Three-degree-of-freedom center of mass adjusting mechanism for assisting AUV vertical navigation
By designing a three-degree-of-freedom center-of-gravity adjustment mechanism, the problem of insufficient vertical navigation capability of traditional AUVs was solved, enabling ±90-degree pitch angle navigation and vertical profile observation, eliminating navigation errors, and improving the operational efficiency and accuracy of AUVs.
Patent Information
- Application Number
- CN202511378473.X
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- Filing Date
- 2025-09-25
- Publication Date
- 2025-12-12
- Estimated Expiration
- 2045-09-25
AI Technical Summary
Traditional AUVs lack the ability to navigate at large vertical angles, making it impossible to achieve rapid vertical submersion and surfacing with or without power. They also suffer from initial navigation errors, affecting the efficiency and accuracy of exploration and detection operations.
Design a three-degree-of-freedom center of gravity adjustment mechanism to assist AUV vertical navigation, including Z-axis, Y-axis and X-axis center of gravity adjustment mechanisms. It achieves ±90-degree pitch angle navigation and vertical profile observation through drive motor and lead screw mechanism, and has a braking mechanism for locking and positioning.
It achieves ±90-degree pitch angle navigation for AUVs, and has the capability for rapid vertical submersion and surfacing with or without power, as well as vertical profile observation. It eliminates initial navigation errors and improves attitude control and operational accuracy.
Smart Images
Figure CN120840841B_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The present application relates to the technical field of underwater robots, and particularly relates to a three-degree-of-freedom center-of-mass adjusting mechanism for assisting AUV vertical navigation. BACKGROUND
[0002] In the task of deep-sea resource exploration, the traditional AUV mainly adopts the near-bottom navigation (bottom tracking) mode, and the main navigation modes are small-inclination pitch navigation (changing the pitch angle according to the ups and downs of the seabed terrain) and horizontal navigation, and the AUV generally does not have the vertical large-inclination navigation capability. This technical limitation leads to the following obvious deficiencies of the traditional AUV: first, the AUV cannot realize rapid vertical diving or floating in the powered or unpowered state, which affects the operation efficiency; second, the AUV lacks vertical profile observation capability, and it is difficult to obtain key data such as the environment and resources in the vertical direction of the ocean, which limits the comprehensiveness of the detection operation; and third, the spiral diving of the traditional AUV often causes a large deviation between the underwater and water surface positions, which brings a large navigation initial error to the AUV diving, and affects the operation accuracy of the exploration and detection.
[0003] Therefore, there is an urgent need for a device that can break through the technical bottleneck of the traditional AUV, assist the AUV to realize vertical large-inclination navigation, enrich the navigation mode and operation function of the AUV, and through the vertical diving mode, bring the positioning signal calibrated by the water surface GPS to the underwater operation environment, so as to provide a new high-precision navigation supplement scheme for the detection operation of the AUV. SUMMARY
[0004] In view of the above problems, the present application aims to provide a three-degree-of-freedom center-of-mass adjusting mechanism for assisting AUV vertical navigation, so as to solve the problem of insufficient vertical large-inclination navigation capability of the traditional AUV, assist the AUV to realize pitch angle navigation of ±90 degrees, realize the rapid vertical diving or floating of the AUV in the powered or unpowered state, and realize the vertical profile observation capability, so as to eliminate the large navigation initial error brought by the AUV diving after the water surface satellite or GPS calibration.
[0005] In order to achieve the above-mentioned purpose, the present application adopts the following technical scheme:
[0006] The application provides a three-degree-of-freedom mass center adjusting mechanism for assisting AUV vertical navigation, which comprises a pressure-resistant sealed cabin body and Z-direction mass center adjusting mechanism I, Y-direction mass center adjusting mechanism, X-direction mass center adjusting mechanism and Z-direction mass center adjusting mechanism II arranged in the pressure-resistant sealed cabin body, wherein the Z-direction mass center adjusting mechanism I and the Z-direction mass center adjusting mechanism II are arranged at two ends of the pressure-resistant sealed cabin body respectively and are used for Z-direction mass center adjustment; the X-direction mass center adjusting mechanism is slidably connected with the pressure-resistant sealed cabin body in the circumferential direction and is used for X-direction mass center adjustment; and the Y-direction mass center adjusting mechanism is connected to the end of the X-direction mass center adjusting mechanism and rotates the X-direction mass center adjusting mechanism in the circumferential direction to realize Y-direction mass center adjustment.
