A two-degree-of-freedom compact stabilizing mechanism for underwater equipment

Abstract

The utility model relates to a two -freedom degree small -size stabilizing mechanism for underwater equipment, and the stabilizing mechanism mainly includes connecting rod, horizontal roll holder, pitch holder and equipment connecting flange. Horizontal roll drive mechanism is installed in horizontal roll holder, is used for driving pitch holder and its load part rotate around horizontal roll axis, pitch drive mechanism is installed in pitch holder, is used for driving equipment connecting flange and the equipment on it rotate around pitch axis. Two -stage rotating mechanism is independent and works in cooperation, can quickly compensate the horizontal roll and pitch movement of the load platform caused by wave, thereby keeping the space posture of detection equipment stable. The utility model is compact in structure, and the sealing is reliable, is especially applicable to the small -size unmanned underwater detection platform of space and load limitation.

Description

Technical Field

[0001] This utility model relates to the field of marine underwater machinery and equipment technology, and in particular to a small two-degree-of-freedom stabilizing mechanism for underwater equipment. Background Technology

[0002] With the increasing demand for marine resource exploration and environmental monitoring, miniaturized and lightweight unmanned marine exploration platforms (such as USVs and AUVs) have been widely used. These platforms typically carry various underwater detection devices (such as sonar, cameras, and sensors) to perform their tasks. However, due to their size and tonnage limitations, small platforms are susceptible to interference from waves and currents in complex marine environments, resulting in significant multi-degree-of-freedom movements, including roll (around the longitudinal axis) and pitch (around the lateral axis). This unstable motion is directly transmitted to the onboard detection equipment, causing swaying of the equipment's line of sight, decreased data acquisition quality, and even mission failure.

[0003] Stabilization technology is crucial for isolating platform motion from the impact on load equipment. Existing technologies for stabilization platforms suitable for large ships or platforms typically employ complex and bulky multi-axis gyro stabilization or hydraulic drive systems, which are large in size, weight, and power consumption, making them difficult to directly adapt to small unmanned platforms with limited space, payload, and energy. For small platforms, common solutions either employ simple single-degree-of-freedom stabilization mechanisms with limited compensation capabilities, or attempt to simplify and scale down large stabilization mechanisms, but often struggle to achieve a good balance between compactness, response speed, sealing reliability, and manufacturing cost. Specifically, designing a compact, reliable, and easily integrated small mechanical stabilization mechanism capable of simultaneously and rapidly compensating for roll and pitch motions within extremely limited space constraints has become a pressing technical challenge in this field.

[0004] This invention addresses the shortcomings of the prior art by proposing a two-degree-of-freedom stabilization mechanism specifically for small underwater equipment. Utility Model Content

[0005] To solve the above-mentioned technical problems, this utility model provides a small two-degree-of-freedom stabilization mechanism for underwater equipment, including an equipment connecting flange 5, a pitch drive mechanism 8, a pitch retainer 7, a roll drive mechanism 2, a roll retainer 3, and a connecting rod 1.

[0006] The equipment connection flange 5 is used to install the underwater equipment to be stabilized and is rotatably connected to the pitch retainer 7 about the pitch axis.

[0007] The pitch drive mechanism 8 is mounted on the pitch retainer 7, and its output end is driven to the equipment connection flange 5, which is used to drive the equipment connection flange 5 and the equipment on it to reciprocate around the pitch axis.

[0008] The pitch cage 7 is rotatably connected relative to the roll cage 3 about the roll axis;

[0009] The roll drive mechanism 2 is mounted on the roll cage 3, and its output end is driven to the pitch cage 7, which is used to drive the pitch cage 7 and its supporting components to reciprocate around the roll axis.

[0010] The roll retainer 3 is located at one end of the connecting rod 1; and the connecting rod 1 is used to connect to an external support platform.

[0011] Through the coordinated drive of the pitch drive mechanism 8 and the roll drive mechanism 2, the movement of the bearing platform in both pitch and roll directions is compensated, and the spatial attitude of the equipment on the equipment connection flange 5 is kept stable.

