阅读说明：本技术 一种基于仿生水下滑翔机质心调节机构 (Based on bionical glider matter heart adjustment mechanism under water ) 是由 黄桥高 潘光 马云龙 张泽宇 路阳 曹勇 曹永辉 于 2019-09-25 设计创作，主要内容包括：本发明公开了一种基于仿生水下滑翔机质心调节机构；由丝杠、前板、质量块、后板、底座、光轴、俯仰推进减速电机和横滚推进减速电机组成；质心调节机构安装在滑翔机舱体内,俯仰、横滚推进减速电机与L形支撑件固连。丝杠一端与俯仰推进减速电机输出轴固连,另一端安装在前板中心位置的轴承中,丝杠螺纹段与质量块的内螺纹配合；横滚推进减速电机输出端与主动齿轮固连,主动齿轮与被动齿轮啮合,被动齿轮安装在L形支撑件上。两根光轴分别穿过质量块的两侧通孔,光轴另一端位于前板上的圆弧形限位槽中,带动质量块绕丝杠转动。通过控制质量块的位置和角度实现所述功能,质心调节机构具有结构简单、控制精准,可靠性高的特点。(The invention discloses a bionic underwater glider mass center adjusting mechanism; the device consists of a screw rod, a front plate, a mass block, a rear plate, a base, an optical axis, a pitching propulsion speed reducing motor and a rolling propulsion speed reducing motor; the mass center adjusting mechanism is installed in the gliding cabin body, and the pitching and rolling propelling speed reducing motor is fixedly connected with the L-shaped supporting piece. One end of a screw rod is fixedly connected with an output shaft of the pitching propulsion speed reducing motor, the other end of the screw rod is arranged in a bearing at the central position of the front plate, and the thread section of the screw rod is matched with the internal thread of the mass block; the output end of the transverse rolling propulsion speed reducing motor is fixedly connected with a driving gear, the driving gear is meshed with a driven gear, and the driven gear is arranged on the L-shaped supporting piece. Two optical axes respectively pass through the through holes on the two sides of the mass block, and the other ends of the optical axes are positioned in the arc-shaped limiting grooves on the front plate to drive the mass block to rotate around the screw rod. The function is realized by controlling the position and the angle of the mass block, and the mass center adjusting mechanism has the characteristics of simple structure, accurate control and high reliability.)

1. A bionic underwater glider mass center adjusting mechanism comprises a screw rod, a front plate, a mass block, a driven gear, a rear plate, a base, an L-shaped supporting piece, a driving gear, an optical axis, a pitching propelling speed reducing motor and a rolling propelling speed reducing motor, and is characterized in that the base and the front plate are of an integral structure, the surface of the base is in an arc shape and is fixedly connected with the bottom surface of a cabin body, the front plate is positioned at the front end part of the base, a bearing is arranged at the center of the front plate, the rear plate is fixed at the middle part of the base, the pitching propelling speed reducing motor and the rolling propelling speed reducing motor are respectively fixed at one side of the rear plate, the L-shaped supporting piece is fixedly connected at the other side of the rear plate, the mass block is positioned between the front plate and the rear plate, an output shaft of the pitching propelling speed reducing motor is fixedly connected with one, the pitching propulsion speed reducing motor drives the mass block to move axially along the screw rod, the driving gear is fixedly connected with an output shaft of the rolling propulsion speed reducing motor, the driving gear is meshed with the driven gear, the center of the driven gear is located on a bearing of the L-shaped supporting piece, the driven gear is fixedly connected with the end portions of the optical axes, the two optical axes respectively penetrate through holes in two sides of the mass block, and the other end of the optical axis is located in a circular arc limiting groove of the front plate to drive the mass block to rotate around.

2. The bionic underwater glider-based mass center adjusting mechanism is characterized in that the screw rod and the two optical axes are located on the same plane and are arranged in parallel.

Technical Field

The invention relates to the technical field of propulsion of underwater vehicles, in particular to a centroid adjusting mechanism based on a bionic underwater glider.

Background

The underwater vehicle has an important role in the exploration process of the ocean by human beings as a tool for exploring and developing the ocean, and in recent years, the underwater vehicle has more and more obvious functions along with the increasing importance of the human beings on the ocean resources and has wide application prospects.

