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
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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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