CN202574597U - Variable centroid adjusting device for underwater vehicle - Google Patents
Variable centroid adjusting device for underwater vehicle Download PDFInfo
- Publication number
- CN202574597U CN202574597U CN 201220143140 CN201220143140U CN202574597U CN 202574597 U CN202574597 U CN 202574597U CN 201220143140 CN201220143140 CN 201220143140 CN 201220143140 U CN201220143140 U CN 201220143140U CN 202574597 U CN202574597 U CN 202574597U
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- back shield
- guide rods
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Abstract
The utility model relates to a variable centroid adjusting device for an underwater vehicle. Surfaces of front and rear baffle plates are respectively fixed a the ends of two guide rods; one end of a ball screw is mounted on one surface of the front baffle plate through a front baffle plate bearing; the other end of the front baffle plate penetrates through the rear baffle plate and provided with a driven gear; the fixation points of the ball screw and the two guide rods on the front baffle plate as well as the rear baffle plate are distributed to form a regular triangle; a mass block is positioned between the guide rods and the ball screw, and is mounted on the two guide rods and the ball screw through a sleeve; a motor is fixed on one surface of the rear baffle plate; and a driving gear is mounted on the output shaft of the motor and is meshed with the driven gear mounted at the end of the ball screw. According to the utility model, a battery is adopted as the mass block and clamped on a guide rail on the inner wall of a battery rack which is fixed in the sleeve. In the variable centroid adjusting device, a battery component slide along the guide rod, so as to solve the problem in centroid adjusting of the underwater vehicle and enable the underwater vehicle to sail stably after the separation of a load.
Description
Technical field
The invention belongs to the submarine navigation device field, be specifically related to the rotten heart control apparatus of a kind of ROV.
Background technology
Autonomous submarine navigation device is human development and the effective tool that utilizes the ocean, is the emphasis of our times various countries research, in the application in fields such as scientific research, military affairs, industry more and more widely, and as the main means that deliver under water.
Submarine navigation device need carry a plurality of load, and load is carried out separating for several times for accomplishing each task.When the load section with after the ROV carrier separates because the change of ROV carrier centroid position can influence the navigation stability that load is separated the back ROV, for this reason, must solve submarine navigation device load and separate back sail body barycenter variation issue.Current ROV barycenter is regulated and is mainly adopted connecting rod-counterweight device, thereby this device is regulated counterweight realization balance through the barycenter adjust bar, and its structure is comparatively complicated, and institute takes up space bigger, and degree of regulation is not high.
Summary of the invention
In order to overcome complex structure, big and the not high deficiency of degree of regulation of taking up space that prior art exists, the present invention proposes the rotten heart control apparatus of a kind of submarine navigation device.
The present invention includes frame, battery carrier, motor and transmission gear; Described frame is made up of front apron, back shield, ball-screw and 2 guide rods; The surface of front apron and back shield is separately fixed at 2 guide rod two ends, and 2 guide rod symmetries; On a surface of front apron, the other end of this ball-screw passes back shield and passes through the back shield bearing installation on back shield one end of ball-screw through the front apron bearing installation; Pass at this ball-screw on the termination of back shield driven gear is installed; Mass and is installed on 2 guide rods and the ball-screw through sleeve between 2 guide rods and ball-screw; Motor is fixed on another surface of back shield through motor cabinet; On the output shaft of said motor, driving gear is installed, this driving gear is meshed with the driven gear that is installed in the ball-screw termination.
Said ball-screw and the attachment point of 2 guide rods on front apron and back shield are equilateral triangle and distribute.
The outer round surface of sleeve is distributed with 3 groups of attachment lugs that radially protrude; The position of said 3 groups of attachment lugs is corresponding with the position of 2 guide rods and ball-screw respectively, and wherein 2 groups of attachment lugs are set on the guide rod, and and this guide rod between free-running fit; In addition 1 group of attachment lug is sleeved on the feed screw nut of ball-screw, and and this feed screw nut between closely cooperate.
The present invention with battery as mass; Battery is installed on the guide rail on the battery carrier inwall through the draw-in groove that is positioned at this battery both side surface.Battery carrier is fixed in the sleeve; Metallic channel is arranged in the middle of the battery carrier upper shell; There is connecting bore end at the battery carrier upper shell; At the middle part of the interior both sides of battery carrier sidewall, the battery module of installation guide rail is arranged respectively along the length direction of battery carrier.
Among the present invention, the ROV barycenter changes along with the variation of load.Utilize control system that motor is rotated; Thereby the rotation of the driving gear on the drive motor output shaft drives ball-screw again and rotates after the transmission through driven gear, driving gear, drive feed screw nut through ball-screw simultaneously and slide; Thereby the sleeve that is connected with ball-screw is slided along two guide rods; Even battery component slides along two guide rods, thereby realize the adjusting of ROV barycenter, the barycenter that has fundamentally solved ROV is regulated problem; The device monnolithic case is cylindrical, and compact conformation can be used as separate modular and directly loads revolution build ROV.
