An attitude control and self-stabilization mechanism applicable to AUV (Autonomous Underwater Vehicle)

Abstract

The present invention belongs to the technical field of unmanned underwater vehicles, and in particular, is a posture control and self-stabilizing mechanism suitable for AUV unmanned underwater vehicles. The mechanism comprises two sets of middle flange rings, each of which is fixedly sleeved with the bottom of a ballast tank. The two ballast tanks are symmetrically arranged, and the top of the ballast tank is sleeved with an end flange ring. The two end flange rings and the two sets of middle flange rings are fixedly connected by copper columns. An upper flange ring, a middle flange ring, and a lower flange ring are arranged between the two sets of middle flange rings. Through holes are provided at eccentric positions of the end flange rings, the middle flange rings, the upper flange ring, the middle flange ring, and the lower flange rings. The same rack 1 is installed through the multiple through holes. The present invention stably controls the posture of the unmanned underwater vehicle by adjusting the positions of battery pack 1 and battery pack 2, and can quickly adjust the posture of the unmanned underwater vehicle, facilitating the diving and surfacing operations of the unmanned underwater vehicle.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned underwater vehicles, and in particular to a posture control and self-stabilization mechanism suitable for an AUV (Austrian underwater vehicle). Background Art

[0002] Unmanned underwater vehicles (UUVs) offer flexibility, ease of deployment, and high safety, enabling them to perform tasks difficult for manned submersibles. In recent years, they have been actively developed by industrialized nations. UUVs possess a high degree of autonomy, and their onboard sensors enable navigation, perception, and autonomous decision-making, making them increasingly important in scenarios such as environmental measurement and mapping.

[0003] Unmanned submersibles are mainly divided into two traditional categories: autonomous unmanned underwater vehicles (AUVs) and remotely operated underwater vehicles (ROVs). Although existing unmanned submersibles have rapid maneuvering capabilities, they are generally unable to dive and surface quickly when used in the deep sea. Their positioning accuracy and stability are also not high, and they are not capable of performing seabed operations. Summary of the Invention

[0004] The purpose of the present invention is to solve the shortcomings of the prior art and to propose an attitude control and self-stabilization mechanism suitable for an AUV unmanned underwater vehicle.

[0005] In order to achieve the above object, the present invention adopts the following technical solutions:

[0006] The cam is connected to the upper and lower ends of the cam, and the cam is connected to the lower end of the cam by a spring, and the cam is connected to the gear train of the cam. One phase is meshed, a push rod is installed in the ballast water tank, the push rod includes a first rod, a second rod, a third rod and a fourth rod, the first rod, the second rod, the third rod and the fourth rod are slidably sleeved with each other, a motor 2 is installed on one side of the second rod and the third rod, a gear 2 is fixedly installed on the output end of the motor 2, and a rack 2 is installed on one side of the third rod and the fourth rod, and the gear 2 is meshed with the rack 2, a piston is installed on the fourth rod, a motor 3 is fixedly installed on the upper flange ring, a main gear is fixedly installed on the output end of the motor 3, a driven gear is meshed on the main gear, and a reduction gear is meshed on the driven gear, an intermediate shaft is fixedly sleeved on the reduction gear, and two ends of the intermediate shaft respectively pass through the upper flange ring, the middle flange ring and the lower flange ring, and the two ends of the intermediate shaft are respectively rotatably connected to the two groups of middle flange rings, and a battery pack 2 is installed between the middle flange ring and the lower flange ring.

[0007] Preferably, the two sets of middle flange rings are fixedly connected via a connecting piece.

[0008] Preferably, the upper flange ring, the middle flange ring and the lower flange ring are fixedly connected to each other via a second connecting piece.

[0009] Preferably, a group of three middle flange rings is provided, and two clamping ears are installed on one of the middle flange rings, and the ballast water tank is located between the two clamping ears, and the push rod away from the piston is fixed on a middle flange ring away from the end flange ring.

[0010] Preferably, blocks are installed on the inner walls of the first rod, the second rod and the third rod, and the blocks are adapted to the second rod, the third rod and the fourth rod.

