JPH04100993U - Inclination control device for underwater vehicles - Google Patents

Abstract

(57) [Summary] [Purpose] To improve the acoustic communication performance, observation accuracy, and attitude stability of underwater vehicles without the need for vertical thrusters and without generating vibration or noise. [Structure] A pivot member 4 erected at one end of the main body 2, an extendable pivot member 7 erected at the other end, and a pivot member 4 and an extendable pivot member 7. Floating body 3 pivoted by
The extensible pivot member 7 is expanded and contracted to tilt the floating body 3, and the center of buoyancy B of the floating body 3 is shifted in relation to the center of gravity G of the body 2, causing the floating body 3 and the main body 2 to tilt. 2 to a desired angle θ/2.

Description

[Detailed explanation of the idea]

0001

[Industrial application field]

The present invention relates to a tilt control device for an underwater vehicle.

0002

[Conventional technology]

Conventionally, as a tilt control device for an underwater vehicle, for example, as shown in the side view of FIG. It is known that the In this type of device, the vertical thrusters 04 and 05 generate thrusts Ta and Tb such that (Ta+ _Tb ) _lo = _{W.B.sub.o.G.sub.o.sin.theta} . to perform tilt control. Here, B _o , G _o , and θ are the center of buoyancy, center of gravity, and angle of inclination of the main body 01, respectively.

0003 However, such a device has the following drawbacks. (1) Since the vertical thrusters 04 and 05 must be operated at all times, The acoustic communication performance and observation accuracy of underwater vehicles will deteriorate due to the vibration and noise generated. Ru. (2) The thrust required for tilt control varies depending on the righting moment of the underwater vehicle. , it is difficult to adjust the thrust, and therefore it is difficult for underwater vehicles to maintain a stable attitude.

0004

[Problem that the idea aims to solve]

This invention was proposed in view of these circumstances, and uses vertical thrusters. Therefore, the tilting of underwater vehicles with excellent acoustic communication performance, observation accuracy, and attitude stability. The purpose is to provide a control device.

[0005]

[Means to solve the problem]

Therefore, the present invention has a pivot member erected at one end of the main body and a pivot member erected at the other end. an extendable pivot member, and a pivot member formed by the pivot member and the extendable pivot member. a supported floating body, and the expandable and contractible pivot member is expanded and contracted to tilt the floating body. , by shifting the center of buoyancy of the floating body with respect to the center of gravity of the main body, and The present invention is characterized in that the main body is tilted to a desired angle.

[0006]

[Effect]

With the above configuration, no upper or lower thrusters are used, which improves acoustic communication performance and observation accuracy. A tilt control device for an underwater vehicle with excellent angle and attitude stability can be obtained.

[0007]

【Example】

To explain one embodiment of the present invention with reference to the drawings, the same reference numerals as in Fig. 5 are the same. The same members as in the figure are shown. First, in the side view of Figure 1, 1 is a rectangular upright cube book. Underwater vehicle formed from a body 2 and a horizontal capsule-shaped floating body 3, 4 is in front of the top plate of the body 2 It is a short column-shaped pivot member erected in the section, and its upper end is connected to the floating body 3 via the horizontal pin 5. An eye metal fitting 6 protruding from the front part of the bottom plate is pivotally supported. 7 is installed at the rear of the top plate of main body 2. A hydraulic piston-type extendable pivot member with a roller 8 pivotally attached to its upper end. is attached to the rear part of the bottom plate of the floating body 3 and extends in the front-back direction with a C-shaped cross section. They are fitted so that they can roll.

[0008] In such a device, as shown in FIG. 2, for example, an underwater weight W is placed at the center of gravity G. , the main body 2 of the underwater vehicle 1 is in a state of equilibrium with the buoyant force F acting on the center of buoyancy B. To tilt it, first extend the extendable pivot member 7 to a height H, as shown in FIG. , when an inclination angle θ is given to the floating body 3, the center of buoyancy B of the floating body 3 rises by a height h, and the front The object moves underwater a distance l in the direction, and a horizontal shift occurs between the center of gravity G and the center of buoyancy B. Then, the underwater vehicle 1 has a righting moment in the direction that compensates for the inclination of the floating body 3. M=W・l occurs, and as shown in Figure 4, the inclination angle of the floating body 3 becomes θ/2. In addition, the inclination angle of the main body 2 is also θ/2, and the center of gravity G and the center of buoyancy B are balanced and stable. The state will be as follows. That is, the main body 2 can be tilted at an inclination angle of θ/2.

[0009] According to the device of this embodiment, the pivot member erected at one end of the main body and the other an extendable pivot member erected at an end; the pivot member; and the extendable pivot member; and a floating body pivotally supported by the member, and the extendable pivot member is expanded and contracted to provide the floating body. Tilt the floating body, shift the center of buoyancy of the floating body with respect to the center of gravity of the body, and The body and the main body can be tilted to a desired angle. Therefore, the following effects can be achieved. (1) Vertical thrusters are no longer required, so vibration and noise are eliminated, making underwater navigation possible. The body's acoustic communication performance and observation accuracy are improved. (2) After the main body tilts, the center of gravity of the main body and the center of buoyancy of the floating body are on the vertical line, so the main body It is possible to maintain a stable posture.

0010

[Effect of the idea]

In short, according to the present invention, there is a pivot member provided upright at one end of the main body and a pivot member provided upright at the other end of the main body. an extendable pivot member provided, the pivot member and the extendable pivot member; a floating body that is pivotably supported, and the floating body is tilted by expanding and contracting the extendable pivot member. The center of buoyancy of the floating body is shifted from the center of gravity of the main body, and the floating body and and tilting the main body at a desired angle. Does not use the lower thruster, so it has excellent acoustic communication performance, observation accuracy, and attitude stability. The present invention is extremely useful industrially because it provides a tilt control device for underwater vehicles. Ru.

[Brief explanation of drawings]

FIG. 1 is a side view showing an embodiment of the present invention.

FIG. 2 is a side view of the main body of FIG. 1 in a horizontal state;

FIG. 3 is a side view of the floating body shown in FIG. 1, showing a tilted state;

FIG. 4 is a side view of the main body shown in FIG. 1, showing a state at a predetermined inclination angle.

FIG. 5 is a side view showing a known tilt control device for an underwater vehicle.

[0011]

[Explanation of symbols]

1 Underwater vehicle 2 Main body 3 Floating body 4 Pivot support member 5 horizontal pin 6 Eye hardware 7 Expandable pivot member 8 Roller 9 rail B floating heart F Buoyancy G center of gravity H height h height l Horizontal distance M Righting moment W Underwater weight θ Tilt angle

Claims (1)

[Scope of utility model registration request] Claim 1: A pivot member erected at one end of the main body, an extendable pivot member erected at the other end, and the pivot member and the extendable pivot member. a pivotably supported floating body, the extensible and contractible pivot member is expanded and contracted to tilt the floating body, and the center of buoyancy of the floating body is shifted in front and back relative to the center of gravity of the main body, thereby causing the floating body and the main body to tilt. An inclination control device for an underwater vehicle, characterized in that the main body is tilted at a desired angle.