CN103818534A - Direction adjusting device of underwater gliding device and control method thereof - Google Patents
Direction adjusting device of underwater gliding device and control method thereof Download PDFInfo
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- CN103818534A CN103818534A CN201410100496.XA CN201410100496A CN103818534A CN 103818534 A CN103818534 A CN 103818534A CN 201410100496 A CN201410100496 A CN 201410100496A CN 103818534 A CN103818534 A CN 103818534A
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- underwater glider
- rudderpost
- direction adjusting
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- deck store
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Abstract
The invention belongs to the field of marine environmental monitoring and resource developing and particularly relates to a direction adjusting device of an underwater gliding device and a control method of the direction adjusting device. A pressure-resisting stem room is connected with a cabin body at the front end of the underwater gliding device through screws. Bevel gears are driven by a steering engine and meshed to generate motion, and therefore rotation of the steering engine is converted into rotation of a rudder spindle. The rudder spindle transmits rotation to rudders, and steering motion of the whole underwater sliding device on the water level is controlled through synchronous deflection of the two symmetric rudders. Due to the fact that influences of water power are fully considered, the streamline shape design is adopted in the pressure-resisting stem room and the rudders. The direction adjusting device has the advantages of being simple and compact in structure, convenient to disassemble and assemble, low in energy consumption, high in working reliability and the like; the efficient and fast direction adjusting capability is achieved, and the maneuverability of the underwater gliding device is improved.
Description
Technical field:
The invention belongs to marine environmental monitoring and development of resources field, be specifically related to a kind of direction adjusting apparatus and control method thereof of underwater glider.
Background technology:
Along with the Efforts To Develop of marine environmental monitoring and development of resources, various under-water robots arise at the historic moment.Underwater glider is in order to meet large scale, long-time, large-scale marine environmental monitoring needs, buoy, subsurface buoy technology and under-water robot technology to be combined to a kind of underwater robot of developing.It drives by net buoyancy, has greatly saved energy consumption, but also has had low noise low cost, can reuse, and throws in and reclaims advantage easily.
Underwater glider is not equipped with propelling unit, the power of the poor generation floating of the buoyancy dive of leaning on buoyancy and gravity to produce.In the process of floating dive, adjust the attitude of pitching by changing the position of center of gravity, specifically by the movement of power brick pouring weight on axis direction, position, the relative centre of buoyancy of center of gravity is changed, produce a pitching moment, this moment has changed the pitch attitude of underwater glider, realizes the conversion of floating dive state of kinematic motion, forms the zig-zag ship trajectory in a vertical surface; But the free motion of wanting implementation space scope six degree of freedom also need to be rotated and the divertical motion of horizontal surface around the heel of self axis, glider rotation, specifically by rotating eccentricity battery, make deviation of gravity center diad, produce a heeling moment, make whole fuselage produce certain inclination angle around axis, due to the inclination of fuselage, make to act on the power left and right overbalance on two horizontal tails and vertical tail, turn to thereby realize.
The underwater glider of most can be realized the rising dive of large-scale glide and certain depth.Can more accurately control net buoyancy size by controlling displacement of volume, determine submerged depth; Realize the accurate grasp to pitch angle and angle of heel by controlling pouring weight along the displacement of axis direction and the deflection angle of eccentric battery; For turning to of glider horizontal surface, because the volume of aerodone is little lightweight, only depend on buoyancy-driven, when ocean current motion in ocean is larger, it is stable to what regulate that glider is difficult to guarantor, easily occurs the situation of drifting with the tide.Therefore go out a mechanism at the narrow and small internal space design of glider and carry out level of control face and turn to, very crucial for realizing grasping more accurately of underwater glider ship trajectory.
For the problems referred to above, the present invention proposes a kind of direction adjusting apparatus and control method thereof of underwater glider, is convenient to regulate the horizontal plane motion direction of underwater glider, realizes the controllability of the sense of motion of underwater glider; Take into account the feature that glider volume is little, design organization compact conformation exquisiteness simultaneously; The profile stream line pattern that adds this device is good, makes the overall hydrodynamic performance of underwater glider good.
Summary of the invention:
In order to solve the problem of above-mentioned existence, the object of the invention is: propose a kind of direction adjusting apparatus and control method thereof of underwater glider, be convenient to regulate underwater glider in horizontal plane motion direction, realize the controllability of the sense of motion of underwater glider.