[0012] In one embodiment of the present invention, a roll limiting block 4 is further included, which is disposed on the roll retainer 3 and is used to limit the range of rotation angle of the pitch retainer 7 around the roll axis.

[0013] In one embodiment of this utility model, it further includes: a pitch limiting block 6, disposed on the pitch retainer 7, for limiting the rotation angle range of the equipment connecting flange 5 around the pitch axis.

[0014] In one embodiment of the present invention, the roll drive mechanism 2 includes a rotary actuator I10, a shaft I13 and a shaft III21 driven by the rotary actuator I10, a bearing I11 supporting the shaft I13, a bearing III19 supporting the shaft III21, a sealing housing I9 and a sealing end cap II20 for sealing, and a combined dynamic seal I12 and a combined dynamic seal III22 disposed on the shaft I13 and the shaft III21.

[0015] In one embodiment of the present invention, the pitch drive mechanism 8 includes a rotary actuator II26, a shaft II18 and a shaft IV23 driven by the rotary actuator II26, a bearing II16 supporting the shaft II18, a bearing IV25 supporting the shaft IV23, a sealing housing II27 and a sealing end cap I15 for sealing, and a combined dynamic seal II17 and a combined dynamic seal IV24 disposed on the shaft II18 and the shaft IV23.

[0016] In one embodiment of the present invention, a counterweight 14 is further included, which is disposed on the pitch retainer 7 and is used to balance the center of gravity of the pitch retainer 7 and its supporting components around the roll axis.

[0017] Compared with the prior art, the above-mentioned technical solution of this utility model has the following advantages: The two-degree-of-freedom small stabilizing mechanism of this utility model adopts a two-stage independent drive structure, realizing efficient decoupling and rapid coordinated compensation of roll and pitch motions, resulting in a rapid response. The overall structure is compact and lightweight, making it particularly suitable for integration into small unmanned platforms. Through multiple static seals and combined dynamic seals, the reliability of long-term underwater operation is ensured. Mechanical limit and counterweight balance design further enhances the stability and safety of the system. Attached Figure Description

[0018] To make the content of this utility model easier to understand, the present utility model will be further described in detail below with reference to specific embodiments and accompanying drawings.

[0019] Figure 1 This is a schematic diagram of the structure of the two-degree-of-freedom small stabilization mechanism for underwater equipment according to this utility model;

[0020] Figure 2 This is a schematic diagram of the stabilizing mechanism of the present invention in its rolling working state.

[0021] Figure 3 This is a schematic diagram of the pitch working state rotation of the stabilizing mechanism described in this utility model.

[0022] Figure 4 This is a cross-sectional schematic diagram of the transmission part of the stabilizing mechanism described in this utility model.

[0023] As shown in the figure: 1. Connecting rod; 2. Roll drive mechanism; 3. Roll retainer; 4. Roll limit block; 5. Equipment connecting flange; 6. Pitch limit block; 7. Pitch retainer; 8. Pitch drive mechanism; 9. Sealing housing I; 10. Rotary actuator I; 11. Bearing I; 12. Combined dynamic seal I; 13. Shaft I; 14. Counterweight; 15. Sealing end cover I; 16. Bearing II; 17. Combined dynamic seal II; 18. Shaft II; 19. Bearing III; 20. Sealing end cover II; 21. Shaft III; 22. Combined dynamic seal III; 23. Shaft IV; 24. Combined dynamic seal IV; 25. Bearing IV; 26. Rotary actuator II; 27. Sealing housing II. Detailed Implementation

[0024] like Figures 1-4As shown, this embodiment provides a small two-degree-of-freedom stabilizing mechanism for underwater equipment. Its core function is to isolate the roll and pitch motions of an external support platform (such as a small unmanned surface vessel) and maintain the attitude stability of the underwater detection equipment (such as sonar and cameras) mounted on it. The mechanism adopts a nested two-stage rotation structure and has a compact overall design.

[0025] The stabilization mechanism mainly includes, from top to bottom (viewed from the support platform towards the equipment to be stabilized), a connecting rod 1, a roll retainer 3, a pitch retainer 7, and an equipment connecting flange 5. Motion drive and compensation functions are achieved by independent roll drive and pitch drive mechanisms.

