Device for measuring mass, mass center and mass deviation of underwater vehicle

Abstract

The utility model discloses an underwater vehicle mass, centroid and centroid deviation measuring device which comprises a base platform, a distance measuring unit, a lifting unit, a measuring frame, a centroid and centroid deviation measuring switching mechanism, a centroid deviation measuring arm, three weighing sensors and a centroid deviation sensor, the distance measuring unit is located at one end of the base platform, and the lifting unit is arranged on the base platform; the lifting device is used for lifting the measuring frame; the mass center and mass deviation measurement conversion mechanism is used for conversion of mass center and mass deviation measurement functions; the mass deviation measuring arm is arranged on one side of the measuring frame, and a mass deviation pressure head is mounted at the lower part of one end far away from the measuring frame; a bearing knife edge is arranged at the bottom end of the measuring frame; when the mass and the center of mass are measured, the measuring frame is in contact with the three weighing sensors; during mass deviation measurement, the bearing knife edge falls on the knife edge bearing plate, and the mass deviation pressure head on the mass deviation measuring arm is in contact with the mass deviation sensor. According to the device, mass and mass center measurement and mass deviation measurement can be rapidly switched through the mass center and mass deviation measurement switching mechanism, and the problems that the measurement process is tedious and the measurement efficiency is low are solved.

Description

Technical Field

[0001] The utility model relates to the technical field of mass measurement, in particular to a device for measuring the mass center of mass deviation of an underwater navigation body. Background Art

[0002] The trajectory of an underwater vehicle is closely linked to its mass characteristic parameters. Measuring these parameters is crucial for studying and controlling the motion of underwater vehicles. These parameters typically refer to inherent characteristics such as mass, center of mass, and mass deviation. Accurately measuring these parameters significantly impacts the theoretical study of the vehicle's launch dynamics, its post-launch motion and trajectory, its stability, and its maneuverability. These parameters also directly influence its ability to control its trajectory in water. Therefore, high-precision measurement of these parameters is crucial for underwater vehicle development.

[0003] Existing underwater vehicle mass center of mass measurement devices are all specialized equipment developed for specific products. Most use traditional three-point (or four-point) measurement technology, which has poor versatility, cumbersome measurement processes, and low measurement efficiency. Therefore, there is an urgent need to develop a new, highly efficient and versatile underwater vehicle mass center of mass deviation measurement device. Utility Model Content

[0004] In response to the above problems, the utility model provides a device for measuring the mass center of mass and mass deviation of an underwater vehicle. Through a center of mass and mass deviation measurement conversion mechanism, the mass center of mass measurement and mass deviation measurement can be quickly switched, solving the problems of cumbersome mass center of mass and mass deviation measurement process and low measurement efficiency.

[0005] Specifically, the utility model provides a device for measuring the mass center of mass deviation of an underwater vehicle, comprising: a base platform, a distance measuring unit, a lifting unit, three weighing sensors, and a measuring frame, wherein the distance measuring unit is located at one end of the base platform, and the lifting unit is provided on the base platform for lifting the measuring frame; the device is characterized in that it also includes:

[0006] Center of mass and mass deviation measurement conversion mechanism, used for conversion of mass center of mass and mass deviation measurement functions;

[0007] The mass deflection measuring arm is provided on one side of the measuring frame, and a mass deflection pressure head is installed at the lower part of the end away from the measuring frame;

[0008] The load-bearing knife edge is located at the bottom end of the measuring frame;

[0009] The center of mass mass deviation measurement conversion mechanism includes:

[0010] a first movable unit arranged along the width direction of the base platform, and a knife-edge bearing plate provided on the first movable unit so that the position of the knife-edge bearing plate is adjustable;

[0011] a second movable unit disposed on one side of the base platform, wherein the mass deviation sensor is disposed on the second movable unit so that the position of the mass deviation sensor is adjustable;

[0012] When measuring the center of mass, the measuring frame is in contact with three load cells;

[0013] During mass deflection measurement, the bearing blade falls on the blade bearing plate, and the mass deflection pressure head on the mass deflection measurement arm contacts the mass deflection sensor.