Description of drawings
Fig. 1 is a structural representation of the present invention;
Fig. 2 is the structural representation of battery and battery carrier; Wherein, Fig. 2 a is the three-dimensional structure scheme drawing of battery and battery carrier; Fig. 2 b is the scheme drawing of battery and battery carrier longitudinal cross-section;
Fig. 3 is that the A of Fig. 1 is to view.Among the figure:
1. front apron bearing 2. ball-screws 3. feed screw nuts 4. leads 5. back shield bearings
6. driven gear 7. driving gears 8. motors 9. motor cabinets 10. back shields
11. battery carrier 12. batteries 13. sleeves 14. guide rods 15. front aproies
The specific embodiment
Present embodiment is the rotten heart control apparatus of a kind of submarine navigation device, comprises frame, battery carrier 11, motor 8 and transmission gear.Frame is made up of front apron 15, back shield 10, ball- screw 2 and 2 guide rods 14.One end of 2 guide rods 14 is separately fixed on the surface of circular front apron 15, and the other end of said 2 guide rods 14 is separately fixed on the surface of circular back shield 10; The attachment point of 2 guide rods 14 on front apron 15 and back shield 10 is positioned at the edge of front apron 15 and back shield 10 circular surfaces, and 2 guide rod 14 symmetries.One end of ball-screw 2 is installed in through front apron bearing 1 on the surface of front apron 15, and the other end of this ball-screw 2 passes back shield 10 and is installed on the back shield 10 through back shield bearing 5; Pass at this ball-screw 2 on the termination of back shield 10 driven gear 6 is installed.Said ball-screw 2 two ends all are positioned at the edge of front apron 15 and back shield 10 circular surfaces at front apron 15 and the attachment point on the back shield 10, and are equilateral triangle with the attachment point of 2 guide rods 14 and distribute.Mass is between the equilateral triangle of being made up of 2 guide rods 14 and ball-screw 2.
In the present embodiment, the battery 12 that utilizes submarine navigation device is as mass, and described battery 12 is installed on 2 guide rods 14 and the ball-screw 2 through sleeve 13.The outer round surface of sleeve 13 is distributed with 3 groups of attachment lugs that radially protrude.The position of said 3 groups of attachment lugs is corresponding with the position of 2 guide rods 14 and ball-screw 2 respectively, and wherein 2 groups of attachment lugs are set on the guide rod 14, and and this guide rod 14 between free-running fit; In addition 1 group of attachment lug is sleeved on the feed screw nut 3 of ball-screw, and and this feed screw nut 3 between closely cooperate, captive joint thereby make between sleeve 13 and the feed screw nut 3.
Motor 8 is fixed on another surface of back shield 10 through motor cabinet 9; The surface of motor 8 residing back shields 10 and 2 guide rod 14 residing back shields 10 surperficial opposing.Driving gear 7 is installed on the output shaft of said motor 8, and this driving gear 7 is meshed with the driven gear 6 that is installed in ball-screw 2 terminations.
Said feed screw nut 3 is a sleeve-like.The endoporus of feed screw nut 3 is the screw thread that cooperates with ball-screw 2.The aperture of the attachment lug that cooperates with this feed screw nut 3 on the external diameter of feed screw nut 3 and the sleeve 13 is identical.
Sleeve 13 links to each other with 2 guide rods 14 with feed screw nut 3 through attachment lug.Sleeve 13 is a free-running fit with battery carrier 11, and fixes through screw.
As shown in Figure 2.Battery carrier 11 is the rectangular housing structure.The shape of said battery carrier 11 inner chambers and the shape of battery 12 match.Metallic channel is arranged in the middle of battery carrier 11 upper shells, and this metallic channel connects the length direction of battery carrier 11, and the lead of battery 12 places in the said metallic channel and with instrument, steering wheel, the motor of submarine navigation device and is communicated with.The connecting bore that this battery carrier and sleeve 13 are fixed is arranged in the end of battery carrier 11 upper shells.At the middle part of the interior both sides of battery carrier 11 sidewall, along the length direction of battery carrier 11 guide rail is arranged respectively, be used to install battery module.
As shown in Figure 3.Battery 12 as mass adopts prior art, is made up of 13 battery modules, and each battery module is adorned 50 cells.The both side surface of the battery of being made up of each battery module has draw-in groove, and the position of this draw-in groove is corresponding with the position of guide rail on being positioned at the battery carrier inwall; Battery 12 is installed on the guide rail on the battery carrier inwall through said draw-in groove, and passes through lead UNICOM between each battery module.The material of said guide rail is an aluminum alloy, helps heat conduction.