[0007] The Z-direction mass center adjusting mechanism I and the Z-direction mass center adjusting mechanism II are identical in structure and each comprises a bottom fixed plate, a lifting plate, a Z-direction counterweight, a lifting guide rod, a lifting mechanism support, a top fixed plate and a lifting drive module; the lifting mechanism support is fixedly connected with the pressure-resistant sealed cabin body; the top fixed plate and the bottom fixed plate are connected to the top and the bottom of the lifting mechanism support respectively; the top fixed plate and the bottom fixed plate are connected through the lifting guide rod; the lifting plate is slidably connected with the lifting guide rod; the Z-direction counterweight is arranged on the lifting plate; the lifting drive module is arranged between the top fixed plate and the bottom fixed plate and is connected with the lifting plate; and the lifting drive module is used for driving the lifting plate and the Z-direction counterweight to lift.
[0008] The lifting drive module comprises a lifting drive screw, a driving motor and a belt transmission assembly; the lifting drive screw is threadedly connected with the lifting plate; the two ends of the lifting drive screw are rotatably connected with the top fixed plate and the bottom fixed plate respectively; the driving motor is arranged on the top fixed plate and its output end is connected with the lifting drive screw through the belt transmission assembly; and the driving motor drives the lifting drive screw to rotate through the belt transmission assembly, thereby driving the lifting plate to lift.
[0009] The X-direction mass center adjusting mechanism comprises an X-direction mass center adjusting support seat, an X-direction mass center drive module and a main battery; the X-direction mass center adjusting support seat is slidably connected with the pressure-resistant sealed cabin body in the circumferential direction through a rotary slide block; the main battery is slidably connected with the X-direction mass center adjusting support seat in the X-direction; the X-direction mass center drive module is arranged on the X-direction mass center adjusting support seat and is connected with the main battery; the X-direction mass center drive module is used for driving the main battery to move in the X-direction; and the main battery has a V-shaped notch on its outer circumference.
[0010] The X-direction centroid driving module comprises an X-direction centroid driving motor, a shaft coupling and an X-direction driving screw rod, wherein the X-direction centroid driving motor is arranged on one side of the X-direction centroid adjusting support seat, the output end of the X-direction centroid driving motor is connected with one end of the X-direction driving screw rod through the shaft coupling, the X-direction driving screw rod penetrates through the center of the main battery along the X-direction and is threadedly connected with the main battery, and the other end of the X-direction driving screw rod is rotationally connected with the other side of the X-direction centroid adjusting support seat; the X-direction centroid driving motor drives the X-direction driving screw rod to rotate, thereby driving the main battery to move along the X-direction.
[0011] The X-direction centroid adjusting support seat comprises an X-direction motor support frame, a slide rail support, a slide rail and an X-direction centroid adjusting support frame, wherein the X-direction motor support frame and the X-direction centroid adjusting support frame are arranged on the two ends of the slide rail support respectively, the slide rail is arranged along the X-direction, the two ends of the slide rail are connected with the X-direction motor support frame and the X-direction centroid adjusting support frame respectively, and the slide rail is connected with the main battery through a sliding block; the rotary sliding block is arranged on the slide rail support.
[0012] The X-direction motor support frame is provided with a position reaching switch, which is used for detecting whether the main battery is in place.
[0013] The three-degree-of-freedom centroid adjusting mechanism for assisting the AUV to move vertically further comprises a brake mechanism.
[0014] The brake mechanism comprises a brake motor, a brake stop support, a screw rod shaft, a shaft displacement nut and a brake disc, wherein the brake stop support is arranged on one side of the X-direction centroid adjusting support seat and connected with the pressure-resistant sealed cabin body; the brake motor is arranged on the X-direction centroid adjusting support seat, and the output end of the brake motor is provided with the screw rod shaft, the screw rod shaft is threadedly connected with the shaft displacement nut, the shaft displacement nut penetrates through the arc-shaped guide groove arranged on the brake stop support and is connected with the brake disc; the brake motor drives the screw rod shaft to rotate, thereby driving the brake disc to tightly hold the brake stop support through the shaft displacement nut.