[0014] Furthermore, the support assemblies at both ends of the measuring frame are provided with fixing fixtures for fixing the underwater vehicle, and the fixing fixtures include:

[0015] an annular fixing member configured to be openable and closable;

[0016] Adaptation blocks are detachably and evenly arranged on the inner side of the annular fixing member;

[0017] The positioning component is used to position the annular fixing member after it is rotated to a specified angle.

[0018] Furthermore, the positioning component includes:

[0019] There are four latch positioning seats, evenly distributed on the circumference of the annular fixing member;

[0020] The latch, at least one latch, is arranged on the supporting assembly of the measuring frame. The latch is inserted into the latch positioning seat and is used for positioning the annular fixing member after it is rotated to a specified angle.

[0021] Furthermore, the second movable unit is installed on one side of the base platform through a bracket, the second movable unit is a linear guide pair, and the mass deviation sensor is arranged on the linear guide pair.

[0022] Furthermore, the distance measuring unit includes:

[0023] A reference column is provided at one end of the base platform;

[0024] The laser rangefinder is slidably arranged on the reference column along a vertical direction.

[0025] Furthermore, the support assembly is configured to move along the length direction of the measuring frame, and the support assembly includes:

[0026] The support member has a V-shaped structure;

[0027] The roller group is arranged on the supporting member, and the roller group contacts the annular fixing member and can drive the annular fixing member to rotate around the axis.

[0028] The working principle of this utility model:

[0029] Mass center measurement process:

[0030] (1) First, according to the length of the vehicle to be measured, move the front and rear support components of the measuring frame to the appropriate position and fix them. Control the lifting unit to make the measuring frame rise to the highest position and stop. Then, place the vehicle to be measured in the fixed fixture and fix it.

[0031] (2) Through the mass center mass deviation measurement conversion mechanism, the knife edge load-bearing plate and the load-bearing knife edge are displaced, and the mass deviation sensor and the mass deviation pressure head on the mass deviation measurement arm are displaced, so that the measuring frame is in the mass center mass measurement state;

[0032] (3) Control the lifting unit to lower the measuring frame so that the three pressure heads on the measuring frame contact the three weighing sensors respectively, and collect the values ​​of the three weighing sensors at this time;

[0033] (4) Measure the distance (L0) to the head of the vehicle to be measured (measurement reference) using a laser rangefinder;

[0034] (5) Finally, the mass M and the axial center of mass coordinate Xc of the vehicle to be tested are calculated;

[0035] (6) After the mass center measurement is completed, lift the measuring frame to separate it from the weighing sensor.

[0036] The mass deviation measurement process is:

[0037] (1) Through the mass center mass deviation measurement conversion mechanism, the knife edge load-bearing plate is aligned with the load-bearing knife edge, and the mass deviation sensor is aligned with the mass deviation pressure head on the mass deviation measurement arm;

[0038] (2) Controlling the lifting unit to lower the measuring frame, the bearing blade falls on the blade load-bearing plate, the mass deflection pressure head on the mass deflection measuring arm contacts the mass deflection sensor, the bearing blade bears the weight of the vehicle to be measured, and the value of the mass deflection sensor at this time is collected;

[0039] (3) controlling the lifting unit to raise the measuring frame so that it is separated from the mass deviation sensor;

[0040] (4) Manually rotate the vehicle to be tested 90° clockwise and position it, then repeat step (2);

[0041] (5) Repeat steps (3) and (4) twice, i.e., perform a mass deviation measurement every 90° rotation, for a total of 3 rotations, and perform measurements at 4 circumferential angles (i.e., 0°, 90°, 180°, and 270°). After each rotation into place, collect the mass deviation sensor value in that state;

[0042] (6) Finally, calculate the Y / Z coordinates Yc and Zc of the vehicle to be tested;

[0043] (7) After the mass deviation measurement is completed, lift the measuring frame to separate it from the mass deviation sensor.

