Vertical and horizontal attitude comprehensive adjusting device for underwater glider

Abstract

The invention relates to an underwater robot technology, and aims to provide a vertical and horizontal attitude comprehensive adjusting device for an underwater glider. According to the vertical and horizontal attitude comprehensive adjusting device disclosed by the invention, baffle plates are respectively arranged on two sides of a battery bin; a central opening position of each baffle plate sleeves a corresponding nut through a double-row angular contact ball bearing; each nut is mounted on a corresponding screw rod; the gravity center position of the battery bin is lower than that of the screw rods; one end of each screw rod is fixed to a bin wall, and the other end of each screw rod is connected to an output shaft of a pitching motor through a corresponding shaft coupler; a rolling motor is mounted on one of the baffle plates, and an output end of the rolling motor is meshed with a driven gear on the corresponding baffle plate nut through a driving gear; the driven gear and the corresponding nut are relatively fixed, and relative rotating motion is not generated; one end of a guide rail parallel to the screw rods is fixed to the bin wall; and a sliding block is arranged on the guide rail, and is connected with a connecting piece fixed to the surface of the driven gear. According to the vertical and horizontal attitude comprehensive adjusting device disclosed by the invention, pitching gravity center adjustment is realized through utilizing a screw rod nut mechanism, and rolling gravity center adjustment is realized through utilizing a meshing gear set; and the vertical and horizontal attitude comprehensive adjusting device is simple in structure, convenient to arrange, low in space occupation, high in bin capacity utilization rate, good in control performance and high in adjusting ability.

Description

technical field [0001] The invention relates to the technical field of underwater robots, belongs to the category of marine equipment, and is a vertical and horizontal attitude comprehensive adjustment device designed for underwater glider, which realizes the comprehensive adjustment of pitch attitude and roll attitude of the underwater glider. Background technique [0002] Underwater glider belongs to the category of underwater unmanned aerial vehicles. It has the characteristics of low energy consumption, strong endurance, wide operating range, large operating depth, easy launch and recovery, and strong scientific sensor carrying capacity. The ability to work autonomously for several months has made the glider attract more and more attention in the field of marine technology and science, and has a good application prospect in ocean exploration. [0003] The underwater glider is equipped with a battery or a thermoelectric power generation device, uses a buoyancy adjustment ...

AI Technical Summary

Problems solved by technology

However, the currently widely used attitude adjustment devices for underwater gliders are separate vertical and horizontal attitude adjustment devices or devices with only pitch adjustment capabilities, which have disadvantages such as large space occupation, complex structure, and single adjustment ability. It takes up a lot of space, the structure is unreasonable, and the structure is complicated, and it is not suitable for small-scale, low-power, and low-cost underwater gliders