Segmented linear array type mass center adjusting mechanism of unmanned underwater vehicle

Abstract

The invention relates to the technical field of underwater unmanned systems and engineering equipment, in particular to an unmanned underwater vehicle segmented linear array type mass center adjusting mechanism which comprises a linear array channel, a partition device and a mass center adjusting unit which are arranged in an unmanned underwater vehicle, and the mass center adjusting unit is arranged in the linear array channel. The mass center adjusting unit is connected with a system of the unmanned underwater vehicle body, so that the unmanned underwater vehicle can perform mass center adjustment for many times according to operation requirements underwater, the unmanned underwater vehicle has the full-range adjustment capability in the length direction of the unmanned underwater vehicle, and the mass center of the unmanned underwater vehicle can be accurately adjusted by utilizing a mass center adjuster; and the underwater navigation attitude of the vehicle is ensured to be stable.

Description

Technical Field

[0001] The present invention relates to the technical field of underwater unmanned systems and engineering equipment, and specifically relates to a segmented linear center of mass adjustment mechanism for an unmanned submersible. Background Art

[0002] With the development and utilization of marine resources, more and more underwater unmanned submersibles are used for underwater detection, underwater operations, underwater communications, etc., and underwater unmanned submersibles have gradually become important equipment for the development of marine resources. When working underwater, underwater unmanned submersibles face diving, surfacing, constant depth cruising, underwater deepening, underwater hovering and other working conditions. It is necessary to adjust the center of mass of the underwater unmanned submersible to achieve attitude control and gravity buoyancy control of the underwater unmanned submersible.

[0003] For the attitude control and gravity buoyancy control of underwater unmanned submersibles, known methods include manual balancing, underwater dumping, bladder or seawater buoyancy adjustment, thruster vector adjustment and other methods. Manual balancing can only achieve one-time gravity buoyancy control and cannot be controlled during underwater operations. Underwater dumping can only increase buoyancy but cannot achieve center of mass control. Bladder or seawater buoyancy adjustment is installed in a fixed compartment, and the range of center of mass adjustment is limited. Thruster vector adjustment can only perform attitude control but cannot achieve center of mass control. Summary of the invention

[0004] In order to overcome the difficulty of center of mass adjustment of existing underwater unmanned submersibles, the present invention provides a center of mass adjustment mechanism arranged in segmented lines along the length direction of the submersible. The center of mass adjustment mechanism is divided into multiple adjustment units, which can realize multiple center of mass adjustments during the operation of the unmanned submersible to assist in achieving posture control.

[0005] To achieve the above object, the present invention provides the following technical solution: a segmented linear center of mass adjustment mechanism for an unmanned underwater vehicle, comprising: Linear channels, installed in unmanned underwater vehicles; and A partition device is provided on the linear channel to divide the inner cavity of the linear channel into a plurality of adjustment partitions; and A number of centroid adjustment units are arranged corresponding to the adjustment partitions, and the centroid adjustment units include a positioning component, a driving component and a number of centroid adjustment bodies slidably arranged in the linear channel; the positioning component is arranged on the upper side of the centroid adjustment body and at least partially arranged in the linear channel, and is used to actively fix the centroid adjustment body; the driving component is arranged on the outer side of the linear channel, and is used to drive the displacement of the multiple centroid adjustment bodies to achieve concentration or dispersion; the linear channel is provided with a number of openings that cooperate with the partition device and the positioning component; the size of the opening is smaller than the size of the centroid adjustment body.

[0006] Preferably, the positioning assembly includes a tooth plate lifting mechanism, a tooth plate and a plurality of partition teeth spaced apart on the tooth plate; the partition teeth extend into the linear channel through the opening, and the output end of the tooth plate lifting mechanism is fixedly connected to the tooth plate to drive the partition teeth to extend into or out of the linear channel.

[0007] Preferably, the driving assembly comprises a plurality of electromagnetic drivers, which are arranged along the length direction of the linear channel and are connected in parallel.

[0008] Preferably, the distance between any two partition teeth is greater than the size of a single center of mass adjusting body.

[0009] Preferably, the length of the drive assembly consisting of a plurality of electromagnetic drives is greater than the length of a single adjustment partition.

[0010] Preferably, the center of mass adjustment unit further includes a center of mass controller, and the center of mass controller is connected to the positioning assembly and the driving assembly via a circuit.

[0011] Preferably, the partition device comprises a partition lifting mechanism, a first partition and a second partition; the output end of the partition lifting mechanism is fixedly connected to both the first partition and the second partition; the first partition and the second partition are arranged in coordination with the opening.

[0012] Preferably, the linear channel is a tubular structure with both ends closed.

