Trim device for underwater glider and method of use thereof

Abstract

The application discloses a trimming device for underwater glider and a use method thereof, and belongs to the technical field of ocean exploration. The trimming device comprises a base, a support shaft, a weighing sensor, a torque sensor and a supporting component. The two end portions of the support shaft with the horizontal axis are installed on the base through the shaft seat. The weighing sensor is installed on the two end portions of the support shaft and is used for detecting the downward pressure of the end portions of the support shaft. The torque sensor is installed on the end portion of the support shaft and is used for detecting the torque of the support shaft. The supporting component is fixedly installed on the support shaft and is provided with a supporting portion which is used for supporting the underwater glider with the axis parallel to the axis of the support shaft. The trimming device realizes high accuracy, high efficiency and multi-dimensional adjustment capacity by means of the introduction of the sensor technology. The trimming device has the characteristics of simple structure, high flexibility and easy maintenance, and thus becomes a practical solution scheme meeting the trimming requirements of the underwater glider.

Description

Technical Field

[0001] This invention belongs to the field of marine exploration technology, and particularly relates to a trim device for underwater gliders and its usage method. Background Technology

[0002] An underwater glider is an unmanned underwater vehicle used for ocean observation and research. Unlike traditional submersibles, it does not require a traditional power system such as a propeller or thruster, but instead utilizes submarine-powered gliding technology to achieve autonomous underwater navigation. The design of underwater gliders is inspired by the natural gliding motion of fish. An underwater glider typically consists of a long, cylindrical body with adjustable-angle winglets on both sides. These winglets generate lift and drag by changing their angle, allowing the underwater glider to glide vertically. Underwater gliders navigate through varying depths using ascending and descending gliding motions, while carrying various sensors to collect marine environmental data such as water temperature, salinity, and current velocity. They have wide applications in marine scientific research, marine ecosystem monitoring, and climate research.

[0003] As a key tool in modern marine science and environmental monitoring, underwater gliders rely heavily on pitch and roll trim for stability, energy efficiency, and controllability. Pitch and roll trim refers to ensuring the glider's center of gravity is aligned with its vertical line and maintains a positive attitude when its attitude control unit is in a horizontal position. Successfully completing this task is crucial for the glider's normal flight and efficient data acquisition. First, pitch and roll trim is essential for the stability of underwater gliders. In the complex and ever-changing marine environment, underwater gliders must maintain stable flight at different depths and under varying current conditions. If the attitude is unstable, the glider may lose control, leading to unnecessary energy waste and even mission failure. Precise pitch and roll trim allows the glider to maintain a suitable flight attitude, effectively avoiding problems caused by flight instability. Second, pitch and roll trim also plays a crucial role in improving the energy efficiency of underwater gliders. Underwater gliders typically rely on water currents and gravity to propel their gliding motion, enabling long-duration continuous flight. If the attitude is unbalanced, the glider may suffer from additional water resistance or fail to fully utilize the propulsive effect of the water flow, resulting in wasted energy. By maintaining proper pitch and roll trim, underwater gliders can minimize water resistance and glide more efficiently, thereby extending flight time and distance. Finally, pitch and roll trim are equally crucial for the controllability and mission completion capabilities of underwater gliders. When performing ocean observation, environmental monitoring, and scientific research missions, underwater gliders need to accurately control their position and attitude. Only with correct positioning can the glider accurately collect ocean data and complete its mission along a predetermined route. The accuracy of pitch and roll trim ensures consistency between the glider's attitude control unit and the actual attitude, thus ensuring the accuracy of control and the achievement of mission objectives.

[0004] However, current research on pitch and roll trim devices for underwater gliders remains relatively limited, meaning that underwater glider trim systems are not yet fully developed. This situation undoubtedly adds extra workload and challenges before underwater gliders undergo sea trials. Without reliable pitch and roll trim devices, underwater gliders will be unable to achieve precise flight path and attitude control, directly impacting their ability to successfully complete their intended missions. Summary of the Invention

[0005] To address the problems existing in the prior art, this invention provides a trimming device for underwater gliders and its usage method, which solves the problems in stability, energy efficiency, and mission completion caused by the lack of suitable devices for pitch and roll trimming in the current field of underwater gliders.