[0011] Preferably, bearings are installed at the center positions of the upper flange ring, the middle flange ring and the lower flange ring, and the intermediate shaft is sleeved on the bearings.

[0012] Preferably, a water pipe is installed at the end of the ballast water tank.

[0013] Preferably, both ends of the rack one are respectively mounted on two end flange rings, and arc holes are opened on the upper flange ring, the middle flange ring and the lower flange ring, and the rack one is movably mounted in the arc holes.

[0014] In the present invention, the attitude control and self-stabilization mechanism suitable for AUV unmanned underwater vehicles drives gear 2 to rotate through motor 2 on the push rod, and gear 2 engages with rack 2, so that the second rod, third rod and fourth rod on the push rod are successively pushed out and retracted, thereby driving the movement of the piston; when attitude leveling is required, gear 1 is driven to rotate by motor 1, and gear 1 moves on rack 1, thereby driving battery pack 1 to move, and the attitude leveling position is adjusted by the weight of battery pack 1, and at the same time, motor 3 drives the driven gear to rotate, the driven gear drives the reduction gear to rotate, the reduction gear drives the intermediate shaft to rotate, and the rotation of the intermediate shaft drives the upper flange ring, the middle flange ring and the lower flange ring to rotate as a whole, that is, battery pack 2 rotates as a counterweight block to adjust the attitude leveling position, thereby realizing attitude leveling position adjustment in the horizontal and vertical directions.

[0015] The present invention stably controls the posture of the unmanned underwater vehicle by adjusting the positions of battery pack 1 and battery pack 2, and can quickly adjust the posture of the unmanned underwater vehicle, thereby facilitating the diving and surfacing operations of the unmanned underwater vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 This is a structural diagram of an attitude control and self-stabilization mechanism applicable to an AUV unmanned underwater vehicle proposed by the present invention;

[0017] Figure 2 This is a schematic diagram of a push rod structure of an attitude control and self-stabilization mechanism applicable to an AUV unmanned underwater vehicle proposed by the present invention;

[0018] Figure 3 This is a schematic diagram of the battery pack two leveling structure of the attitude control and self-stabilization mechanism suitable for AUV unmanned underwater vehicles proposed by the present invention.

[0019] In the figure: 1 ballast water tank, 2 end flange ring, 3 middle flange ring, 4 copper column, 5 through hole, 6 battery pack 1, 7 motor 1, 8 gear 1, 9 rack 1, 10 water pipe, 11 push rod, 12 gear 2, 13 rack 2, 14 piston, 15 block, 16 upper flange ring, 17 middle flange ring, 18 lower flange ring, 19 connector 2, 20 battery pack 2, 21 motor 3, 22 driven gear, 23 reduction gear, 24 intermediate shaft, 25 connector 1. DETAILED DESCRIPTION

[0020] The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0021] Reference Figure 1-3 , an attitude control and self-stabilizing mechanism suitable for AUV unmanned underwater vehicle, including two sets of middle flange rings 3, the bottom of the ballast water tank 1 is fixedly sleeved on the two sets of middle flange rings 3, the two ballast water tanks 1 are symmetrically arranged, the top of the ballast water tank 1 is sleeved with an end flange ring 2, the two end flange rings 2 and the two sets of middle flange rings 3 are fixedly connected by copper columns 4, an upper flange ring 16, a middle flange ring 17 and a lower flange ring 18 are arranged between the two sets of middle flange rings 3, the end flange ring 2 and the middle flange ring 3. The upper flange ring 16, the middle flange ring 17 and the lower flange ring 18 are all provided with through holes 5 at eccentric positions. A rack 9 is installed through the multiple through holes 5. A battery pack 6 is provided on one side of the rack 9. The battery pack 6 is adapted to the through hole 5. Motors 7 are installed at both ends of the battery pack 6. Main gears are fixedly installed on the output ends of the two motors 7. The two main gears are meshed with the same gear 8, and the gear 8 is meshed with the rack 9. Driven by the two motors 7, it can It is enough to increase the torque to facilitate the movement of the battery pack 1. A push rod 11 is installed in the ballast water tank 1. The push rod 11 includes a first rod, a second rod, a third rod and a fourth rod. The first rod, the second rod, the third rod and the fourth rod are slidably connected to each other. A motor 2 is installed on one side of the second rod and the third rod. A gear 2 12 is fixedly installed on the output end of the motor 2, and a rack 2 13 is installed on one side of the third rod and the fourth rod, and the gear 2 12 is meshed with the rack 2 13. A piston 14 is installed on the fourth rod, and the upper flange ring 1 6 is fixedly mounted with a motor three 21, an output end of the motor three 21 is fixedly mounted with a main gear, a driven gear 22 is meshed with the main gear, a reduction gear 23 is meshed with the driven gear 22, an intermediate shaft 24 is fixedly sleeved on the reduction gear 23, and both ends of the intermediate shaft 24 respectively pass through the upper flange ring 16, the middle flange ring 17 and the lower flange ring 18, and both ends of the intermediate shaft 24 are respectively rotatably connected to the two sets of middle flange rings 3, and a battery pack two 20 is mounted between the middle flange ring 17 and the lower flange ring 18.