[0013] Preferably, the length of the linear channel is adapted to the length of the unmanned underwater vehicle.

[0014] Preferably, the linear channel is arranged at the top or bottom of the inner side of the unmanned underwater vehicle.

[0015] Compared with the prior art, the beneficial effects of the present invention are as follows: the present invention provides a scientific, reasonable, simple, reliable, practical and effective segmented linear center of mass adjustment technology for underwater unmanned submersibles, by arranging a linear channel inside the unmanned submersible, arranging a plurality of independent center of mass adjustment units in the linear channel, and connecting the center of mass adjustment unit to the system of the unmanned submersible body, so that the unmanned submersible can perform multiple center of mass adjustments underwater according to operation requirements, and has a full range of adjustment capabilities in the length direction of the unmanned submersible. The center of mass adjuster can realize precise adjustment of the center of mass of the unmanned vehicle, thereby ensuring the stability of the underwater navigation posture of the vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is an overall schematic diagram of the segmented linear center of mass adjustment mechanism of the present invention; Figure 2 It is a schematic diagram of the structure of the centroid adjustment unit of the present invention; Figure 3It is a schematic diagram of the local structure of the centroid adjustment unit of the present invention.

[0017] In the figure: 1 linear channel, 2 center of mass adjustment unit, 3 partition lifting mechanism, 4 first partition, 5 second partition, 6 unmanned underwater vehicle, 21 tooth plate lifting mechanism, 22 tooth plate, 23 partition teeth, 24 center of mass adjustment body, 25 center of mass controller, 26 electromagnetic drive, 27 connecting cable. DETAILED DESCRIPTION

[0018] The specific embodiments of the present invention are described in detail below in conjunction with the accompanying drawings so that those skilled in the art can more clearly understand how to practice the present invention. Although the present invention is described in conjunction with its preferred specific embodiments, these embodiments are only illustrative, rather than limiting the scope of the present invention.

[0019] As a highly integrated device that navigates underwater by remote control or automatic control, the unmanned submersible 6 has many functional mechanisms integrated inside, such as power system, control system, signal transmission and receiving system, vector thruster and buoyancy adjustment mechanism, etc. The segmented linear center of mass adjustment mechanism disclosed in this application can cooperate with the unmanned submersible 6's own mechanism to speed up the underwater navigation posture adjustment of the unmanned submersible.

[0020] See also Figure 1-3 In one embodiment of the present invention, a segmented linear mass center adjustment mechanism for an unmanned underwater vehicle is provided in an unmanned underwater vehicle 6, comprising: a linear channel 1, a partition device and a plurality of mass center adjustment units 2, wherein the partition device is provided corresponding to the linear channel 1, and the partition device can actively divide the linear channel 1 into three independent adjustment partitions, namely, a bow, a midship and a stern, and each adjustment partition is provided with a mass center adjustment unit 2; the mass center adjustment unit 2 comprises a positioning component, a mass center controller 25, a driving component and a sliding component provided in the linear channel 1. Multiple center of mass adjusting bodies 24 and a center of mass controller 25 are electrically connected to the positioning assembly and the driving assembly. The center of mass controller 25 can control the center of mass adjusting bodies 24 to be at any position in the linear channel 1, so as to achieve uniform or concentrated arrangement of the center of mass adjusting bodies 24 inside the linear channel tube, thereby achieving control of the center of gravity distribution of the underwater unmanned submersible; the control system of the unmanned submersible 6 is electrically connected to the partition device and the center of mass controller 25, and is used to cooperate with various mechanisms in the unmanned submersible 6 to speed up the underwater navigation posture adjustment of the unmanned submersible.

[0021] Specifically, the linear channel 1 is a tubular structure which is closed at both ends and has a plurality of openings on the top; the linear channel 1 is laid along the length direction of the unmanned submersible 6 body, and the linear channel 1 is adapted to the length of the unmanned submersible 6 so that the linear channel 1 can cover the bow, midship and stern; in addition, in order to facilitate the adjustment of the center of gravity, the linear channel 1 can be arranged at the top or bottom of the unmanned submersible.

[0022] The partition device includes a partition lifting mechanism 3, a first partition 4 and a second partition 5. The first partition 4 and the second partition 5 are arranged at intervals on the outside of the linear channel 1, and the first partition 4 and the second partition 5 are both connected to the output end of the partition lifting mechanism 3. Under the action of the partition lifting mechanism 3, the first partition 4 and the second partition 5 can extend into the linear channel 1 simultaneously or separately through the openings at corresponding positions to divide the inner space of the linear channel 1.

