Magic ball conversion balance mechanism for underwater vehicle

An underwater submersible and transformation balance technology, which is applied to underwater ships, underwater operating equipment, motor vehicles, etc., can solve problems such as complex control systems, affecting underwater operations, and loss of balance attitude, so as to achieve convenient motion control, Easy to control, high stability effect

Inactive Publication Date: 2013-12-25
SHANGHAI UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0002] When the underwater submersible is working underwater, due to the small center distance, encountering an unstable environment, such as turbulent water flow, wind and waves, it is easy to lose its balance and appear pitching or rolling, which will affect its underwater operation
For submersibles with manipulators, when the manipulator grabs the load, the robot will become more unstable due to the reaction force
In previous studies, the restoration torque is usually generated by frequently controlling the screw propeller or propeller, so the control system is very complicated

Method used

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  • Magic ball conversion balance mechanism for underwater vehicle
  • Magic ball conversion balance mechanism for underwater vehicle
  • Magic ball conversion balance mechanism for underwater vehicle

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0022] refer to Figure 1~Figure 6 , the magic ball transformation balance mechanism of the underwater submersible, including four magic ball mechanisms (01), air storage bags (2), four air pipes (3) and elastic airbags (4) wrapped on the magic ball (01); each A magic ball mechanism (01) is made up of a first ring assembly (02), a second ring assembly (03), a third ring assembly (04), a screw mechanism (05), and a screw (8). The first, second and third annular assemblies (02, 03, 04) are vertically connected to each other on three space planes to form a spherical frame, and the screw mechanism (05) is connected to the spherical frame. The first ring assembly (02) is composed of eight scissor mechanisms (06), eight inner moving blocks (5) and eight outer moving blocks (6), and the eight scissor mechanisms (06) pass through the inner moving blocks ( 5) Connect end to end with the outer moving block (6) to form a ring assembly; the second ring assembly (03) and the first ring as...

Embodiment 2

[0024] This embodiment is basically the same as Embodiment 1, and the special features are:

[0025] The scissors mechanism (06) is made up of four connecting rods (7), and the two ends of the four connecting rods (7) are hinged at the center and connected at the rear. The four connecting rods (7) have the same size, and the centers of the three rotating joints on each connecting rod (7) form an isosceles triangle, and the ring assembly effect is the best when the acute angle of this triangle is 11.25 degrees; the outer moving block ( 6) There are screw holes matching the screws (8).

[0026] The working mode of the magic ball transformation balance mechanism of this underwater submersible of the present invention is as follows:

[0027] like Figure 7 As shown, when the relative displacement of the screw moving block (9) and the nut moving block (10) is the largest, the magic ball mechanism (01) is in a fully contracted state, and the volume of the magic ball is the smalles...

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Abstract

The invention relates to a magic ball conversion balance mechanism for an underwater vehicle. The magic ball conversion balance mechanism comprises four magic ball mechanisms, a gas storage bag, four gas pipes and elastic gasbags wrapped on magic balls; when a driving device drives a feed screw nut to drive a nut moving block to move towards the direction far away from a feed screw moving block, the magic ball mechanisms are closed, and the magic balls contract; when the driving device drives the feed screw nut so that the nut moving block moves towards the direction of the feed screw moving block, the magic ball mechanisms are unfolded, and the magic balls are expanded. When the lead screw nut moves at maximum relative displacement of the nut moving block and the lead screw moving block, the magic balls completely contract; when the relative displacement is minimum, the magic balls are completely expanded. Through expansion and contraction of the four magic balls, the volume sizes of the magic balls are changed, and thus local buoyancy force of underwater vehicle system is changed, and the restoring moment of buoyancy force is generated so as to help the underwater vehicle to restore a balance posture.

Description

technical field [0001] The invention relates to a magic ball transformation balance mechanism applied to an underwater submersible. technical background [0002] When the underwater submersible works underwater, due to the small center distance, it encounters an unstable environment, such as turbulent water flow, wind and waves, and it is easy to lose its balance and appear pitching or rolling, which will affect its underwater operation. For underwater vehicles with manipulators, when the manipulator grabs the load, the robot will become more unstable due to the reaction force. In previous studies, the restoration torque is usually generated by frequently controlling the screw propeller or propeller, so the control system is very complicated. [0003] The traditional mechanism theory is based on a fixed number of components and kinematic pairs, and the mechanism has only fixed degrees of freedom. The metamorphic mechanism is based on the self-combination and self-reconfigu...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B63C11/52B63G8/26
Inventor 翟宇毅万镭刘亮朱勇剑周铭
Owner SHANGHAI UNIV
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