The underwater glider serving as a novel underwater unmanned underwater vehicle has the characteristics of low energy consumption, high endurance, low manufacturing and maintenance cost and the like, and meets the requirements of people on long-endurance and large-range detection of the ocean at the present stage; compared with the underwater glider with the traditional appearance design scheme, the underwater glider imitating the appearance of marine organisms can exert specific advantages in the aspects of efficiency, concealment and stability. However, in order to normally operate the bionic underwater glider under complex sea conditions such as ocean currents and waves, the bionic underwater glider is required to be capable of controlling the postures of pitching, rolling and the like. At present, a mass center adjusting method and two methods for controlling a tail rudder are basically adopted for a plurality of underwater gliders developed and formed at home and abroad, so that the posture of the underwater glider is adjusted and controlled.

The centroid adjustment method is the most applied method at present, and the foreign gliders such as spray, slocum, seaglider, deepglider and the like adopt the method to carry out attitude control. The mass center adjusting mechanism mainly comprises a pitching adjusting mechanism and a rolling adjusting mechanism, wherein the pitching adjusting mechanism realizes deflection according to a set pitch angle by controlling the mass block to move in the chord length direction of the bionic underwater glider; the rolling adjusting mechanism controls the rolling posture of the bionic underwater glider by adjusting the eccentric mass block to rotate in the circumferential direction.

The underwater glider can be simpler in structure and more flexible in movement by adding the tail vane control method, and is more suitable for an aircraft operating in a shallow water area with a more complex environment, for example, the method is adopted by the slow UG and the sea wing number driven by electric energy. However, the addition of the tail rudder makes the underwater glider no longer similar to a living being in appearance, and thus is not suitable as a control mechanism for a bionic underwater glider.

Disclosure of Invention

In order to avoid the defects in the prior art, the invention provides a bionic underwater glider mass center adjusting mechanism. The mass center adjusting mechanism realizes the function of adjusting and controlling the pitching and rolling of the underwater glider by controlling the position and the angle of the mass block; the device has the characteristics of simple and compact structure, accurate control, high reliability and suitability for popularization.

The invention adopts the technical scheme that the device comprises a screw rod, a front plate, a mass block, a driven gear, a rear plate, a base, an L-shaped support member, a driving gear, an optical axis, a pitching propulsion speed reduction motor and a rolling propulsion speed reduction motor, and is characterized in that the base and the front plate are in an integral structure, the surface of the base is in an arc shape and is fixedly connected with the bottom surface of a cabin body, the front plate is positioned at the front end part of the base, a bearing is arranged at the center of the front plate, the rear plate is fixed at the middle part of the base, the pitching propulsion speed reduction motor and the rolling propulsion speed reduction motor are respectively fixed at one side of the rear plate, the L-shaped support member is fixedly connected at the other side of the rear plate, the mass block is positioned between the front plate and the rear plate, the output shaft of the pitching propulsion speed reduction motor is fixedly connected with, the pitching propulsion speed reducing motor drives the mass block to move axially along the screw rod, the driving gear is fixedly connected with an output shaft of the rolling propulsion speed reducing motor, the driving gear is meshed with the driven gear, the center of the driven gear is located on a bearing of the L-shaped supporting piece, the driven gear is fixedly connected with the end portions of the optical axes, the two optical axes respectively penetrate through holes in two sides of the mass block, and the other end of the optical axis is located in a circular arc limiting groove of the front plate to drive the mass block to rotate around.

The lead screw and the two optical axes are positioned on the same plane and are arranged in parallel.

Advantageous effects

The invention provides a bionic underwater glider-based mass center adjusting mechanism which comprises a screw rod, a front plate, a mass block, a rear plate, a pitching and rolling propulsion speed reducing motor, a base and an optical axis, wherein the screw rod is connected with the front plate; the mass center adjusting mechanism is installed in the gliding cabin body, and the pitching and rolling propelling speed reducing motor is fixedly connected with the L-shaped supporting piece. One end of the screw rod is fixedly connected with an output shaft of the pitching propulsion speed reducing motor, the other end of the screw rod is arranged in a bearing at the central position of the front plate, and the thread section is matched with the thread in the mass block; the output end of the transverse rolling propulsion speed reducing motor is fixedly connected with the driving gear, the driving gear is matched with the driven gear, the driven gear is installed on the L-shaped supporting piece, the two optical axes respectively penetrate through holes in two sides of the mass block, and the other end of each optical axis is located in the circular arc-shaped limiting groove of the front plate to drive the mass block to rotate around the screw rod.

The mass center adjusting mechanism realizes the function of adjusting and controlling the pitching and rolling of the underwater glider by controlling the position and the angle of the mass block; the device has the characteristics of simple and compact structure, accurate control, high reliability and suitability for popularization.

Drawings

The invention relates to a bionic underwater glider mass center adjusting mechanism, which is further described in detail with reference to the accompanying drawings and an embodiment.

FIG. 1 is a schematic view of a mechanism for adjusting the mass center of a bionic underwater glider according to the present invention.