[0023] The positioning assembly includes a tooth plate lifting mechanism 21, a tooth plate 22 and a plurality of partition teeth 23. The tooth plate lifting mechanism 21 is fixedly arranged on the outside of the linear channel 1. The tooth plate lifting mechanism 21 is electrically connected to the centroid controller 25. The output end of the tooth plate lifting mechanism 21 is fixedly connected to the tooth plate 22. The length direction of the tooth plate 22 is consistent with the length direction of the linear channel 1. The plurality of partition teeth 23 are all fixedly connected to the tooth plate 22 to form a comb-like structure. It can be understood that the plurality of partition teeth 23 are distributed at intervals along the length direction of the tooth plate 22, and the distance between two partition teeth 23 is greater than the size of a single center of mass adjustment body 24; the plurality of partition teeth 23 can extend into the linear channel 1 through the opening. When the tooth plate lifting mechanism 21 is working, the tooth plate 22 can be driven to move away from or approach the linear channel 1, and the tooth plate 22 drives the partition teeth 23 to extend into or out of the linear channel 1. When the partition teeth 23 extend into the linear channel 1, they can clamp the center of mass adjustment body 24 to fix its position. When the partition teeth 23 are out of the linear channel 1, the center of mass adjustment body 24 is out of the limit and can slide in the linear channel 1 under the action of the driving component.

[0024] The driving assembly is arranged outside the linear channel 1, and includes a plurality of electromagnetic drivers 26 arranged in a linear array along the linear channel 1. The electromagnetic driver involved in the following embodiments is a device that converts electrical energy into mechanical energy using the electromagnetic principle. Its working principle is based on the electromagnetic induction phenomenon, that is, when current passes through a wire, a magnetic field is generated around the wire. If the wire is placed in an external magnetic field, the magnetic field generated by the current in the wire will interact with the external magnetic field, thereby generating a force, which can be used to drive the object to move; Multiple electromagnetic drivers 26 are electrically connected to the center of mass controller 25, and are connected in parallel so that each electromagnetic driver 26 can operate independently. The length of the drive assembly composed of multiple electromagnetic drivers 26 is greater than the length of the adjustment partition. Under the action of the center of mass controller 25, the electromagnetic driver 26 can drive the unrestricted center of mass adjustment body 24 to slide in the linear channel 1, thereby realizing the center of mass adjustment of the unmanned underwater vehicle 6.

[0025] The electrical connection in the present application is a wire line connection. For this purpose, the center of mass adjustment unit 2 also includes a connecting cable 27, and the center of mass controller 25 is connected to the electromagnetic driver 26 and the toothed plate lifting mechanism 21 through the connecting cable 27; of course, in other embodiments, it can also be an electrical signal connection.

[0026] Furthermore, the toothed plate lifting mechanism 21 and the partition lifting mechanism 3 can both be linear motors or crank slider mechanisms. Since they are existing technologies, they will not be described in detail.

[0027] Working principle: Taking the diving condition of the unmanned submersible 6 as an example, at this time, the center of mass of the unmanned submersible needs to be moved forward so that the unmanned submersible 6 can achieve a downward dive action, such as Figure 2 , Figure 3 As shown, the bow mass center adjustment unit is first controlled. Under the action of the mass center controller, the electromagnetic drivers operate one by one to fix all mass center adjustment bodies at the bow. Then the midship mass center adjustment unit is controlled to move the mass center adjustment body of the midship mass center adjustment unit toward the bow. When the midship mass center adjustment body moves to the bow, the bow mass center adjustment unit takes over and moves the midship mass center adjustment body to the bow. Finally, the stern mass center adjustment unit is controlled to move the mass center adjustment body of the stern mass center adjustment unit toward the midship. When the stern mass center adjusting body moves to the midship, the midship mass center adjusting unit takes over and moves the stern mass center adjusting body to the midship, and then the midship mass center adjusting unit takes over and moves the stern mass center adjusting body to the bow, and finally the bow mass center adjusting unit takes over and moves the stern mass center adjusting body to the bow; Of course, more flexible adjustments can be made, such as controlling the action of the partition lifting mechanism. After the first partition 4 and the second partition 5 are lifted, the linear channel tube can be opened to achieve the interconnection between the three center of mass adjustment units, and then the bow center of mass adjustment unit is controlled to gradually push the center of mass adjustment body in the unit to the midship center of mass adjustment unit under the action of the electromagnetic drive. Similarly, the center of mass adjustment body of the midship center of mass adjustment unit is pushed to the stern center of mass adjustment unit. After the adjustment is completed, the first partition 4 and the second partition 5 can be dropped to solidify the adjusted center of mass adjustment body to achieve the adjustment of the center of mass to the stern of the unmanned submersible.