[0022] In the present invention, the two sets of middle flange rings 3 are fixedly connected via a connecting piece 25 .

[0023] In the present invention, the upper flange ring 16 , the middle flange ring 17 and the lower flange ring 18 are fixedly connected to each other via a second connecting piece 19 .

[0024] In the present invention, a group of three middle flange rings 3 is provided, and two clamping ears are installed on one of the middle flange rings 3, and the ballast water tank 1 is located between the two clamping ears, and the push rod 11 away from the piston 14 is fixed on a middle flange ring 3 away from the end flange ring 2.

[0025] In the present invention, a clamping block 15 is installed on the inner wall of the first rod, the second rod and the third rod, and the clamping block 15 is adapted to the second rod, the third rod and the fourth rod.

[0026] In the present invention, bearings are installed at the center positions of the upper flange ring 16, the middle flange ring 17 and the lower flange ring 18, and the intermediate shaft 24 is sleeved on the bearings.

[0027] In the present invention, a water pipe 10 is installed at the end of the ballast water tank 1.

[0028] In the present invention, both ends of the rack 9 are respectively mounted on the two end flange rings 2, and arc holes are opened on the upper flange ring 16, the middle flange ring 17 and the lower flange ring 18, and the rack 9 is movably mounted in the arc holes.

[0029] In the present invention, when in use, the motor 2 on the push rod 11 drives the gear 2 12 to rotate, and the gear 2 12 engages with the rack 2 13, so that the second rod, the third rod and the fourth rod on the push rod 11 are successively pushed out and retracted, thereby driving the piston 14 to move; when the posture needs to be leveled, the motor 17 drives the gear 18 to rotate, and the gear 18 moves on the rack 19, thereby driving the battery pack 16 to move, and the posture leveling position is adjusted by the weight of the battery pack 16. At the same time, the motor 3 21 drives the driven gear 22 to rotate, and the driven gear 22 drives the reduction gear 23 to rotate, and the reduction gear 23 drives the intermediate shaft 24 to rotate. The rotation of the intermediate shaft 24 drives the upper flange ring 16, the middle flange ring 17 and the lower flange ring 18 to rotate as a whole, that is, the battery pack 20 rotates as a counterweight block to adjust the posture leveling position, thereby realizing the posture leveling position adjustment in the horizontal and vertical directions.

[0030] The above description is only a preferred specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any technician familiar with the technical field, within the technical scope disclosed by the present invention, who makes equivalent replacements or changes based on the technical solution and inventive concept of the present invention, should be covered by the scope of protection of the present invention.