In order to realize the present invention's object, intend by the following technical solutions:
The present invention includes lower rudder sheet, upper rudderpost, lower rudderpost, coupler, withstand voltage deck store, bearing, roller bearing end cap, steering wheel and transmission device, wherein steering wheel and transmission device are mounted on the body rear wall of withstand voltage deck store cabin; Described upper rudderpost is connected with rudder sheet with lower rudderpost homogeneous end, and the other end is connected by coupler, and transmission device is connected with a rudderpost, and rudderpost stage casing is fixed on withstand voltage deck store by bearing and roller bearing end cap; Withstand voltage deck store is connected with anterior cabin body, forms a complete underwater glider.
Wherein: in symmetrical two holes, the described withstand voltage deck store left and right sides, be used for connecting other cabin body of underwater glider by screw; Described transmission device comprises drive bevel gear and driven wheel of differential, and drive bevel gear is connected with steering wheel output shaft, and driven wheel of differential is arranged on lower rudderpost, is meshed with drive bevel gear; Described withstand voltage deck store cabin body rear wall has rectangular channel, and steering wheel is embedded in rectangular channel, is fixed by screws on pressure-resistant cabin body wall; One end of described lower rudderpost is connected with driven wheel of differential by key, the other end is connected with rudder by screw, shaft shoulder place, stage casing is fixed on by a pair of thrust bearing on the strengthening rib of withstand voltage deck store, bearing is fixed with a gland, outermost is fixed roller bearing end cap with screw, between gland and roller bearing end cap, leave a T-shaped groove, in groove, be provided with rotational pressure sealing plug; Described rudder and withstand voltage deck store are fluid line style.Other cabin body end cap connecting portion of described withstand voltage deck store and underwater glider is provided with O-ring seals.
Control method of the present invention is as follows:
Direction adjusting apparatus of the present invention is arranged on to the afterbody of underwater glider, withstand voltage deck store is connected with other module water-stop of underwater glider with screw by O-ring seals.In the time that underwater glider need to turn in the horizontal direction, the steering wheel at withstand voltage deck store rear portion will be received a control signal, there is the rotation of respective direction, drive drive bevel gear rotation, drive driven wheel of differential to rotate by the engagement of drive bevel gear and driven wheel of differential; Driven wheel of differential is connected in rudderpost by holding screw, therefore drives rudderpost jointly to rotate, and upper rudderpost is connected by coupler with lower rudderpost, can keep same step rotation.Owing to having screw to be connected between rudderpost and rudder sheet, and then drive upper and lower rudder sheet synchronous rotary; Upper lower rudder sheet rotation departs from after neutral position, form an angle with the direction of current, produced the deflecting torque that a pair of size is identical, this turns to whole promotion carrier moment on horizontal surface, thereby makes underwater glider complete the action of turning to the left or to the right.Coordinate pitch attitude regulating mechanism and roll attitude mechanism simultaneously, require to set the sequential of pitch attitude variation, the variation of roll attitude and each section of motion of left and right turn according to flight path, design the signal of controller, just can realize the six-freedom motion of underwater glider in spatial dimension, can reach in theory in designated depth Anywhere, improve controllability and the manoevreability of underwater glider.
Advantage of the present invention and good effect are:
1. the present invention adopts bevel drive, drives the rotation of rudder by steering wheel, thereby changes the sense of motion of underwater glider, simple and compact for structure, make full use of the small space of deck store, and transmission is accurately reliable.
2. the present invention is by steering wheel through bevel gear driving rudderpost, and Twin Rudders synchronous rotary regulates, and no differential rudder angle is simple to operate, and it is convenient to control, and turns to sensitive fast and stable.By the rotational angle of real-Time Signal Transfer energy quick adjusting rudder, the adjusting controllability of sense of motion is strengthened.
3. profile stream line pattern of the present invention is good, fully takes into account hydrodynamic property, has greatly reduced water resistance,, as a module independently, can be connected with other module watertights of underwater glider flexibly meanwhile, and easy accessibility, part is easy to change.
Accompanying drawing explanation:
Fig. 1 is the main cutaway view of structure of the present invention;
Fig. 2 is the left view of Fig. 1;
Fig. 3 is the birds-eye view of Fig. 1.