[0044] Compared with the prior art, the present invention has the following beneficial effects:

[0045] (1) The utility model is easy to operate, has a high degree of automation and high measurement accuracy. Through the center of mass and mass deviation measurement conversion mechanism and the lifting unit, the mutual conversion of mass center of mass measurement and mass deviation measurement functions is realized, and the integrated measurement of the mass, center of mass and mass deviation of the measured navigation body is realized, which effectively improves the measurement accuracy and measurement efficiency.

[0046] (2) The fixed fixture can be moved forward and backward on the guide rail of the measuring frame through the support assembly to meet the measurement requirements of underwater vehicles of different lengths. For vehicles with different outer diameters, only the corresponding adapter block inside the annular fixture needs to be replaced, which facilitates the universality of measuring various types of vehicles. The annular fixture can protect the outer surface of the vehicle from damage during the measurement process, and has high safety and reliability. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] Figure 1 This is a schematic structural diagram of the device for measuring the mass center of mass deviation of an underwater vehicle in Example 1;

[0048] Figure 2 This is a side view of the device for measuring the center of mass and mass deviation of an underwater vehicle in Example 1;

[0049] Figure 3 This is a front view of the device for measuring the center of mass and mass deviation of an underwater vehicle in Example 1;

[0050] Figure 4 Schematic diagram of the lifting unit in Example 1;

[0051] Figure 5 Schematic diagram of the fixing tool in Example 1;

[0052] Figure 6 Schematic diagram of the center of mass mass deviation measurement conversion mechanism in Example 1;

[0053] Figure 7 This is a schematic diagram of the state when the mass center is measured in Example 1;

[0054] Figure 8 This is a schematic diagram of the layout of the three-point weighing sensor;

[0055] Figure 9 This is a schematic diagram of the principle of mass centroid measurement using the three-point method;

[0056] Figure 10 Schematic diagram of the state during mass deviation measurement in Example 1;

[0057] Figure 11 Schematic diagram of mass deviation measurement principle.

[0058] Reference numerals:

[0059] 1-base platform; 21-weighing sensor; 22-mass deflection sensor; 3-lifting unit; 31-lifting module; 32-motor reducer; 33-bevel gear steering gear; 4-measuring frame; 41-guide rail; 42-support assembly; 5-fixed tooling; 51-annular fixing piece; 52-adapter block; 53-positioning assembly; 531-latch positioning seat; 532-latch; 61-bearing blade; 62-mass deflection measuring arm; 621-mass deflection pressure head; 71-first moving unit; 72-blade bearing plate; 73-second moving unit; 8-distance measuring unit; 81-reference column; 82-laser rangefinder. DETAILED DESCRIPTION

[0060] The present invention will be further described in detail below through specific implementations in conjunction with the accompanying drawings.

[0061] Example 1

[0062] like Figure 1-3 As shown, this embodiment provides a device for measuring the mass center of mass and mass deviation of an underwater vehicle, comprising: a base platform 1, a distance measuring unit 8, a lifting unit 3, a measuring frame 4, a center of mass and mass deviation measurement conversion mechanism, a central control unit, three load cells 21, and a mass deviation sensor 22. The central control unit calculates the mass center of mass and mass deviation based on the collected data. The measurement device utilizes two independent measurement mechanisms: one for mass center of mass measurement and the other for mass deviation measurement. Both measurement mechanisms share a lifting unit 3. The center of mass and mass deviation measurement conversion mechanism enables the conversion of mass center of mass and mass deviation measurement functions.