Claims

1. An attitude control and self-stabilization mechanism suitable for AUV unmanned underwater vehicle, characterized in that: The invention comprises two groups of middle flange rings (3), the bottom of the ballast water tank (1) is fixedly sleeved on the two groups of middle flange rings (3), the two ballast water tanks (1) are symmetrically arranged, the top of the ballast water tank (1) is sleeved with an end flange ring (2), the two end flange rings (2) and the two groups of middle flange rings (3) are fixedly connected by a copper column (4), an upper flange ring (16), a middle flange ring (17) and a lower flange ring (18) are arranged between the two groups of middle flange rings (3), and the eccentric positions of the end flange rings (2), the middle flange ring (3), the upper flange ring (16), the middle flange ring (17) and the lower flange ring (18) are all provided with through holes (5), and a plurality of through holes (5) are passed through The ballast tank (1) is provided with a same rack (9), a battery pack (6) is provided on one side of the rack (9), the battery pack (6) is adapted to the through hole (5), a motor (7) is provided on both ends of the battery pack (6), a main gear is fixedly provided on the output end of the two motors (7), the two main gears are meshed with the same gear (8), and the gear (8) is meshed with the rack (9), a push rod (11) is provided in the ballast tank (1), the push rod (11) includes a first rod, a second rod, a third rod and a fourth rod, the first rod, the second rod, the third rod and the fourth rod are slidably connected to each other, a motor (2) is provided on one side of the second rod and the third rod, the output of the motor (2) is fixedly provided with a main gear, the two main gears are meshed with the same gear (8), and the gear (8) is meshed with the rack (9), a push rod (11) is provided in the ballast tank (1), the push rod (11) includes a first rod, a second rod, a third rod and a fourth rod, the first rod, the second rod, the third rod and the fourth rod are slidably connected to each other, a motor (2) is provided on one side of the second rod and the third rod, and the output of the motor (2) is fixedly provided with a main gear. The output end is fixedly mounted with a second gear (12), and one side of the third rod and the fourth rod is mounted with a second rack (13), and the second gear (12) is meshed with the second rack (13), the fourth rod is mounted with a piston (14), the upper flange ring (16) is fixedly mounted with a third motor (21), the output end of the third motor (21) is fixedly mounted with a main gear, the main gear is meshed with a driven gear (22), the driven gear (22) is meshed with a reduction gear (23), the reduction gear (23) is fixedly sleeved with an intermediate shaft (24), and the two ends of the intermediate shaft (24) respectively pass through the upper flange ring (16), the middle flange ring (17) and the lower flange ring (18), the intermediate The two ends of the shaft (24) are rotatably connected to the two groups of middle flange rings (3), a battery pack 2 (20) is installed between the middle flange ring (17) and the lower flange ring (18), the two groups of middle flange rings (3) are fixedly connected by a connecting piece 1 (25), the upper flange ring (16), the middle flange ring (17) and the lower flange ring (18) are fixedly connected to each other by a connecting piece 2 (19), a group of middle flange rings (3) consists of three, and one of the middle flange rings (3) is equipped with two clamping ears, and the ballast water tank (1) is located between the two clamping ears, and the push rod (11) away from the piston (14) is fixed on a middle flange ring (3) away from the end flange ring (2).

2. The attitude control and self-stabilization mechanism for an AUV unmanned underwater vehicle according to claim 1 is characterized in that: Blocks (15) are installed on the inner walls of the first rod, the second rod and the third rod, and the block (15) is adapted to the second rod, the third rod and the fourth rod.

3. The attitude control and self-stabilization mechanism suitable for an AUV unmanned underwater vehicle according to claim 1 is characterized in that: Bearings are installed at the center positions of the upper flange ring (16), the middle flange ring (17) and the lower flange ring (18), and the intermediate shaft (24) is sleeved on the bearings.

4. The attitude control and self-stabilization mechanism suitable for an AUV unmanned underwater vehicle according to claim 1 is characterized in that: A water pipe (10) is installed at the end of the ballast water tank (1).

5. The attitude control and self-stabilization mechanism suitable for an AUV unmanned underwater vehicle according to claim 1 is characterized in that: The two ends of the rack (9) are respectively mounted on the two end flange rings (2); the upper flange ring (16), the middle flange ring (17) and the lower flange ring (18) are provided with arc holes, and the rack (9) is movably mounted in the arc holes.

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