CN108482623A - A kind of joint attitude regulating mechanism for underwater glider - Google Patents
A kind of joint attitude regulating mechanism for underwater glider Download PDFInfo
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- CN108482623A CN108482623A CN201810106729.5A CN201810106729A CN108482623A CN 108482623 A CN108482623 A CN 108482623A CN 201810106729 A CN201810106729 A CN 201810106729A CN 108482623 A CN108482623 A CN 108482623A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/14—Control of attitude or depth
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Abstract
本发明提供了一种用于水下滑翔机的联合姿态调节装置，包括主轴、前主轴导套、后主轴导套、俯仰电机组、直线位移传感器、丝杠、丝杠螺母、横滚电机组、横滚机构行星轮、横滚机构太阳轮、电池组、横滚开口滑块、横滚导轨、角度传感器等。电池组作为调节重物，安装在主轴上，并与丝杠螺母连接；俯仰电机组驱动丝杠，带动电池组移动从而改变滑翔机轴向重心实现俯仰姿态调节；横滚电机组与横滚机构行星齿轮组连接，带动电池组旋转从而改变滑翔机周向重心实现横滚姿态调节。该联合姿态调节装置可同时调节水下滑翔机的俯仰姿态和横滚姿态，并且调节范围大、结构紧凑、体积重量小、功耗小、可靠性高，使水下滑翔机的负载能力得到增强。
The invention provides a combined attitude adjustment device for underwater glider, which includes a main shaft, a front main shaft guide bush, a rear main shaft guide bush, a pitch motor unit, a linear displacement sensor, a lead screw, a lead screw nut, a roll motor unit, Rolling mechanism planetary gear, rolling mechanism sun gear, battery pack, rolling opening slider, rolling guide rail, angle sensor, etc. As an adjustment weight, the battery pack is installed on the main shaft and connected with the lead screw nut; the pitch motor set drives the lead screw to move the battery pack to change the axial center of gravity of the glider to adjust the pitch attitude; the roll motor set and the roll mechanism planet The gear set is connected to drive the battery pack to rotate so as to change the circumferential center of gravity of the glider to adjust the roll attitude. The joint attitude adjustment device can simultaneously adjust the pitch attitude and roll attitude of the underwater glider, and has a large adjustment range, compact structure, small volume and weight, low power consumption, and high reliability, so that the load capacity of the underwater glider is enhanced.
Description
技术领域technical field
本发明涉及一种姿态调节装置，特别是一种用于水下滑翔机的联合姿态调节装置。The invention relates to an attitude adjustment device, in particular to a combined attitude adjustment device for an underwater glider.
背景技术Background technique
水下滑翔机是一种新型的无人水下探测平台，其结构简单、体积小、重量轻、成本低，维护和使用方便，具有作业范围广、作业时间长、机动可控、可重复利用等特点。水下滑翔机是通过改变自身的浮力状态和姿态角(俯仰角和横滚角)来实现滑翔运动的，即在保持其自身重力不变的条件下，改变滑翔机的排水体积，从而改变滑翔机的浮力状态；通过改变滑翔机内部机构的位置来改变重心的位置，从而改变滑翔机的姿态角。因此，姿态调节装置是控制水下滑翔机运动状态的关键装置之一。The underwater glider is a new type of unmanned underwater detection platform. It has a simple structure, small size, light weight, low cost, easy maintenance and use, and has the advantages of wide operating range, long operating time, controllable maneuverability, and reusability. features. The underwater glider realizes gliding motion by changing its own buoyancy state and attitude angle (pitch angle and roll angle), that is, under the condition of keeping its own gravity constant, changing the displacement volume of the glider, thereby changing the buoyancy of the glider State; by changing the position of the internal mechanism of the glider to change the position of the center of gravity, thereby changing the attitude angle of the glider. Therefore, the attitude adjustment device is one of the key devices to control the motion state of the underwater glider.