FIG. 2 is a left side view of a bionic underwater glider mass center adjusting mechanism according to the present invention.

FIG. 3 is a right side view of a bionic underwater glider centroid adjusting mechanism in accordance with the present invention.

In the drawings

1. Screw 2, front plate 3, mass 4, driven gear 5, rear plate 6, pitching propulsion speed-reducing motor 7, rolling propulsion speed-reducing motor 8, base 9, L-shaped support 10, driving gear 11 and optical axis

Detailed Description

The embodiment is based on bionical glider matter heart adjustment mechanism under water.

Referring to fig. 1, 2 and 3, the mass center adjusting mechanism based on the bionic underwater glider in the present embodiment is composed of a screw 1, a front plate 2, a mass block 3, a driven gear 4, a rear plate 5, a pitching propulsion deceleration motor 6, a rolling propulsion deceleration motor 7, a base 8, an L-shaped support 9, a driving gear 10 and an optical axis 11; wherein, the base 8 and the front plate 2 are integrated into a whole, the surface of the base 8 is arc-shaped and fixedly connected with the bottom surface of the cabin, the front plate 2 is positioned at the front end of the base 8, the center of the front plate 1 is provided with a bearing, the rear plate 5 is fixed at the middle part of the base 8, one side of the rear plate 5 is respectively fixed with a pitching propulsion deceleration motor 6 and a rolling propulsion deceleration motor 7, the other side of the rear plate 5 is fixedly connected with an L-shaped supporting piece 9, the mass block 3 is positioned between the front plate 2 and the rear plate 5, the output shaft of the pitching propulsion deceleration motor 6 is fixedly connected with one end of the screw rod 1 through a coupler, the other end of the screw rod 1 is matched and installed with the bearing in the front plate 2, the thread section at the middle part of the screw rod 1 is matched with the internal thread of the mass block 3 to drive the mass block to move along the axial direction of the screw rod, two ends of the driven gear 4 are fixedly connected with one end of the optical shaft 11 respectively, the two optical shafts 11 penetrate through holes in two sides of the mass block 3 respectively to drive the mass block 3 to rotate around the screw rod, the other end of the optical shaft 11 is located in a circular arc-shaped limiting groove of the front plate 2 to drive the mass block 3 to rotate around the screw rod, and rotation is guaranteed to be carried out according to a preset track. The screw rod 1 and the two optical axes 11 are positioned on the same plane and are installed in parallel.

The installation and use process of the embodiment is as follows:

the bionic underwater glider needs to keep a horizontal posture as an initial state, the mass block 3 is located at an initial position and keeps horizontal in the working process of the mass center adjusting mechanism, and the whole gravity center and the floating center of the bionic underwater glider are located on the same vertical line. When the bionic underwater glider needs to dive, the head-lowering posture needs to be made, and the mass center adjusting mechanism needs to move the mass block 3 forwards at the moment, so that the whole gravity center of the bionic underwater glider moves forwards. The specific process is that under the drive of the pitching propulsion speed reducing motor 6, the screw rod 1 starts to rotate, and simultaneously, the driven gear 4 is locked, so that under the matching of the thread section of the screw rod 1 and the internal thread of the mass block, the mass block 3 moves forwards, and after the specified position is reached, the pitching propulsion speed reducing motor 6 stops working, and the mass block 3 stops moving. When the bionic underwater glider needs to float upwards, the head-up posture needs to be made, and at the moment, the mass center adjusting mechanism needs to move the mass block 3 backwards, so that the whole gravity center of the bionic underwater glider moves backwards. The specific process is similar to the forward movement of the mass block 3, and the difference is that the screw rod 1 rotates reversely at the moment, so that the mass block 3 moves backwards, and similarly, the pitching propulsion speed reducing motor 6 stops working after reaching a specified position, and the mass block 3 stops moving. When the bionic underwater glider needs to turn, the bionic underwater glider needs to make rolling motion, and the mass block 3 needs to rotate at the moment, so that the whole gravity center of the bionic underwater glider moves laterally. The specific process is that the driving gear 10 drives the driven gear 4 to rotate under the driving of the rolling propulsion speed reducing motor 7, and at the moment, the optical axis 11 fixedly connected with the driven gear 4 drives the mass block 3 to rotate. Because the mass block 3 is of an arch structure, the mass center moves towards the side edge due to the rotation motion, the transverse rolling propulsion speed reducing motor 7 stops working after the mass block reaches the designated position, and the mass block 3 stops rotating. The lateral movement of the gravity center enables the bionic underwater glider to generate rolling motion, and the bionic underwater glider can realize maneuvering turning under the action of incoming flow.