[0015] The Y-direction centroid adjusting mechanism comprises a Y-direction centroid driving fixed support, a Y-direction centroid driving motor, a main rotary driving gear and a rotary driven inner gear ring, wherein the Y-direction centroid driving fixed support is connected with the pressure-resistant sealed cabin body, the Y-direction centroid driving motor is arranged on the Y-direction centroid driving fixed support, the output end of the Y-direction centroid driving motor is connected with the main rotary driving gear, the rotary driven inner gear ring is arranged on the X-direction centroid adjusting mechanism, and the rotary driven inner gear ring is engaged with the main rotary driving gear; the Y-direction centroid driving motor drives the main rotary driving gear to rotate, thereby driving the X-direction centroid adjusting mechanism to rotate along the circumference through the rotary driven inner gear ring.
[0016] The pressure-resistant sealed cabin body comprises a pressure-resistant cabin end cover I, a pressure-resistant cabin body and a pressure-resistant cabin end cover II, wherein the pressure-resistant cabin body is a rotary body, and the pressure-resistant cabin end cover I and the pressure-resistant cabin end cover II are respectively sealed and connected to two ends of the pressure-resistant cabin body; the inner wall of the pressure-resistant cabin body is provided with two groups of rotary locking rings for axially limiting the X-direction centroid adjustment mechanism.
[0017] The advantages and beneficial effects of the present application are:
[0018] The adjustment freedom is comprehensive, and the attitude adjustment capability is strong: the centroid adjustment mechanism of the present application contains X, Y and Z direction freedom adjustment, and belongs to a full-drive centroid adjustment mechanism. Compared with the traditional AUV which can only realize limited direction centroid fine adjustment, the present mechanism can comprehensively and accurately adjust the attitude of the AUV, and greatly improves the attitude control capability of the AUV.
[0019] Break through the vertical navigation bottleneck and expand the operation function: through the synergistic effect of the three direction adjustment mechanisms, the AUV can realize ±90 degree pitch angle navigation, filling the blank of the vertical large inclination angle navigation capability of the traditional AUV. On this basis, the AUV can realize power or non-power rapid vertical diving and floating, and has vertical section observation capability, so as to obtain multi-dimensional data in the vertical direction of the ocean, and enrich the detection operation mode of the AUV. At the same time, after the AUV has the vertical diving capability, after the water surface satellite or GPS calibration, the AUV realizes non-drift diving through vertical diving, so as to eliminate the large navigation initial error brought by the diving of the AUV.
[0020] Improve the motion flexibility and adapt to complex operation scenes: when the AUV needs to complete complex actions such as turning, horizontal plane S bending or vertical plane spiral motion, the Y-direction centroid adjustment mechanism can be adjusted to drive the Y-direction centroid adjustment mechanism to make the X-direction centroid adjustment mechanism as a whole to deflect to the left, so that the AUV can realize left turning or left spiral motion; the Y-direction centroid adjustment mechanism is driven to make the X-direction centroid adjustment mechanism as a whole to deflect to the right, so that the AUV can realize right turning or right spiral motion. BRIEF DESCRIPTION OF DRAWINGS
[0021] Figure 1 It is a structure schematic view of the three-degree-of-freedom centroid adjustment mechanism for assisting the vertical navigation of the AUV of the present application;
[0022] Figure 2 It is a structure schematic view of the Z-direction centroid adjustment mechanism in the present application;
[0023] Figure 3 It is one of the structure schematic views of the X-direction and Y-direction centroid adjustment mechanisms in the present application;
[0024] Figure 4 It is Figure 3 It is a local enlarged view of A in the present application;
[0025] Figure 5 Figure 2 is a structural schematic diagram of the X and Y direction mass center adjustment mechanism in the application;
[0026] Figure 6 Figure 4 is a structural schematic diagram of the brake mechanism in the application.
[0027] In the figure: 1, pressure cabin end cover I; 2, Z direction mass center adjustment mechanism I; 201, bottom fixed plate; 202, lifting plate; 203, Z direction counterweight; 204, lifting guide rod; 205, lifting mechanism support; 206, lifting drive screw; 207, top fixed plate; 208, V belt; 209, drive motor; 210, pulley motor support; 3, Y direction mass center adjustment mechanism; 301, Y direction mass center drive fixed support; 302, Y direction mass center drive motor; 303, driving rotary drive gear; 304, rotary driven inner ring; 305, fixed connection flange; 4, pressure cabin body; 5, main battery; 6, rotary locking ring; 7, X direction mass center adjustment mechanism; 701, X direction motor support; 702, in-place switch; 703, X direction mass center drive motor; 704, shaft coupling; 705, X direction drive screw; 706, brake motor; 707, rotary slider; 708, slide rail support; 709, slide rail; 710, X direction mass center adjustment support; 711, brake stop support; 712, screw shaft; 713, shaft displacement nut; 714, brake disc; 715, locking nut; 716, arc-shaped guide groove; 8, Z direction mass center adjustment mechanism II; 9, pressure cabin end cover II. DETAILED DESCRIPTION
[0028] In order to make the purpose, technical scheme and advantages of the application more clear, the application is described in detail below with reference to the drawings and specific examples.