[0006] This invention is implemented as follows: a balancing device for an underwater glider, characterized in that it includes a base, a support shaft, a load cell, a torque sensor, and a support component; the two ends of the horizontally oriented support shaft are mounted to the base via bearing seats; the load cell is mounted at both ends of the support shaft and is used to detect the downward pressure at the ends of the support shaft; the torque sensor is mounted at the ends of the support shaft and is used to detect the torque of the support shaft; the support component is fixedly mounted on the support shaft, and the support component has a support portion for supporting the underwater glider whose axis is parallel to the axis of the support shaft.

[0007] In the above technical solution, preferably, the support component includes a support, a support platform and a support assembly. The support is fixedly installed on the support shaft, the support platform is fixedly installed on the upper part of the support, and the support assembly is installed on the upper support plane of the support platform. The support assembly forms a support groove for supporting the underwater glider.

[0008] In the above technical solution, preferably, the supporting component includes rollers symmetrically arranged on both sides of the support shaft, the axis of the rollers is parallel to the axis of the support shaft, and the rollers are mounted on the upper support plane of the support platform through roller seats.

[0009] In the above technical solution, preferably, it includes four idler rollers, which are arranged symmetrically in pairs, and the idler rollers on the same side are coaxial; a clamping component is installed between two axially adjacent idler rollers, and the clamping component is used to limit the underwater glider supported by the idler rollers.

[0010] In the above technical solution, preferably, the mounting component is a mounting plate, the support platform is provided with an insertion hole, the lower two sides of the mounting plate are provided with plugs that are connected to the insertion hole, and the mounting plate is provided with an arc-shaped bayonet located between the two plugs and connected to the outer wall of the underwater glider.

[0011] In the above technical solution, preferably, the support platform is a rectangular plate, the four rollers are arranged in a matrix with the center of the support platform as the center, and the card plate is installed on the center line of the support platform.

[0012] In the above technical solution, preferably, the weighing sensor is installed between the bearing seat and the base.

[0013] In the above technical solution, preferably, the torque sensor is connected to both ends of the support shaft, the torque sensor is mounted on the base, and the input shaft of the torque sensor is connected to the end of the support shaft through a circumferential coupling assembly.

[0014] In the above technical solution, preferably, the input shaft of the torque sensor is connected to a rotating sleeve on the same axis, the shaft end of the support shaft is connected to the rotating sleeve by a key, a gap is provided between the support shaft and the rotating sleeve, and the key is located on the vertical line of the support shaft.

[0015] This underwater glider trim device fully utilizes sensor technology to optimize glider flight attitude, making the trim process more precise and efficient, and reducing the need for manual labor. The application of sensors provides higher accuracy and reliability in trimming, effectively reducing the possibility of human error. Specific advantages and effects include:

[0016] 1. Precise and Efficient Trimming: The use of sensors makes the trimming process of underwater gliders more precise and efficient. Sensors can accurately and dynamically detect the glider's center of gravity attitude and positional deviations. The intuitive display of this data allows operators to make more accurate trim adjustments. This helps the glider maintain a stable flight state at different depths and in ocean conditions, thus ensuring the accuracy of data acquisition. The application of sensor technology enables the device to achieve precise attitude adjustments in a short time, thereby improving the efficiency of the commissioning process. This means that underwater gliders can enter the actual operation phase more quickly, thus reducing the resource consumption during the commissioning phase.

[0017] 2. Comprehensive Adjustment Capability: This device can simultaneously meet the pitch and roll adjustment requirements of the glider's center of gravity without interference, allowing for concurrent operation. This comprehensive adjustment capability greatly enhances the overall performance and effectiveness of the trim system. This multi-dimensional adjustment capability helps the glider adapt to different marine conditions and mission requirements.

[0018] 3. Simple Structure and Flexibility: The design of this trim device is relatively simple, employing a concise and flexible construction. This simplicity ensures ease of implementation and maintenance. Simultaneously, its flexibility allows the device to adapt to different types of underwater gliders and to meet various marine environments and mission requirements, thereby enhancing its applicability and versatility.

[0019] 4. Standardized Design and Ease of Maintenance: This device adopts a standardized design, allowing for easy interchangeability or replacement of its various components. This standardized design not only enhances the adaptability of the device but also simplifies the maintenance process. Maintenance personnel can repair and replace parts more quickly, thereby reducing maintenance costs and downtime.