[0028] In one embodiment, in order to allow the center of mass adjustment body 24 to slide or roll freely in the linear channel 1, the center of mass adjustment body 24 can be a sphere, a cylinder, a cone, a disc or the like; in addition, the size of the center of mass adjustment body 24 should be larger than the size of the opening on the linear channel 1, so that the center of mass adjustment body 24 will not slide out of the linear channel 1 when the unmanned underwater vehicle 6 makes posture adjustments.

[0029] Through this technical solution, by setting a linear channel inside the unmanned submersible, and setting a plurality of independent center of mass adjustment units in the linear channel, the center of mass adjustment unit is connected to the system of the unmanned submersible body, so that the unmanned submersible can perform multiple center of mass adjustments underwater according to operation requirements, and has a full range of adjustment capabilities in the length direction of the unmanned submersible. The center of mass adjuster can realize precise adjustment of the center of mass of the unmanned vehicle, ensuring the stability of the underwater navigation posture of the vehicle.

[0030] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solution of the present invention can be modified or replaced by equivalents without departing from the purpose and scope of the technical solution of the present invention, which should be included in the scope of the claims of the present invention.

Claims

1. A segmented linear center of mass adjustment mechanism for an unmanned underwater vehicle, characterized in that: include A linear channel (1) installed in the unmanned underwater vehicle; and A partition device is arranged on the linear channel (1) so as to divide the inner cavity of the linear channel (1) into a plurality of adjustment partitions; and A plurality of centroid adjustment units (2) are arranged corresponding to the adjustment partitions, the centroid adjustment units (2) comprising a positioning assembly, a driving assembly and a plurality of centroid adjustment bodies (24) slidably arranged in a linear channel (1); the positioning assembly is arranged on the upper side of the centroid adjustment body (24) and at least partially arranged in the linear channel (1), and is used to actively fix the centroid adjustment body (24); the driving assembly is arranged on the outer side of the linear channel (1), and is used to drive the plurality of centroid adjustment bodies (24) to move to achieve concentration or dispersion; the linear channel (1) is provided with a plurality of openings cooperating with the partition device and the positioning assembly; the size of the openings is smaller than the size of the centroid adjustment body (24).

2. The segmented linear center of mass adjustment mechanism for an unmanned underwater vehicle according to claim 1, characterized in that: The positioning assembly comprises a tooth plate lifting mechanism (21), a tooth plate (22), and a plurality of partition teeth (23) spaced apart and distributed on the tooth plate (22); the partition teeth (23) extend into the linear channel (1) through the opening, and the output end of the tooth plate lifting mechanism (21) is fixedly connected to the tooth plate (22) to drive the partition teeth (23) to extend into or out of the linear channel (1).

3. The segmented linear center of mass adjustment mechanism for an unmanned underwater vehicle according to claim 1, characterized in that: The driving component comprises a plurality of electromagnetic drivers (26), wherein the plurality of electromagnetic drivers (26) are arranged along the length direction of the linear channel (1) and the electromagnetic drivers (26) are connected in parallel.

4. The segmented linear center of mass adjustment mechanism for an unmanned underwater vehicle according to claim 2, characterized in that: The distance between any two partition teeth (23) is greater than the size of a single center of mass adjustment body (24).

5. The segmented linear center of mass adjustment mechanism for an unmanned underwater vehicle according to claim 3, characterized in that: The length of the drive assembly composed of a plurality of electromagnetic drives (26) is greater than the length of a single adjustment partition.

6. The segmented linear center of mass adjustment mechanism for an unmanned underwater vehicle according to claim 1, characterized in that: The center of mass adjustment unit (2) further comprises a center of mass controller (25), and the center of mass controller (25) is connected to the positioning component and the driving component via a circuit.

7. The segmented linear center of mass adjustment mechanism for an unmanned underwater vehicle according to claim 1, characterized in that: The partition device comprises a partition lifting mechanism (3), a first partition (4) and a second partition (5); the output end of the partition lifting mechanism (3) is fixedly connected to both the first partition (4) and the second partition (5); the first partition (4) and the second partition (5) are arranged in coordination with the opening.

8. The segmented linear center of mass adjustment mechanism for an unmanned underwater vehicle according to claim 1, characterized in that: The linear channel (1) is a tubular structure with both ends closed.

9. The segmented linear center of mass adjustment mechanism for an unmanned underwater vehicle according to claim 1, characterized in that: The length of the linear channel (1) is adapted to the length of the unmanned underwater vehicle.

10. The segmented linear center of mass adjustment mechanism for an unmanned underwater vehicle according to claim 1, characterized in that: The linear channel (1) is arranged at the top or bottom of the inner side of the unmanned underwater vehicle.

Images