Wherein: 1 is upper rudder sheet, and 2 is lower rudder sheet, and 3 is upper rudderpost, and 4 is coupler, and 5 is lower rudderpost, 6 is steering wheel, and 7 is drive bevel gear, and 8 is driven wheel of differential, and 9 is roller bearing end cap, and 10 is gland, 11 is thrust bearing, and 12 is withstand voltage deck store, and 13 is hole, and 14 is O type circle groove.
The specific embodiment:
Below in conjunction with accompanying drawing, the invention will be further described.
As shown in Figures 1 to 3, the present invention includes and comprise rudder sheet 1, lower rudder sheet 2, upper rudderpost 3, coupler 4, lower rudderpost 5, steering wheel 6, transmission device, roller bearing end cap 9, gland 10, thrust bearing 11 and withstand voltage deck store 12.
Withstand voltage deck store left and right sides symmetry has two holes, for by screw, deck store being connected to anterior cabin body, forms a glider entirety.Junction is provided with two O type ring recess 14, and inside is equipped with O type circle, plays sealing cabin effect.Tail vane and pressure-resistant cabin body are swept-out configuration design, have good hydrodynamic force feature.
Direction adjusting apparatus of the present invention is arranged on to the afterbody of underwater glider, withstand voltage deck store 12 is connected with other module water-stop of underwater glider with screw by O-ring seals.In the time that underwater glider need to turn in the horizontal direction, steering wheel 6 receives a control signal, and the rotation of output shaft generation respective direction drives drive bevel gear 7 to rotate, and drives driven wheel of differential 8 to rotate by the engagement of drive bevel gear 7 and driven wheel of differential 8; Driven wheel of differential 8 is connected in rudderpost 5 by holding screw, therefore drives rudderpost 5 jointly to rotate, and upper rudderpost 3 is connected by coupler with lower rudderpost 5, can keep same step rotation.Owing to having screw to be connected between rudderpost and rudder sheet, then drive upper and lower rudder sheet 1,2 synchronous rotaries; Upper lower rudder sheet rotation departs from after neutral position, form an angle with the direction of current, produced the deflecting torque that a pair of size is identical, this will promote whole carrier divertical motion on horizontal surface to moment, thereby make underwater glider complete the action of turning to the left or to the right.Coordinate pitch attitude regulating mechanism and roll attitude mechanism simultaneously, require to set the sequential of pitch attitude variation, the variation of roll attitude and each section of motion of left and right turn according to flight path, design the signal of controller, just can realize the six-freedom motion of underwater glider in spatial dimension, can reach in theory in designated depth Anywhere, improve controllability and the manoevreability of underwater glider.
Claims (8)
1. the direction adjusting apparatus of a underwater glider, it is characterized in that: comprise rudder sheet (1), lower rudder sheet (2), upper rudderpost (3), coupler (4), lower rudderpost (5), steering wheel (6), transmission device, roller bearing end cap (9), gland (10), thrust bearing (11) and withstand voltage deck store (12), wherein steering wheel and transmission device are mounted on the body rear wall of withstand voltage deck store cabin; Described upper rudderpost is connected with rudder sheet with lower rudderpost homogeneous end, and the other end is connected by coupler, and transmission device is connected with a rudderpost, and rudderpost stage casing is fixed on withstand voltage deck store by bearing and roller bearing end cap; Withstand voltage deck store is connected with anterior cabin body, forms a complete underwater glider.
2. by the direction adjusting apparatus of a kind of underwater glider claimed in claim 1, it is characterized in that: be symmetrically distributed with two holes (13) in the described withstand voltage deck store left and right sides, be used for connecting other cabin body of underwater glider by screw.
3. by the direction adjusting apparatus of a kind of underwater glider described in claim 1 or 2, it is characterized in that: described transmission device comprises drive bevel gear (7) and driven wheel of differential (8), drive bevel gear is connected with steering wheel (6) output shaft, and driven wheel of differential (8) is arranged on lower rudderpost (5), is meshed with drive bevel gear (7).
4. by the direction adjusting apparatus of a kind of underwater glider described in claim 1 or 2, it is characterized in that: described withstand voltage deck store cabin body rear wall has rectangular channel, and steering wheel is embedded in rectangular channel, is fixed by screws on pressure-resistant cabin body wall.