[0029] Referring to Figure 1 The application provides a three-degree-of-freedom mass center adjustment mechanism for assisting AUV vertical navigation, which comprises a pressure sealed cabin body and Z direction mass center adjustment mechanism I 2, Y direction mass center adjustment mechanism 3, X direction mass center adjustment mechanism 7 and Z direction mass center adjustment mechanism II 8 arranged in the pressure sealed cabin body. The axial direction of the pressure sealed cabin body is defined as the X direction. The Z direction mass center adjustment mechanism I 2 and the Z direction mass center adjustment mechanism II 8 are arranged at two ends of the pressure sealed cabin body respectively and are used for Z direction mass center adjustment. The X direction mass center adjustment mechanism 7 is slidably connected with the pressure sealed cabin body in the circumferential direction and is used for X direction mass center adjustment. The Y direction mass center adjustment mechanism 3 is connected to the end of the X direction mass center adjustment mechanism 7 and rotates the X direction mass center adjustment mechanism 7 in the circumferential direction to realize Y direction mass center adjustment.
[0030] Referring to Figure 1As shown, in the embodiment of the present application, the pressure-resistant sealed cabin body comprises a pressure cabin end cover I 1, a pressure cabin body 4 and a pressure cabin end cover II 9, wherein the pressure cabin body 4 is a rotary body, and the pressure cabin end cover I 1 and the pressure cabin end cover II 9 are respectively sealed and connected to the two ends of the pressure cabin body 4; the inner wall of the pressure cabin body 4 is provided with two groups of rotary locking rings 6 for axially limiting the X-direction mass center adjusting mechanism 7.
[0031] Referring to Figure 2 As shown, in the embodiment of the present application, the Z-direction mass center adjusting mechanism I 2 and the Z-direction mass center adjusting mechanism II 8 are the same in structure, and both comprise a bottom fixed plate 201, a lifting plate 202, a Z-direction counterweight 203, a lifting guide rod 204, a lifting mechanism support 205, a top fixed plate 207 and a lifting drive module, wherein the lifting mechanism support 205 is in an annular structure, and double rows of fixed through holes are uniformly arranged on the lifting mechanism support 205 in the circumferential direction, and the lifting mechanism support 205 is fixed in the pressure cabin body 4 by means of screws. The top fixed plate 207 and the bottom fixed plate 201 are respectively connected to the top and the bottom of the lifting mechanism support 205, and the top fixed plate 207 and the bottom fixed plate 201 are connected by four lifting guide rods 204, the lifting plate 202 is slidingly connected with the four lifting guide rods 204, the Z-direction counterweight 203 is arranged on the lifting plate 202, and the lifting drive module is arranged between the top fixed plate 207 and the bottom fixed plate 201 and connected with the lifting plate 202, and the lifting drive module is used for driving the lifting plate 202 and the Z-direction counterweight 203 to lift.
[0032] In the embodiment of the present application, the lifting drive module comprises a lifting drive screw 206, a driving motor 209, a pulley motor support 210 and a belt transmission assembly, wherein the lifting drive screw 206 is designed with self-locking threads, and a driving nut a is sleeved on the lifting drive screw 206, and the driving nut a is fixedly connected to the lifting plate 202. Specifically, the self-locking threads can be T-shaped threads with a thread angle less than 4 degrees. The two ends of the lifting drive screw 206 are rotatably connected with the top fixed plate 207 and the bottom fixed plate 201, respectively, the pulley motor support 210 is arranged on the top fixed plate 207, the driving motor 209 is arranged on the pulley motor support 210 and the output end thereof is connected with the lifting drive screw 206 through the belt transmission assembly, and the driving motor 209 drives the lifting drive screw 206 to rotate through the belt transmission assembly, thereby driving the lifting plate 202 to lift.
[0033] Specifically, the belt transmission assembly comprises a V belt 208 and two pulleys, and the two pulleys are arranged on the output end of the driving motor 209 and the upper end of the lifting drive screw 206, respectively, and are locked by lock nuts. The V belt 208 is used for connecting the two pulleys to realize power transmission.