[0063] The base platform 1 consists of a load-bearing base and a frame. The load-bearing base is welded from Q235 steel plates to form a rectangular frame structure. The load-bearing part of the bottom is provided with reinforcing ribs. The upper end surface is mounted with a lifting unit 3 and a weighing sensor 21. Six ball-hinged leveling feet are installed at the bottom, which provide the measuring device with a leveling function and can also cushion the impact caused by hoisting the product to be measured. The frame assembly consists of a main frame, a mounting frame and mounting plate for the center of mass and mass deviation measurement conversion mechanism, a mounting frame and cover for the distance measuring unit 8, and a cover. The main frame is welded from stainless steel square tubes, and the mounting parts of each mechanism are reinforced with 20mm thick steel plates. It has the advantages of light weight and high rigidity. Multiple square tube bases are welded to the bottom and can be installed on the load-bearing base with screws.

[0064] like Figure 4As shown, the lifting unit 3 is installed on the base platform 1 and is used to drive the measuring frame 4 to move up and down. When measuring, the measuring frame 4 is driven to descend and supported on the sensor to bear the load, collect weight data, and then the measuring frame is raised after the measurement is completed to unload the sensor load, protect the sensor, and extend the service life of the measuring device. Specifically, the lifting unit 3 consists of four lifting modules 31, three bevel gear steering gears 33, a motor reducer 32, a transmission shaft and a coupling. The four lifting modules 31 are connected by three bevel gear steering gears 33 in the middle, and the motor reducer 32 is connected to the bevel gear steering gear 33 in the middle, together forming four linked "H"-shaped structures. The same motor is used, and the speed is adjusted through the same reducer. The output shaft is synchronously output to the transmission shafts of the four lifting modules, ensuring the synchronization of the lifting movement. At the same time, the lifting module 31 adopts a T-type screw drive and a linear guide guide to ensure the smoothness of the lifting and position repeatability. The head flanges of the four lifting modules 31 are respectively connected to the four end corners of the bottom of the measuring frame 4, thereby synchronously driving the measuring frame 4 and its upper components to move up and down to achieve separation and contact with the sensor.

[0065] The measuring frame 4 is a direct support structure located on the base platform 1, serving as a link between the upper and lower parts of the entire measuring device. The measuring frame 4 utilizes a frame-like structure welded from T6061 I-beam aluminum, offering the advantages of light weight and high rigidity. Two parallel linear guide rails 41 and two guide rail clamps are mounted on either side of the upper end. A support assembly 42 is mounted on the guide rails 41 via sliders and guide rail clamps. The clamps can be loosened and moved along the guide rails 41 along the length of the measuring frame 4 to enable measurement of the vessel under test with varying support spacing. An indenter, matching the position of three load cells 31, is mounted at the lower end of the measuring frame 4. During mass center of mass measurement, the indenter contacts the load cells 31, transmitting force, and the load cells 31 output the measurement data. A mass deflection measurement arm 62 is located in the middle of one side of the measuring frame 4, with a mass deflection pressure head 621 located below the end of the mass deflection measurement arm 62, which is welded from T6061 aluminum sheet. A bearing blade 61 is also provided below the measuring frame 4 and fixed by screws. When measuring mass deflection, the mass deflection pressure head 621 contacts the mass deflection sensor 22 to transmit force, and the mass deflection sensor 22 can output the measurement data.

[0066] The support assembly 42 consists of a V-shaped support member and a roller assembly. The roller assembly comprises rollers, axles, and self-aligning ball bearings. The rollers directly contact the fixture 5 and can drive it to rotate around its axis. The fixture 5 comprises an annular fixture 51, an adapter block 52, and a positioning assembly 53. The annular fixture 51 utilizes a three-ring assembly. The left and right adapter blocks are connected by embedded bolts and pinned to the lower adapter block, ensuring the fixture 51 can be assembled with the underwater vehicle. Both the inner and outer rings are perfectly circular, ensuring smooth rotation on the support assembly 42. The adapter blocks 52 can be customized in advance based on the outer diameter of the vehicle to be measured. Four adapter blocks are symmetrically mounted at 90° to the inner ring of the annular fixture 51, ensuring the universality of the measurement device. The positioning assembly 53 includes: four latch positioning seats 531 and two latches 532. The four latch positioning seats 531 are symmetrically installed on the circumference of the annular fixing member, and the two latches 532 are symmetrically arranged on the support assembly 42. The latches 532 are inserted into the latch positioning seats 532 to position the annular fixing member 51 after it is rotated to a specified angle to ensure rotation accuracy.