[0020] In summary, the trim device originally designed for underwater gliders, through the introduction of sensor technology, achieves high precision, high efficiency, and multi-dimensional adjustment capabilities. Its simple structure, high flexibility, and ease of maintenance make it a practical solution for meeting the trim requirements of underwater gliders. The application of this innovative technology will help promote the further development and application of underwater glider technology, and enhance the level of marine scientific research and environmental monitoring.

[0021] Another object of the present invention is to provide a method of using the above-described balancing device, characterized by comprising the following steps:

[0022] S1. Set the readings of the load cell and torque sensor to zero;

[0023] S2. The underwater glider is placed on the support structure;

[0024] S3. While maintaining the underwater glider in a positive attitude, adjust the position of the counterweights so that the reading differences between the torque sensors and the weighing sensors fall within the set value range. Attached Figure Description

[0025] Figure 1 This is a schematic diagram of the structure of this balancing device;

[0026] Figure 2 This is a side view of the balancing device;

[0027] Figure 3 yes Figure 2 Enlarged view of part A;

[0028] Figure 4 This is a schematic diagram of the installation structure of the weighing sensor in this balancing device;

[0029] Figure 5 This is a schematic diagram of the supporting components in this balancing device;

[0030] Figure 6 This is a diagram showing the operating status of this balancing device. Detailed Implementation

[0031] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention.

[0032] To address the stability, energy efficiency, and mission completion issues arising from the lack of suitable devices for pitch and roll trim in the current underwater glider field, this invention provides a trim device for underwater gliders and its usage method. This pre-operational adjustment device for underwater gliders, through the application of sensor technology, provides crucial support for the preliminary preparation work. Its precise adjustment, high efficiency, multi-dimensional adjustment capabilities, and ease of maintenance collectively ensure that the underwater glider can stably perform its predetermined tasks during actual missions. To further illustrate the structure of this invention, a detailed description is provided below in conjunction with the accompanying drawings:

[0033] Please see Figure 1 and Figure 2 A balancing device for an underwater glider includes a base 1, a support shaft 2, a load cell 3, a torque sensor 4, and a load-bearing component.

[0034] The base is the fundamental structure of this device, used to mount and install other components within the device. In this embodiment, specifically, the base is a frame structure composed of aluminum profiles fixed and connected by angle brackets.

[0035] The two ends of the horizontally oriented support shaft are mounted to the base via bearing seats 5, allowing the support shaft to be mounted on the base in a manner that allows it to rotate around its own axis. In this embodiment, specifically, self-aligning bearings are installed in the shaft holes of the bearing seats, and the two ends of the support shaft are tightly fitted with the self-aligning bearings, which can reduce the interference of frictional torque.

[0036] The load cells are mounted at both ends of the support shaft and are used to detect the downward pressure at the shaft ends. The load cells are installed between the shaft seat and the base. A load cell is a known component that measures the weight or force applied to an object. It is typically composed of a metallic elastic element. When the force or weight applied to the sensor changes, the elastic element undergoes slight deformation, resulting in changes in its physical properties such as resistance and capacitance. By measuring these changes, the load cell can accurately measure the weight or force applied to an object. Load cells are widely used in industrial fields, such as in scales, weighbridges, industrial automation, and material handling for weight measurement and load monitoring.

[0037] Please see Figure 4 In this embodiment, specifically, since the bearing seat and the load cell cannot be directly connected, an I-beam pad 6 is set as an intermediate hub. That is, an I-beam pad is installed at the lower part of the bearing seat at the end of the support shaft. The I-beam pad is longer at the top and shorter at the bottom, and has a through hole. The upper part is adapted to the bearing seat and connected by fasteners, while the lower part is adapted to the size of the load cell and connected by fasteners. The load cell is supported on a pad 7, which is then placed on a base. The pad is a plate component that serves as a leveling support. Since the load cell has a threaded hole at the bottom, bolts are used to tightly connect the load cell, pad, and base.