[0034] Referring to Figure 3 and Figure 4As shown, in the embodiment of the present application, the X-direction center-of-mass adjusting mechanism 7 comprises an X-direction center-of-mass adjusting support seat, an X-direction center-of-mass driving module and the main battery 5, wherein the X-direction center-of-mass adjusting support seat is connected with the pressure-resistant sealed cabin body in a circumferential sliding manner through a rotary slide block 707, and the main battery 5 is connected with the X-direction center-of-mass adjusting support seat in an X-direction sliding manner; the X-direction center-of-mass driving module is arranged on the X-direction center-of-mass adjusting support seat and connected with the main battery 5, and is used for driving the main battery 5 to move in the X-direction; the outer circumference of the main battery 5 is provided with a V-shaped notch, and the rotation of the non-rotationally symmetric main battery 5 is used to realize the adjustment of the center-of-mass position.
[0035] Specifically, the X-direction center-of-mass adjusting support seat comprises an X-direction motor support frame 701, a slide rail support seat 708, a slide rail 709 and an X-direction center-of-mass adjusting support frame 710, wherein the X-direction motor support frame 701 and the X-direction center-of-mass adjusting support frame 710 are arranged at two ends of the slide rail support seat 708 respectively, the slide rail 709 is in a cylindrical rod shape and arranged in the X-direction, two ends of the slide rail 709 are connected with the X-direction motor support frame 701 and the X-direction center-of-mass adjusting support frame 710 respectively, and the slide rail 709 is connected with the main battery 5 through a slide block; the rotary slide block 707 is arranged on the slide rail support seat 708. The rotary slide block 707 is axially (in the X-direction) limited by two rotary locking rings 6, that is, the X-direction center-of-mass adjusting mechanism 7 is axially locked and limited by two pairs of rotary locking rings 6, so that the X-direction center-of-mass adjusting mechanism 7 only retains the freedom of rotation around the X-axis.
[0036] In the embodiment of the present application, the X-direction center-of-mass driving module comprises an X-direction center-of-mass driving motor 703, a shaft coupling 704 and an X-direction driving lead screw 705, wherein the X-direction center-of-mass driving motor 703 is arranged on the X-direction motor support frame 701, an output end of the X-direction center-of-mass driving motor 703 is connected with one end of the X-direction driving lead screw 705 through the shaft coupling 704, the X-direction driving lead screw 705 penetrates through the center of the main battery 5 in the X-direction and is threadedly connected with the main battery 5, the other end of the X-direction driving lead screw 705 is rotationally connected with the X-direction center-of-mass adjusting support frame 710, and the X-direction driving lead screw 705 is parallel to the slide rail 709; the X-direction center-of-mass driving motor 703 drives the X-direction driving lead screw 705 to rotate, thereby driving the main battery 5 to move in the X-direction, and realizing the X-direction center-of-mass adjustment.
[0037] Specifically, the X-direction driving lead screw 705 has a self-locking capability. The X-direction driving lead screw 705 is threadedly connected with a driving nut b, and the driving nut b is fixedly connected to the main battery 5 with the V-shaped notch by a screw. Two slide rails 709 are connected between the X-direction motor support frame 701 and the X-direction center-of-mass adjusting support frame 710, two moving slide blocks are arranged on each slide rail 709, and the main battery 5 is fixedly supported on the slide rails 709 by the four slide blocks. When the X-direction center-of-mass driving motor 703 rotates, the main battery 5 can be driven to move in the X-direction driving lead screw 705 direction, thereby realizing the adjustment of the X-direction center-of-mass.
[0038] Further, the X-direction motor support frame 701 is provided with a position reaching switch 702 for detecting whether the main battery 5 is in place.
[0039] Referring to Figures 3 to 5 In the embodiment of the present application, the Y-direction mass center adjusting mechanism 3 comprises a Y-direction mass center drive fixed support 301, a Y-direction mass center drive motor 302, a driving rotary gear 303 and a rotary driven inner gear ring 304. The Y-direction mass center drive fixed support 301 is fixedly connected with the pressure-resistant cabin body 4 through a fixed connection flange 305. The Y-direction mass center drive motor 302 is arranged on the Y-direction mass center drive fixed support 301. The output end of the Y-direction mass center drive motor 302 is connected with the driving rotary gear 303 through a key. The rotary driven inner gear ring 304 is fixedly connected with the X-direction motor support frame 701. The rotary driven inner gear ring 304 is engaged with the driving rotary gear 303. The Y-direction mass center drive motor 302 drives the driving rotary gear 303 to rotate, thereby driving the X-direction mass center adjusting mechanism 7 to rotate along the circumference through the rotary driven inner gear ring 304.