[0067] The distance measuring unit 8 is mounted at the front end of the base platform 1. It serves as the foundation for accurate center of mass measurement and is responsible for converting the coordinate system of the measured object into the coordinate system of the measurement device. The distance measuring unit 8 comprises a reference column 81 and a laser rangefinder 82. The reference column 81 is mounted to the front end of the base platform 1 via a connecting bracket. A dovetail-grooved slide sits atop the reference column. The laser rangefinder 82 is mounted on this slide via an L-shaped steel plate. The slide can be manually adjusted to the appropriate height based on the size of the measured object. The use of the laser rangefinder 82 as the length measurement unit ensures rapid, accurate, and repeatable measurements.

[0068] like Figure 6 As shown, the mass center mass deviation measurement conversion mechanism includes: a first movable unit 71 and a second movable unit 73. The first movable unit 71 and the second movable unit 73 are both linear guide pairs arranged along the width direction of the base platform 1. Both sets of linear guide pairs are equipped with mass center mass limit switches and mass deviation limit switches. The first movable unit 71 is installed inside the base platform 1, and a knife-edge load-bearing plate 72 is installed on it. The second movable unit 73 is installed on one side of the base platform 1 through a bracket, opposite to the mass deviation measurement arm 62, and a mass deviation sensor 22 is installed on it. The two linear guide pairs perform synchronous linear reciprocating motion under the drive of the servo motor. When the two knife-edge load-bearing plates 72 and the mass deviation sensor 22 move to the mass center mass limit switch position at the same time, it is in the mass center mass measurement state. When they move to the mass deviation limit switch position, it is in the mass deviation measurement state.

[0069] like Figure 8 As shown, three weighing sensors 21 are arranged in an isosceles triangle. Based on the principle of static force and moment balance, the mass and axial center of mass of the underwater vehicle to be measured are measured using a three-point measurement method. Figure 7-9 As shown, the specific process is:

[0070] (1) First, according to the length of the vehicle to be measured, move the front and rear support assemblies 42 of the measuring frame 4 to the appropriate position and fix them. Control the lifting unit 3 to raise the measuring frame 4 to the highest position and stop. Then, place and fix the vehicle to be measured in the fixed fixture 5.

[0071] (2) Through the mass center mass deviation measurement conversion mechanism, the blade load-bearing plate 72 is displaced from the load-bearing blade 61, and the mass deviation sensor 22 is displaced from the mass deviation pressure head 621 on the mass deviation measurement arm 62, so that the measuring frame 4 is in the mass center mass measurement state;

[0072] (3) Control the lifting unit 3 to lower the measuring frame 4 so that the three pressure heads on the measuring frame 4 contact the three weighing sensors 21 respectively, and collect the values ​​of the three weighing sensors 21 at this time;

[0073] (4) Measure the distance (L0) to the head of the vehicle to be measured (measurement reference) using the laser rangefinder 81;

[0074] (5) Finally, the mass M and the axial center of mass coordinate Xc of the vehicle to be tested are calculated. The mass of the underwater vehicle to be tested is calculated as follows:

[0075] Let F10, F20, and F30 be the measurement values ​​of the three weighing sensors 21 when they are unloaded (i.e., the vehicle to be measured has not yet been placed in the measuring device); F11, F21, and F31 be the measurement values ​​of the three weighing sensors 21 when they are loaded (i.e., the vehicle to be measured is placed in the measuring device); and M be the mass of the vehicle to be measured.