Said motor cabinet is block.A surface of this motor cabinet is the plane, is fixed by welding in the surface of back shield 10; Another surface of this motor cabinet is the concave arc groove, and the diameter of this concave arc groove is identical with the external diameter of motor 8, in motor 8 setting-ins are gone into described concave arc groove after, interference fit between the two.
In the present embodiment, described driving gear 7 is finishing bevel gear cuter with driven gear 6; Described motor 8 adopts the RE30 motor, and this motor is a DC machine, and maximum power 30W, torque peak are 3.5N.m.The forward and backward baffle plate diameter of frame and the internal diameter of ROV battery flat section match, and realize being connected through interference fit.
In the present embodiment, played the effect of back-up roller ballscrew 2 through front apron 15 and back shield 10.Be installed in 2 masses on the guide rod 14 and realize the adjustment of position, thereby realize the adjusting of ROV barycenter through the rotation of ball-screw 2.As shown in Figure 1, ROV barycenter control apparatus comprises the frame of being made up of front apron 15, back shield 10, guide rod 14, and guide rod 14 symmetries are installed, and frame and ROV are connected; Ball-screw 2 head ends are contained on the front apron 15 through front apron bearing 1; End is installed on the back shield 10 through back shield bearing 5; The hole that end passes on the back shield 10 is installed in driven gear 6, and ball-screw 2 is free to rotate, but can not move forward and backward by the restriction of front apron 15 and back shield 10; With the supporting feed screw nut 3 of ball-screw 2; Sleeve 13; Battery carrier 11; Battery 12; Be fixed on the motor cabinet 9 on the back shield 10; Be installed in the motor 8 on the motor cabinet 9; Be installed in the driving gear 7 on motor 8 input shafts, driven gear 6 and driving gear 7 engagements.
During use; Utilize control system to regulate motor 8 and drive driving gear 7 rotations, drive ball-screw 2 again after the transmission through driven gear 6, driving gear 7 and rotate, slide through ball-screw 2 drive feed screw nuts 3 simultaneously; Thereby battery is slided along guide rod 14, thereby regulate barycenter.
Claims (5)
1. the rotten heart control apparatus of submarine navigation device is characterized in that, comprises frame, battery carrier, motor and transmission gear; Described frame is made up of front apron, back shield, ball-screw and 2 guide rods; The surface of front apron and back shield is separately fixed at 2 guide rod two ends, and 2 guide rod symmetries; On a surface of front apron, the other end of this ball-screw passes back shield and passes through the back shield bearing installation on back shield one end of ball-screw through the front apron bearing installation; Pass at this ball-screw on the termination of back shield driven gear is installed; Mass and is installed on 2 guide rods and the ball-screw through sleeve between 2 guide rods and ball-screw; Motor is fixed on another surface of back shield through motor cabinet; On the output shaft of said motor, driving gear is installed, this driving gear is meshed with the driven gear that is installed in the ball-screw termination.
2. a kind of according to claim 1 submarine navigation device heart control apparatus that goes bad is characterized in that, said ball-screw and the attachment point of 2 guide rods on front apron and back shield are equilateral triangle and distribute.
3. a kind of according to claim 1 submarine navigation device heart control apparatus that goes bad is characterized in that the outer round surface of sleeve is distributed with 3 groups of attachment lugs that radially protrude; The position of said 3 groups of attachment lugs is corresponding with the position of 2 guide rods and ball-screw respectively, and wherein 2 groups of attachment lugs are set on the guide rod, and and this guide rod between free-running fit; In addition 1 group of attachment lug is sleeved on the feed screw nut of ball-screw, and and this feed screw nut between closely cooperate.
4. a kind of according to claim 1 submarine navigation device heart control apparatus that goes bad is characterized in that, with battery as mass; Battery is installed on the guide rail on the battery carrier inwall through the draw-in groove that is positioned at this battery both side surface.