[0040] On the basis of the above-mentioned embodiment, the three-degree-of-freedom mass center adjusting mechanism for assisting the vertical navigation of the AUV further comprises a brake mechanism. When the Y-direction mass center drive motor 302 rotates, the X-direction mass center adjusting mechanism 7 rotates as a whole, thereby adjusting the Y-direction mass center. Since the gear engagement does not have self-locking ability, the brake mechanism is specially designed for locking and positioning.
[0041] Referring to Figure 6 In the embodiment of the present application, the brake mechanism comprises a brake motor 706, a brake stop support 711, a screw shaft 712, a shaft moving nut 713 and a brake disc 714. The brake stop support 711 is arranged on the outside of the X-direction motor support frame 701 and is connected with the pressure-resistant cabin body 4. The brake stop support 711 is provided with an arc-shaped guide groove 716 with the rotation center of the X-direction mass center adjusting mechanism 7 as the center. The brake motor 706 is arranged on the X-direction motor support frame 701. The output end of the brake motor 706 is provided with the screw shaft 712. The screw shaft 712 is threadedly connected with the shaft moving nut 713. The shaft moving nut 713 penetrates through the arc-shaped guide groove 716 of the brake stop support 711 and is connected with the brake disc 714. The brake motor 706 drives the screw shaft 712 to rotate, thereby driving the brake disc 714 to axially move through the shaft moving nut 713, thereby tightly holding the brake stop support 711, thereby realizing the brake function.
[0042] Specifically, the inner side of the shaft shift nut 713 is provided with an inner thread matched with the screw shaft 712, the outermost side of the shaft shift nut 713 is provided with an outer thread matched with the locking nut 715, the brake disc 714 is clamped on the shaft shoulder of the shaft shift nut 713, and then locked through the locking nut 715. After locking, the three parts are driven through the inner thread of the shaft shift nut 713 on the screw shaft 712 through thread transmission. When the brake motor 706 rotates forward, the three locked parts are pulled and clamped on the clamping brake stop bracket 711 to realize braking. When the brake motor 706 reverses, the brake is released.
[0043] The three-degree-of-freedom center-of-mass adjusting mechanism for assisting AUV vertical navigation provided by the application has the working principle that:
[0044] The center-of-mass adjusting mechanism includes adjustment of the three-directional freedom degrees of the center of mass, and belongs to a full-drive center-of-mass adjusting mechanism, has strong attitude adjustment capability, and has comprehensive adjustment freedom degrees.
[0045] When the AUV needs to perform vertical attitude diving and floating, first, the Z-direction center-of-mass adjusting mechanism I2 and the Z-direction center-of-mass adjusting mechanism II 8 are used to realize lifting of the weight, so that the center of mass is raised, at this time, the position of the buoyancy center is unchanged, the center of mass is lowered, and the mobility of the AUV is improved. Then, the Y-direction center-of-mass adjusting mechanism 3 is used to realize rotation of the X-direction center-of-mass adjusting mechanism 7, so that the center of mass is further raised until the center of mass coincides with the buoyancy center or the difference between the two is close to 0. At this time, the AUV has very vertical mobility. Finally, the X-direction center-of-mass adjusting mechanism 7 is driven to move the main battery 5 to the farthest end, so that a pitch angle of -90 degrees can be obtained, and vice versa, the main battery 5 is moved to the farthest end, so that a pitch angle of +90 degrees can be obtained.
[0046] When the AUV wants to turn, make an S-shaped bend on the horizontal plane or perform spiral motion in the vertical plane, the Y-direction center-of-mass adjusting mechanism 3 can be adjusted to deflect to the left to realize left turning or left spiral motion, or the Y-direction center-of-mass adjusting mechanism 3 can be adjusted to deflect to the right to realize right turning or right spiral motion.
[0047] The three-degree-of-freedom center-of-mass adjusting mechanism for assisting AUV vertical navigation provided by the application can assist the AUV to realize a pitch angle of ±90 degrees when the AUV dives to any working depth, realize AUV power or unpowered rapid vertical diving and floating, and realize the vertical section observation capability of the AUV. The application has the advantages of comprehensive adjustment freedom degrees, strong attitude adjustment capability, rich working functions, etc., is suitable for scenes such as ocean scientific investigation and deep-sea resource exploration, and provides a new supplementary scheme for the detection operation mode of the AUV. At the same time, after the AUV has the vertical diving capability, after calibration on the water surface satellite or GPS, the AUV is dived without drift through vertical diving, so that the large navigation initial error brought by diving of the AUV is eliminated.