[0076] Then the mass M of the product to be tested is:

[0077] M=F1+F2+F3

[0078] Wherein: F1=F11–F10, F2=F21–F20, F3=F31–F30 are the change values ​​of the three weighing sensors 21 before and after the tested vehicle is loaded.

[0079] At this time, the axial center of mass of the underwater vehicle to be measured is calculated as follows:

[0080] like Figure 9 As shown, L1 is the distance from the line connecting the weighing sensor 2 / 3 to the laser rangefinder reference; Lg is the distance from the line connecting the weighing sensor 2 / 3 to the weighing sensor 1; L0 is the distance from the head of the vehicle to be measured (measurement reference) to the laser rangefinder reference; Xc is the axial center of mass coordinate of the vehicle to be measured.

[0081] Take the moment on the head of the vehicle to be measured, and according to the moment balance condition, we get:

[0082] MX c =(F2+F3)(L1-L0)+F1(L g +L1-L0)

[0083] And M=F1+F2+F3, then the axial center of mass coordinate Xc of the measured navigation body can be obtained as:

[0084]

[0085] (6) After the mass center measurement is completed, the measuring frame 4 is raised to separate it from the weighing sensor 21.

[0086] The mass deviation measurement status is as follows Figure 10 As shown, the measurement process is:

[0087] (1) Through the mass center mass deviation measurement conversion mechanism, the blade load-bearing plate 72 is aligned with the load-bearing blade 61, and the mass deviation sensor 22 is aligned with the mass deviation pressure head 6 on the mass deviation measurement arm 62;

[0088] (2) Control the lifting unit 3 to lower the measuring frame 4, so that the carrying blade 61 falls on the blade load-bearing plate 72. The mass deflection pressure head 621 on the mass deflection measuring arm 62 contacts the mass deflection sensor 22. The carrying blade 61 bears the weight of the vehicle to be measured, and the value of the mass deflection sensor 22 at this time is collected.

[0089] (3) Control the lifting unit 3 to raise the measuring frame 4 so that it is separated from the mass deviation sensor 22;

[0090] (4) Manually rotate the vehicle to be tested 90° clockwise and position it, then repeat step (2);

[0091] (5) Repeat steps (3) and (4) twice, i.e., perform a mass deviation measurement every 90° rotation, a total of 3 rotations, and perform measurements at 4 circumferential angles (i.e., 0°, 90°, 180°, and 270°). After each rotation into place, collect the mass deviation sensor 22 value in that state.

[0092] (6) Finally, the Y / Z direction mass deviation coordinates Yc and Zc of the vehicle to be tested are calculated; at this time, the radial mass deviation of the underwater vehicle to be tested is calculated as follows:

[0093] Le is the distance from the support point of the mass deflection sensor 22 to the load-bearing blade; M is the mass of the vehicle to be measured; P1, P2, P3, and P4 are the measurement values ​​of the mass deflection sensor 22 when the vehicle to be measured is at 0°, 90°, 180°, and 270°, respectively; Yc is the mass deflection coordinate of the vehicle to be measured in the Y direction; and Zc is the mass deflection coordinate of the vehicle to be measured in the Z direction.

[0094] According to the principle of static moment equilibrium, the following four equations can be obtained:

[0095] (EcosA+B)M=P1·L e

[0096] (EsinA+B)M=P2·L e

[0097] (B-EcosA)M=P3·L e

[0098] (B-EsinA)M=P4·L e

[0099] Where: E is the eccentricity of the vehicle to be measured; A is the eccentric angle of the vehicle to be measured; B is the distance from the load-bearing blade to the axis of the vehicle to be measured.

[0100] Solving the above system of equations yields:

[0101]

[0102] From this, the Y / Z coordinates of the vehicle to be measured can be obtained as follows:

[0103] Y c =EcosA

[0104] Z c =EsinA

[0105] (7) After the mass deflection measurement is completed, the measurement frame 4 is raised to separate it from the mass deflection sensor 22.