[0038] A torque sensor is mounted at the end of the support shaft and is used to detect the torque of the support shaft. The torque sensor is a known existing component; different types of sensors, such as strain measurement, electromagnetic induction, and piezoelectric effect sensors, can be selected as needed. It is a sensor that measures the torque or torsional force of an object. It can detect the torque experienced by an object during rotation. In this embodiment, torque sensors are connected to both ends of the support shaft, and the torque sensors are mounted on the base, i.e., mounted on the outer sides of both ends of the support shaft. The input shaft of the torque sensor is connected to the end of the support shaft via a circumferential coupling assembly. Here, the circumferential coupling assembly refers to a coupling component with precise circumferential transmission and no radial limitation, such as a universal joint coupling. In this embodiment, a static torque sensor is selected. A static torque sensor is a type of existing torque sensor used to measure the torque or moment experienced by an object under static or near-static conditions. Static conditions refer to the state where an object is subjected to external force or torque without significant movement or rotation. Please refer to [link to relevant documentation]. Figure 3 The input shaft of this torque sensor is connected to a coaxial rotating sleeve 8. The shaft end of the support shaft is connected to the rotating sleeve via a key 9. A gap exists between the support shaft and the rotating sleeve, including radial and axial gaps, and the key is located on the vertical center line of the support shaft. The key ensures accurate torque transmission between the support shaft and the torque sensor without generating radial force, allowing the load cell to accurately measure force changes at the end of the support shaft. The left and right output ends of the support shaft cannot be directly connected to the static torque sensor; the rotating sleeve acts as a connector, resting against the outside of the self-aligning bearing. Due to the special characteristics of the static torque sensor's measuring end, torque transmission is achieved through a connector. The static torque sensor and the rotating sleeve are connected by bolts.

[0039] The support component is fixedly mounted on the support shaft. The support component includes a support section for supporting an underwater glider whose axis is parallel to the axis of the support shaft. Please refer to [link / reference]. Figure 5 In this embodiment, the supporting components specifically include a support 10, a support platform 11, and a support assembly.

[0040] The support is fixedly installed on the support shaft. In this embodiment, the support is specifically divided into two parts: an upper clamp and a lower clamp. The upper part of the upper clamp is connected to the support platform, and the lower part is connected to the support shaft; the upper part of the lower clamp is connected to the rotating shaft. The dimensions of the groove below the upper clamp and the groove above the lower clamp are adapted to the outer circumference of the support shaft, and the support shaft is placed in the two grooves and fits tightly. The lower clamp, support shaft, upper clamp, and support platform are connected by bolts to achieve relative fixation and prevent relative rotational movement.

[0041] The support platform is fixedly installed on the upper part of the support. In this embodiment, the support platform is a rectangular plate.

[0042] Support components are installed on the upper support plane of the support platform, and the support components form a support groove for supporting the underwater glider.

[0043] The support assembly includes symmetrically arranged idler rollers 12 on both sides of the support shaft. The axis of the idler rollers is parallel to the axis of the support shaft, and the idler rollers are mounted on the upper support plane of the support platform via roller seats 13. Specifically, it includes four idler rollers, which are arranged symmetrically in pairs, with rollers on the same side coaxial. The four idler rollers are arranged in a matrix with the center of the support platform as the center. The roller shafts at both ends of the idler rollers are mounted to the roller seats via bearings. The idler rollers can rotate around their own axes and can be replaced with different sizes to adapt to the underwater glider.

[0044] A clamping component is installed between two axially adjacent idler rollers to limit the movement of the underwater glider supported by the rollers. The clamping component is a clamping plate 14. The support platform has insertion holes, and the lower sides of the clamping plate have plugs that engage with the insertion holes. The clamping component is installed on the support platform via the interlocking insertion holes and plugs. The insertion holes are rectangular or slotted, slightly larger than the plugs. The clamping plate has an arc-shaped locking groove located between the two plugs, which engages with the outer wall of the underwater glider. The clamping plate is installed on the centerline of the support platform.

[0045] The support platform needs sufficient rigidity and uniform density, therefore aluminum alloy is selected as its material. When the underwater glider is placed on the rollers, to prevent excessive lateral roll deviation, the arc-shaped locking plate is inserted downwards into the square socket of the support platform to completely secure the underwater glider. The locking plate is made of carbon fiber, which has the advantages of being lightweight and high-strength. Additionally, rubber strips are attached to the arc-shaped locking plate's contact area with the underwater glider to prevent scratches on the glider's surface when moving it.