5. by the direction adjusting apparatus of a kind of underwater glider described in claim 1 or 2, it is characterized in that: one end of described lower rudderpost (5) is connected with driven wheel of differential by key, the other end is connected with lower rudder sheet (2) by screw, shaft shoulder place, stage casing is fixed on the strengthening rib of withstand voltage deck store by a pair of thrust bearing (11), a gland for bearing (10) is fixing, outermost is fixed roller bearing end cap with screw, between gland and roller bearing end cap, leave a T-shaped groove, in groove, be provided with rotational pressure sealing plug.
6. by the direction adjusting apparatus of a kind of underwater glider described in claim 1 or 2, it is characterized in that: described upper lower rudder sheet (1) (2) is fluid line style with withstand voltage deck store (12).
7. by the direction adjusting apparatus of a kind of underwater glider described in claim 1 or 2, it is characterized in that: described withstand voltage deck store (12) is provided with O-ring seals with other cabin body end cap connecting portion of underwater glider.
8. by direction adjusting apparatus and the control method thereof of a kind of underwater glider described in claim 1 or 2, it is characterized in that: the afterbody that direction adjusting apparatus of the present invention is arranged on to underwater glider, withstand voltage deck store (12) is connected with other module water-stop of underwater glider with screw by O-ring seals, in the time that underwater glider need to turn in the horizontal direction, the steering wheel (6) at withstand voltage deck store rear portion will be received a control signal, there is the rotation of respective direction, drive drive bevel gear (7) rotation, drive driven wheel of differential (8) to rotate by the engagement of drive bevel gear (7) and driven wheel of differential (8), driven wheel of differential (8) is connected in rudderpost (5) by holding screw, therefore drive rudderpost (5) jointly to rotate, upper rudderpost (3) is connected by coupler with lower rudderpost (5), can keep same step rotation.Owing to having screw to be connected between rudderpost and rudder sheet, and then drive upper and lower rudder sheet (1) (2) synchronous rotary; Upper lower rudder sheet rotation departs from after neutral position, form an angle with the direction of current, produced the deflecting torque that a pair of size is identical, this turns to whole promotion carrier moment on horizontal surface, thereby makes underwater glider complete the action of turning to the left or to the right; Coordinate pitch attitude regulating mechanism and roll attitude mechanism simultaneously, require to set the sequential of pitch attitude variation, the variation of roll attitude and each section of motion of left and right turn according to flight path, design the signal of controller, just can realize the six-freedom motion of underwater glider in spatial dimension, can reach in theory in designated depth Anywhere, improve controllability and the manoevreability of underwater glider.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201410100496.XA CN103818534A (en) | 2014-03-14 | 2014-03-14 | Direction adjusting device of underwater gliding device and control method thereof |
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| CN201410100496.XA CN103818534A (en) | 2014-03-14 | 2014-03-14 | Direction adjusting device of underwater gliding device and control method thereof |
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Cited By (5)
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| CN107914845A (en) * | 2017-11-05 | 2018-04-17 | 浙江大学 | A kind of underwater unmanned plane of fixed-wing |
| CN108545169A (en) * | 2018-06-08 | 2018-09-18 | 湖南玛伽克蓝箭科技有限公司 | A kind of mounting structure of steering engine on carrier |
| CN109250056A (en) * | 2018-10-11 | 2019-01-22 | 交通运输部天津水运工程科学研究所 | A kind of submarine navigation device tail vane |
| CN109760808A (en) * | 2019-03-12 | 2019-05-17 | 中国科学院沈阳自动化研究所 | Long voyage Autonomous Underwater Vehicle low-power consumption transfer |
| CN110641663A (en) * | 2019-09-21 | 2020-01-03 | 天津大学 | Large underwater vehicle with self-disposable wings |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107914845A (en) * | 2017-11-05 | 2018-04-17 | 浙江大学 | A kind of underwater unmanned plane of fixed-wing |
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| CN109760808A (en) * | 2019-03-12 | 2019-05-17 | 中国科学院沈阳自动化研究所 | Long voyage Autonomous Underwater Vehicle low-power consumption transfer |
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| CN110641663A (en) * | 2019-09-21 | 2020-01-03 | 天津大学 | Large underwater vehicle with self-disposable wings |
| CN110641663B (en) * | 2019-09-21 | 2021-08-20 | 天津大学 | Large underwater vehicle with self-disposable wings |
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Application publication date: 20140528 |