[0106] It should be noted that the calculations of the mass center and mass deviation mentioned above are all existing calculation methods, and the present utility model does not involve any improvement to the above calculation methods.

[0107] The above examples are used to illustrate the present invention, which are only used to help understand the present invention and are not intended to limit the present invention. Those skilled in the art of the present invention can make some simple deductions, modifications or substitutions based on the concept of the present invention.

Claims

1. A device for measuring the mass center of mass deviation of an underwater vehicle, comprising: A base platform (1), a distance measuring unit (8), a lifting unit (3), three weighing sensors (21) and a measuring frame (4), wherein the distance measuring unit (8) is located at one end of the base platform (1), and the lifting unit (3) is provided on the base platform (1) and is used to lift the measuring frame (4); characterized in that it also includes: Center of mass and mass deviation measurement conversion mechanism, used for conversion of mass center of mass and mass deviation measurement functions; A mass deflection measuring arm (62) is provided on one side of the measuring frame (4), and a mass deflection pressure head (621) is installed at the lower portion of one end thereof away from the measuring frame (4); A bearing blade (61) is provided at the bottom end of the measuring frame (4); The center of mass mass deviation measurement conversion mechanism includes: A first movable unit (71) is arranged along the width direction of the base platform (1), and a knife-edge bearing plate (72) is provided on the first movable unit (71) so that the position of the knife-edge bearing plate (72) is adjustable; A second movable unit (73) is provided on one side of the base platform (1), and a mass deviation sensor (22) is provided on the second movable unit (73), so that the position of the mass deviation sensor (22) is adjustable; When measuring the mass center, the measuring frame (4) is in contact with three weighing sensors (21); During mass deflection measurement, the bearing blade (61) falls on the blade bearing plate (72), and the mass deflection pressure head (621) on the mass deflection measurement arm (62) contacts the mass deflection sensor (22).

2. The device for measuring the mass center of mass deviation of an underwater vehicle according to claim 1, characterized in that: The support assemblies (42) at both ends of the measuring frame (4) are provided with fixing fixtures (5) for fixing the underwater vehicle, and the fixing fixtures (5) include: An annular fixing member (51) is configured to be an openable and closable structure; Adapting blocks (52) are detachably and evenly arranged inside the annular fixing member (51); The positioning assembly (53) is used for positioning the annular fixing member (51) after the annular fixing member (51) is rotated to a specified angle.

3. The device for measuring the mass center of mass deviation of an underwater vehicle according to claim 2, characterized in that: The positioning assembly (53) comprises: There are four latch positioning seats (531) evenly distributed on the circumference of the annular fixing member (51); At least one latch (532) is provided on the support assembly (42) of the measuring frame (4). The latch (532) is inserted into the latch positioning seat (531) and is used for positioning the annular fixing member (51) after it is rotated to a specified angle.

4. The device for measuring the mass center of mass deviation of an underwater vehicle according to claim 1, characterized in that: The second movable unit (73) is mounted on one side of the base platform (1) via a bracket. The second movable unit (73) is a linear guide pair, and the mass deviation sensor (22) is arranged on the linear guide pair.

5. The device for measuring the mass center of mass deviation of an underwater vehicle according to claim 1, characterized in that: The distance measuring unit (8) comprises: A reference column (81) is provided at one end of the base platform (1); The laser rangefinder (82) is slidably arranged on the reference column (81) in a vertical direction.

6. The device for measuring the mass center of mass deviation of an underwater vehicle according to claim 2, characterized in that: The support assembly (42) is configured to move along the length direction of the measuring frame (4), and comprises: The support member has a V-shaped structure; A roller group is arranged on the support member, and the roller group is in contact with the annular fixing member (51) and can drive the annular fixing member to rotate around an axis.

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