[0026] The specific platform connection and first-level (roll) rotation components include:

[0027] Connecting rod 1: Serves as the interface between this mechanism and an external small unmanned platform. Its lower end is fixedly connected to the roll retainer 3, and its upper end is equipped with an installation interface. Cables can pass through the hollow section to facilitate the transition between signal and power transmission.

[0028] Roll cage 3: As one of the main frames of the mechanism, its upper part is fixed to the connecting rod 1, and its lower part is connected to the pitch cage 7 through a rotating joint. It provides the mounting base for the roll drive mechanism.

[0029] Roll drive mechanism: Integrated inside the roll cage 3, used to drive the pitch cage 7 to reciprocate about the roll axis (generally along the bow-stern direction of the platform). Specifically, this mechanism includes:

[0030] Rotary actuator I10: as a power source, such as a small servo motor or stepper motor.

[0031] The drive shaft system includes shaft I13, which is directly driven by rotary actuator I10, and shaft III 21, which is synchronously driven by coupling or gear set. These two shafts pass through the roll cage 3 from both sides and are fixedly connected to the pitch cage 7, thereby transmitting torque to the pitch cage 7.

[0032] Support and Sealing: Shaft I13 is supported by bearing I11, and shaft III21 is supported by bearing III19. The sealing housing I9 and the sealing end cover II20 together form a sealed cavity, encapsulating the rotary actuator I10, bearing I11, and bearing III19 to achieve an underwater static seal. At the rotating portions of shafts I13 and III21 extending out of this cavity, combined dynamic seals I12 and III22 are respectively provided to prevent external water intrusion, achieving an underwater dynamic seal.

[0033] Roll limit block 4: Fixedly installed on the roll cage 3, located on the rotation path of the pitch cage 7. Its function is to mechanically limit the maximum rotation angle of the pitch cage 7 around the roll axis, preventing damage to the mechanism due to overload or control failure.

[0034] The other two-stage (pitch) rotation and equipment installation components include:

[0035] Pitch cage 7: Serves as an intermediate carrier connecting roll and pitch motions. Its two sides are fixed to shafts I 13 and III 21 of the roll drive mechanism via bearings, thus enabling roll rotation relative to the roll cage 3. Simultaneously, it also serves as a mounting platform for the pitch drive mechanism and the equipment connection flange 5.

[0036] Pitch drive mechanism: Integrated and mounted inside the pitch retainer 7, used to drive the equipment connecting flange 5 to reciprocate around the pitch axis (approximately along the port and starboard sides of the platform, perpendicular to the roll axis). Specifically, this mechanism includes:

[0037] Rotary actuator II 26: as a power source.

[0038] Drive system: including shaft II 18 driven by rotary actuator II 26 and synchronously driven shaft IV 23. These two shafts pass through the pitch cage 7 from both sides and are fixedly connected to the equipment connection flange 5.

[0039] Support and Sealing: Shaft II 18 is supported by bearing II 16, and shaft IV 23 is supported by bearing IV 25. Sealing housing II 27 and sealing end cap I15 form another sealed cavity, encapsulating rotary actuator II 26, bearing II 16, and bearing IV 25 to achieve a static seal. Combined dynamic seal II 17 and combined dynamic seal IV 24 are respectively provided at the rotating protrusions of shaft II 18 and shaft IV 23 to achieve dynamic seals.

[0040] Equipment connection flange 5: Used for final installation of underwater detection equipment. Its two sides are fixed to shaft II 18 and shaft IV 23 of the pitch drive mechanism, allowing pitch rotation relative to the pitch retainer 7. The equipment is rigidly connected to the stabilization mechanism via this flange.

[0041] Pitch limit block 6: Fixedly installed on pitch retainer 7, located on the rotation path of equipment connecting flange 5, used to mechanically limit the maximum rotation angle of equipment connecting flange 5 around pitch axis.

[0042] Counterweight 14: Installed on the pitch retainer 7, its position and mass are configured by calculation. Its main function is to balance the center of gravity of the pitch retainer 7, pitch drive mechanism and equipment connection flange 5 (including equipment) as a whole assembly around the roll axis, making it as close as possible to the roll axis, thereby reducing the unbalanced torque that the roll drive mechanism needs to overcome, improving response speed and reducing power consumption.