[0046] Please see Figure 6 In this embodiment, the method of using the balancing device includes the following steps:

[0047] S1. Set the readings of the load cell and torque sensor to zero;

[0048] S2. The underwater glider 15 is placed on the support component;

[0049] S3. While maintaining the underwater glider in a positive attitude, adjust the position of the counterweights so that the reading differences between the torque sensors and the weighing sensors fall within the set value range.

[0050] Specifically, before placing the underwater glider, first zero the readings of the static torque sensor and load cell. After the underwater glider is placed on the support structure, insert the clamp into the support platform to prevent the underwater glider from accidentally rolling off. It is worth noting that when the underwater glider's offset angle is small, the clamp may not be necessary.

[0051] After placing the underwater glider, the centering point is determined by calculating the difference in readings between the left and right load cells. If the difference is less than the sensor error value (i.e., the readings are the same or close), the glider's center of gravity is considered to coincide with the center of the support platform. If the difference in the two load cell readings is significant, the underwater glider is slowly moved towards the side with the smaller reading until the difference in the two load cell readings is less than the set sensor error value. It is worth noting that once the underwater glider is determined to be centered, its centerline can be marked using a marker.

[0052] After deploying the underwater glider, the readings of the two static torque sensors (left and right) are observed to determine whether the glider's roll center of gravity is on the central axis. If the glider's roll center of gravity is on the central axis, the static torque sensor reading will be zero; otherwise, the glider is considered to have a roll deviation. It is worth noting that because the underwater glider is relatively long and has poor rigidity, both the head and tail will deform when it rotates. Therefore, static torque sensors are placed on both sides to measure the overall deformation of the underwater glider. Then, by calculating the torque values ​​displayed by the two static torque sensors and the installation position of the counterweights, the position and size of the left and right counterweights can be determined.

[0053] After completing the above steps, install and adjust the counterweights according to the results to complete the balancing of the underwater glider.

[0054] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A trimming device for an underwater glider, characterized in that... include: Base; A horizontally oriented support shaft has its two ends mounted to the base via bearing seats. A load cell is installed at both ends of the support shaft and is used to detect the downward pressure at the ends of the support shaft. A torque sensor is mounted on the end of the support shaft and is used to detect the torque of the support shaft. A support component is fixedly installed on the support shaft. The support component is provided with a support part, which is used to support an underwater glider whose axis is parallel to the axis of the support shaft. The support component includes a support, a support platform, and a support assembly. The support is fixedly installed on the support shaft, the support platform is fixedly installed on the upper part of the support, and the support assembly is installed on the upper support plane of the support platform. The support assembly forms a support groove for supporting the underwater glider. The support assembly includes rollers symmetrically arranged on both sides of the support shaft, the axis of the rollers being parallel to the axis of the support shaft, and the rollers being mounted on the upper support plane of the support platform via roller seats. The load cell is installed between the bearing and the base; The torque sensor is connected to both ends of the support shaft. The torque sensor is mounted on the base. The input shaft of the torque sensor is connected to the end of the support shaft through a circumferential coupling assembly. The input shaft of the torque sensor is connected to a rotating sleeve on the same axis. The shaft end of the support shaft is connected to the rotating sleeve by a key. There is a gap between the support shaft and the rotating sleeve, which includes radial and axial gaps. The key is located on the vertical line of the support shaft.

2. The trimming device for an underwater glider according to claim 1, characterized in that: It includes four idler rollers, which are arranged symmetrically in pairs and coaxially on the same side; a clamping component is installed between two axially adjacent idler rollers, which is used to limit the underwater glider supported by the idler rollers.

3. The trimming device for an underwater glider according to claim 2, characterized in that: The mounting component is a mounting plate, the support platform is provided with a socket, the lower two sides of the mounting plate are provided with plugs that connect with the sockets, and the mounting plate is provided with an arc-shaped latch located between the two plugs that connects with the outer wall of the underwater glider.

4. The trimming device for an underwater glider according to claim 3, characterized in that: The support platform is a rectangular plate, and the four rollers are arranged in a matrix with the center of the support platform as the center. The card plate is installed on the center line of the support platform.

5. A method of using the balancing device according to any one of claims 1-4, characterized in that... Includes the following steps: S1. Set the readings of the load cell and torque sensor to zero; S2. The underwater glider is placed on the support structure; S3. While maintaining the underwater glider in a positive attitude, adjust the position of the counterweights so that the reading differences between the torque sensors and the weighing sensors fall within the set value range.

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