housing portion,
The underwater machine according to claim 1, wherein the rotating member is provided in a space inside the rotating body. The underwater machine according to claim 2, wherein the rotating body includes an opening that allows communication between the internal space and the outside. The rotating body includes a cylindrical member, and the inside of the cylindrical member is the internal space,
The rotating member is a flat plate arranged along the radial direction of the cylindrical member,
The underwater machine according to claim 2 or 3. The underwater machine according to claim 4, wherein the rotating member is attached to an inner peripheral surface of the cylindrical member. The rotating body accommodating portion is filled with liquid,
The rotating body is
A shaft member connected to the rotating shaft;
The underwater machine according to claim 1, further comprising: a rotating member that is attached to an outer periphery of the shaft member and imparts a rotating motion to the liquid that is filled in the rotating body housing portion when the rotating body rotates. The underwater machine according to claim 6, wherein the rotating body housing portion includes a lid having an opening. The airframe includes a turning device, and the turning device has a rotating body housing portion provided in the airframe, a rotating body housed and arranged in the rotating body housing portion with a rotating shaft extending in the vertical direction, A support unit that is installed in the machine body and rotatably supports the rotating body; and a rotation driving unit that rotationally drives the rotating body. An underwater machine having a configuration provided with a rotating member that imparts rotational movement to the liquid on the inside is disposed in the liquid,
The rotary body is turned in a direction opposite to the rotational direction accelerated by the rotary body by a reaction when accelerating the rotation in one direction or the other direction around the rotary shaft. The turning method of the underwater aircraft. The absolute value of the negative acceleration during deceleration is made smaller than the acceleration during acceleration when the rotating body is decelerated after accelerating rotation in one direction or the other direction around the rotation axis. The turning method of the described underwater aircraft.

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