[0043] In this embodiment, when the platform is subjected to rolling motion by waves, the control system drives the roll drive mechanism (rotary actuator I10) to rotate in the opposite direction through the shaft system (shaft I13, shaft III21) and all the components carried on it (including the pitch drive mechanism, equipment connection flange 5 and equipment) to compensate for the roll angular displacement of the platform.

[0044] When the platform pitches, the control system independently drives the pitch drive mechanism (rotary actuator II26) to rotate in the opposite direction via the shaft system (shaft II18, shaft IV23), thereby compensating for the platform's pitch displacement.

[0045] Through real-time coordinated control of the two drive mechanisms, the underwater equipment on the equipment connection flange 5 can maintain a relatively stable orientation in space, unaffected by the platform's swaying.

[0046] The mechanism shown in this embodiment of the utility model has the characteristics of compact structure, two-stage motion decoupling, reliable sealing, and suitability for small underwater platforms, effectively solving the technical problems described in the background art.

[0047] Obviously, the above embodiments are merely illustrative examples for clear explanation and are not intended to limit the implementation. Those skilled in the art will recognize that other variations or modifications can be made based on the above description. It is neither necessary nor possible to exhaustively list all possible implementations here. However, obvious variations or modifications derived therefrom are still within the protection scope of this invention.

Claims

1. A small, two-degree-of-freedom stabilizing mechanism for underwater equipment, characterized in that: It includes a device connection flange (5), a pitch drive mechanism (8), a pitch retainer (7), a roll drive mechanism (2), a roll retainer (3), and a connecting rod (1); The equipment connection flange (5) is used to install the underwater equipment to be stabilized and is rotatably connected about the pitch axis relative to the pitch retainer (7); The pitch drive mechanism (8) is mounted on the pitch retainer (7), and its output end is driven to be connected to the equipment connection flange (5) for driving the equipment connection flange (5) and the equipment on it to reciprocate around the pitch axis. The pitch retainer (7) is rotatably connected relative to the roll retainer (3) about the roll axis; The roll drive mechanism (2) is mounted on the roll cage (3), and its output end is driven to the pitch cage (7) to drive the pitch cage (7) and its supporting components to reciprocate around the roll axis. The roll retainer (3) is located at one end of the connecting rod (1); and the connecting rod (1) is used to connect with the external bearing platform; and is driven by the pitch drive mechanism (8) and the roll drive mechanism (2).

2. The two-degree-of-freedom small stabilizing mechanism according to claim 1, characterized in that, Also includes: A roll limit block (4) is disposed on the roll retainer (3).

3. The two-degree-of-freedom small stabilizing mechanism according to claim 1, characterized in that, Also includes: The pitch limiting block (6) is mounted on the pitch retainer (7).

4. The two-degree-of-freedom small stabilizing mechanism according to claim 1, characterized in that: The roll drive mechanism (2) includes a rotary actuator I (10), a shaft I (13) and a shaft III (21) driven by the rotary actuator I (10), a bearing I (11) supporting the shaft I (13), a bearing III (19) supporting the shaft III (21), a sealing housing I (9) and a sealing end cap II (20) for sealing, and a combined dynamic seal I (12) and a combined dynamic seal III (22) disposed on the shaft I (13) and the shaft III (21).

5. The two-degree-of-freedom small stabilizing mechanism according to claim 1, characterized in that: The pitch drive mechanism (8) includes a rotary actuator II (26), a shaft II (18) and a shaft IV (23) driven by the rotary actuator II (26), a bearing II (16) supporting the shaft II (18), a bearing IV (25) supporting the shaft IV (23), a sealing housing II (27) and a sealing end cap I (15) for sealing, and a combined dynamic seal II (17) and a combined dynamic seal IV (24) disposed on the shaft II (18) and the shaft IV (23).

6. The two-degree-of-freedom small stabilizing mechanism according to claim 1, characterized in that, Also includes: The counterweight (14) is mounted on the pitch retainer (7).

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