5. like the rotten heart control apparatus of the said a kind of submarine navigation device of claim 4, it is characterized in that battery carrier is fixed in the sleeve; Metallic channel is arranged in the middle of the battery carrier upper shell; There is connecting bore end at the battery carrier upper shell; At the middle part of the interior both sides of battery carrier sidewall, the battery module of installation guide rail is arranged respectively along the length direction of battery carrier.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220143140 CN202574597U (en) | 2012-04-06 | 2012-04-06 | Variable centroid adjusting device for underwater vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220143140 CN202574597U (en) | 2012-04-06 | 2012-04-06 | Variable centroid adjusting device for underwater vehicle |
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| Publication Number | Publication Date |
|---|---|
| CN202574597U true CN202574597U (en) | 2012-12-05 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201220143140 Expired - Fee Related CN202574597U (en) | 2012-04-06 | 2012-04-06 | Variable centroid adjusting device for underwater vehicle |
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| CN (1) | CN202574597U (en) |
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102616355A (en) * | 2012-04-06 | 2012-08-01 | 西北工业大学 | Centroid-variable adjustment device for multi-load remote autonomous underwater vehicle |
| CN103612728A (en) * | 2013-10-30 | 2014-03-05 | 上海交通大学 | Underwater three-dimensional detection gliding robot |
| CN103863536A (en) * | 2014-02-27 | 2014-06-18 | 中国船舶重工集团公司第七一〇研究所 | Underwater external self-releasing posture adjusting device |
| CN103895847A (en) * | 2014-04-02 | 2014-07-02 | 中国船舶重工集团公司第七○二研究所 | Automatic longitudinal inclination or transverse inclination adjusting device for mobile deep sea workstation |
| CN104044717A (en) * | 2014-06-27 | 2014-09-17 | 西北工业大学 | Diving and floating device used for small underwater vehicle |
| CN104369850A (en) * | 2013-08-12 | 2015-02-25 | 中国科学院沈阳自动化研究所 | Pitching adjusting device for shallow water glider |
| CN104723360A (en) * | 2014-11-08 | 2015-06-24 | 青岛科技大学 | Robot posture adjustment device |
| CN104670446B (en) * | 2013-11-30 | 2017-02-01 | 中国科学院沈阳自动化研究所 | Ocean robot balance weight state automatic adjusting device and method based on fuel oil transmission |
| CN109305312A (en) * | 2018-09-21 | 2019-02-05 | 中电科海洋信息技术研究院有限公司 | The variable underwater vehicle of motion mode |
| CN110588928A (en) * | 2019-09-25 | 2019-12-20 | 西北工业大学 | Bionic flexible mass center adjusting mechanism for underwater vehicle |
| CN110588929A (en) * | 2019-09-25 | 2019-12-20 | 西北工业大学 | Based on bionical glider matter heart adjustment mechanism under water |
-
2012
- 2012-04-06 CN CN 201220143140 patent/CN202574597U/en not_active Expired - Fee Related
Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102616355A (en) * | 2012-04-06 | 2012-08-01 | 西北工业大学 | Centroid-variable adjustment device for multi-load remote autonomous underwater vehicle |
| CN104369850A (en) * | 2013-08-12 | 2015-02-25 | 中国科学院沈阳自动化研究所 | Pitching adjusting device for shallow water glider |
| CN103612728A (en) * | 2013-10-30 | 2014-03-05 | 上海交通大学 | Underwater three-dimensional detection gliding robot |
| CN104670446B (en) * | 2013-11-30 | 2017-02-01 | 中国科学院沈阳自动化研究所 | Ocean robot balance weight state automatic adjusting device and method based on fuel oil transmission |
| CN103863536B (en) * | 2014-02-27 | 2016-05-04 | 中国船舶重工集团公司第七一〇研究所 | One under water external discharges attitude regulating mechanism certainly |
| CN103863536A (en) * | 2014-02-27 | 2014-06-18 | 中国船舶重工集团公司第七一〇研究所 | Underwater external self-releasing posture adjusting device |
| CN103895847A (en) * | 2014-04-02 | 2014-07-02 | 中国船舶重工集团公司第七○二研究所 | Automatic longitudinal inclination or transverse inclination adjusting device for mobile deep sea workstation |
| CN103895847B (en) * | 2014-04-02 | 2016-02-03 | 中国船舶重工集团公司第七○二研究所 | The vertical/horizontal self-checking device that inclines of a kind of portable deep-sea workstation |
| CN104044717A (en) * | 2014-06-27 | 2014-09-17 | 西北工业大学 | Diving and floating device used for small underwater vehicle |
| CN104723360A (en) * | 2014-11-08 | 2015-06-24 | 青岛科技大学 | Robot posture adjustment device |
| CN109305312A (en) * | 2018-09-21 | 2019-02-05 | 中电科海洋信息技术研究院有限公司 | The variable underwater vehicle of motion mode |
| CN110588928A (en) * | 2019-09-25 | 2019-12-20 | 西北工业大学 | Bionic flexible mass center adjusting mechanism for underwater vehicle |
| CN110588929A (en) * | 2019-09-25 | 2019-12-20 | 西北工业大学 | Based on bionical glider matter heart adjustment mechanism under water |
| CN110588929B (en) * | 2019-09-25 | 2021-11-16 | 西北工业大学 | Centroid adjusting mechanism of bionic underwater glider |
| CN110588928B (en) * | 2019-09-25 | 2021-11-16 | 西北工业大学 | Centroid adjusting mechanism of bionic flexible underwater vehicle |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20121205 Termination date: 20170406 |
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| CF01 | Termination of patent right due to non-payment of annual fee |