[0048] The above merely illustrates the embodiments of the present application, but should not be used to limit the protection scope of the present application. Any modification, equivalent replacement, improvement, extension, etc. within the spirit and principle of the present application shall be included in the protection scope of the present application.
Claims
1. A three degree of freedom center of mass adjustment mechanism to assist vertical navigation of an AUV, characterized by, The three-degree-of-freedom center-of-mass adjusting mechanism for assisting AUV vertical navigation comprises a pressure-resistant sealed cabin body and Z-direction center-of-mass adjusting mechanism I (2), Y-direction center-of-mass adjusting mechanism (3), X-direction center-of-mass adjusting mechanism (7) and Z-direction center-of-mass adjusting mechanism II (8) arranged in the pressure-resistant sealed cabin body, wherein the Z-direction center-of-mass adjusting mechanism I (2) and the Z-direction center-of-mass adjusting mechanism II (8) are arranged at two ends of the pressure-resistant sealed cabin body respectively and are used for Z-direction center-of-mass adjustment; the X-direction center-of-mass adjusting mechanism (7) is slidably connected with the pressure-resistant sealed cabin body in the circumferential direction, and is used for X-direction center-of-mass adjustment; the Y-direction center-of-mass adjusting mechanism (3) is connected to an end of the X-direction center-of-mass adjusting mechanism (7), and the Y-direction center-of-mass adjusting mechanism (3) rotates the X-direction center-of-mass adjusting mechanism (7) in the circumferential direction to realize Y-direction center-of-mass adjustment. The X-direction center-of-mass adjusting mechanism (7) comprises an X-direction center-of-mass adjusting support seat, an X-direction center-of-mass driving module and a main battery (5), wherein the X-direction center-of-mass adjusting support seat is slidably connected with the pressure-resistant sealed cabin body in the circumferential direction through a rotary slide block (707), the main battery (5) is slidably connected with the X-direction center-of-mass adjusting support seat in the X-direction, the X-direction center-of-mass driving module is arranged on the X-direction center-of-mass adjusting support seat and is connected with the main battery (5), the X-direction center-of-mass driving module is used for driving the main battery (5) to move in the X-direction, and the main battery (5) has a V-shaped notch on the outer circumference. The three-degree-of-freedom center-of-mass adjusting mechanism for assisting AUV vertical navigation further comprises a brake mechanism. The brake mechanism comprises a brake motor (706), a brake stop support (711), a screw rod shaft (712), a shaft moving nut (713) and a brake disc (714), wherein the brake stop support (711) is arranged on one side of the X-direction center-of-mass adjusting support seat and is connected with the pressure-resistant sealed cabin body; the brake motor (706) is arranged on the X-direction center-of-mass adjusting support seat, an output end of the brake motor (706) is provided with the screw rod shaft (712), the screw rod shaft (712) is threadedly connected with the shaft moving nut (713), the shaft moving nut (713) penetrates an arc-shaped guide groove (716) provided on the brake stop support (711) and is connected with the brake disc (714); the brake motor (706) drives the screw rod shaft (712) to rotate, thereby driving the brake disc (714) to tightly hold the brake stop support (711) through the shaft moving nut (713).
2. The three-degree-of-freedom center-of-mass adjustment mechanism for assisting vertical travel of an AUV according to claim 1, characterized by, The Z-direction centroid adjustment mechanism I (2) and the Z-direction centroid adjustment mechanism II (8) are structurally identical, and each includes a bottom fixing plate (201), a lifting plate (202), a Z-direction counterweight (203), a lifting guide rod (204), a lifting mechanism support (205), a top fixing plate (207), and a lifting drive module. The lifting mechanism support (205) is fixedly connected to the pressure-resistant sealed cabin body. The top fixing plate (207) and the bottom fixing plate (201) are respectively connected to the top and bottom of the lifting mechanism support (205), and the top fixing plate (207) and the bottom fixing plate (201) are connected by the lifting guide rod (204). The lifting plate (202) is slidably connected to the lifting guide rod (204). The Z-direction counterweight (203) is arranged on the lifting plate (202). The lifting drive module is arranged between the top fixing plate (207) and the bottom fixing plate (201) and is connected to the lifting plate (202). The lifting drive module is used to drive the lifting plate (202) and the Z-direction counterweight (203) to lift.
3. The three degree of freedom center of mass adjustment mechanism to assist AUV vertical navigation according to claim 2, characterized in that, The lifting drive module includes a lifting drive screw (206), a drive motor (209), and a belt transmission assembly. The lifting drive screw (206) is threadedly connected to the lifting plate (202), and both ends of the lifting drive screw (206) are rotatably connected to the top fixing plate (207) and the bottom fixing plate (201), respectively. The drive motor (209) is arranged on the top fixing plate (207) and has an output end connected to the lifting drive screw (206) through the belt transmission assembly. The drive motor (209) drives the lifting drive screw (206) to rotate through the belt transmission assembly, thereby driving the lifting plate (202) to lift.
4. The three degree of freedom center of mass adjustment mechanism to assist AUV vertical navigation according to claim 1, characterized in that, The X-direction centroid drive module includes an X-direction centroid drive motor (703), a coupling (704), and an X-direction drive screw (705). The X-direction centroid drive motor (703) is arranged on one side of the X-direction centroid adjustment support seat, and an output end of the X-direction centroid drive motor (703) is connected to one end of the X-direction drive screw (705) through the coupling (704). The X-direction drive screw (705) penetrates through the center of the main battery (5) along the X-direction and is threadedly connected to the main battery (5). The other end of the X-direction drive screw (705) is rotatably connected to the other side of the X-direction centroid adjustment support seat. The X-direction centroid drive motor (703) drives the X-direction drive screw (705) to rotate, thereby driving the main battery (5) to move along the X-direction.
5. The three degree of freedom center of mass adjustment mechanism to assist AUV vertical navigation according to claim 1, characterized in that, The X-direction centroid adjustment support base comprises an X-direction motor support frame (701), a slide rail support (708), a slide rail (709) and an X-direction centroid adjustment support frame (710), wherein the X-direction motor support frame (701) and the X-direction centroid adjustment support frame (710) are respectively arranged at two ends of the slide rail support (708), the slide rail (709) is arranged along the X direction, and two ends of the slide rail (709) are respectively connected with the X-direction motor support frame (701) and the X-direction centroid adjustment support frame (710), and the slide rail (709) is connected with the main battery (5) through a sliding block; the rotary sliding block (707) is arranged on the slide rail support (708).
6. The three degree of freedom center of mass adjustment mechanism to assist AUV vertical navigation according to claim 5, characterized in that, The X-direction motor support frame (701) is provided with a position reaching switch (702), and the position reaching switch (702) is used for detecting whether the main battery (5) is in place.
7. The three degree of freedom center of mass adjustment mechanism to assist AUV vertical navigation according to claim 1, characterized in that, The Y-direction centroid adjustment mechanism (3) comprises a Y-direction centroid drive fixed support (301), a Y-direction centroid drive motor (302), a driving rotary gear (303) and a rotary driven inner gear ring (304), wherein the Y-direction centroid drive fixed support (301) is connected with the pressure-resistant sealed cabin body, the Y-direction centroid drive motor (302) is arranged on the Y-direction centroid drive fixed support (301), and an output end of the Y-direction centroid drive motor (302) is connected with the driving rotary gear (303), the rotary driven inner gear ring (304) is arranged on the X-direction centroid adjustment mechanism (7), and the rotary driven inner gear ring (304) is engaged with the driving rotary gear (303); the Y-direction centroid drive motor (302) drives the driving rotary gear (303) to rotate, so as to drive the X-direction centroid adjustment mechanism (7) to rotate along the circumference through the rotary driven inner gear ring (304).
8. The three degree of freedom center of mass adjustment mechanism to assist AUV vertical navigation according to claim 1, characterized in that, The pressure-resistant sealed cabin body comprises a pressure-resistant cabin end cover I (1), a pressure-resistant cabin body (4) and a pressure-resistant cabin end cover II (9), wherein the pressure-resistant cabin body (4) is a rotary body, the pressure-resistant cabin end cover I (1) and the pressure-resistant cabin end cover II (9) are respectively and sealingly connected at two ends of the pressure-resistant cabin body (4); the inner wall of the pressure-resistant cabin body (4) is provided with two groups of rotary locking rings (6) for axially limiting the X-direction centroid adjustment mechanism (7).
Citation Information
Patent Citations
Autonomous underwater vehicle and control method thereof
CN105667745A
Self-locking gravity center adjusting mechanism for AUV (Autonomous Underwater Vehicle)
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