现有的水下滑翔机姿态调节装置，将俯仰姿态调节装置和横滚姿态调节装置分别独立设计，体积重量大，集成优化度低，占用耐压空间多，从而导致水下滑翔机的负载能力差。The existing underwater glider attitude adjustment device is independently designed for the pitch attitude adjustment device and the roll attitude adjustment device, which has a large volume and weight, a low degree of integration optimization, and takes up a lot of pressure-resistant space, resulting in poor load capacity of the underwater glider.
发明内容Contents of the invention
针对现有技术存在的不足和缺陷，本发明要解决的技术问题是提供一种用于水下滑翔机的联合姿态调节装置。其能够同时调节水下滑翔机的俯仰姿态和横滚姿态，并且调节范围大、结构紧凑、体积重量小、功耗小、可靠性高，使水下滑翔机的负载能力得到增强。Aiming at the deficiencies and defects of the prior art, the technical problem to be solved by the present invention is to provide a joint attitude adjustment device for underwater glider. It can simultaneously adjust the pitching attitude and rolling attitude of the underwater glider, and has a large adjustment range, compact structure, small volume and weight, low power consumption, and high reliability, so that the load capacity of the underwater glider is enhanced.
本发明是通过下述技术方案来实现的。一种用于水下滑翔机的联合姿态调节装置包括：主轴、前主轴导套、电池包横跨、A前电池包盖、B前电池包盖、直线位移传感器动端固定支架、A电池包中间支架、俯仰电机组编码器、俯仰电机组制动器、B电池包中间支架、俯仰电机组、俯仰电机连接支架、联轴器、俯仰机构电机支架、直线位移传感器、前丝杠螺丝紧固螺帽、丝杠轴承座、横滚传动导轨基架、丝杠、丝杠螺母及连接座、横滚电机组编码器、横滚电机组制动器、横滚电机组、后丝杠螺丝紧固螺帽、垂向支架、横滚机构行星轮、横滚机构太阳轮、主轴轴承、后主轴导套、后俯仰横滚配重块、A后电池包盖、B后电池包盖、C后电池包盖、电池组、C前电池包盖、前俯仰横滚配重块、横滚开口滑块、横滚导轨、角度传感器、角度传感器行星轮、角度传感器支架。The present invention is achieved through the following technical solutions. A combined attitude adjustment device for an underwater glider includes: main shaft, front main shaft guide sleeve, battery pack spanning, A front battery pack cover, B front battery pack cover, linear displacement sensor moving end fixing bracket, A battery pack middle Bracket, pitch motor unit encoder, pitch motor unit brake, B battery pack intermediate bracket, pitch motor unit, pitch motor connection bracket, coupling, pitch mechanism motor bracket, linear displacement sensor, front screw screw fastening nut, Screw bearing housing, roll transmission guide rail base frame, lead screw, screw nut and connecting seat, roll motor unit encoder, roll motor unit brake, roll motor unit, rear screw screw fastening nut, vertical Bracket, planetary wheel of roll mechanism, sun gear of roll mechanism, main shaft bearing, rear main shaft guide bush, rear pitch and roll counterweight, A rear battery pack cover, B rear battery pack cover, C rear battery pack cover, battery Group, C front battery pack cover, front pitch and roll counterweight, roll opening slider, roll guide rail, angle sensor, angle sensor planetary wheel, angle sensor bracket.
所述的电池组穿过A电池包中间支架和B电池包中间支架，两端分别固定于B前电池包盖和C后电池包盖；B前电池包盖与A前电池包盖和C前电池包盖机械连接，C后电池包盖与A后电池包盖和B后电池包盖机械连接，C前电池包盖上固定有前主轴导套和前俯仰横滚配重块，A后电池包盖上固定有后主轴导套和后俯仰横滚配重块；前主轴导套和后主轴导套为中空结构且分别套在主轴上，可沿主轴前后移动或周向转动；电池包横跨两端分别与前主轴导套和后主轴导套机械连接，丝杠螺母及连接座底部与电池包横跨机械连接；直线位移传感器动端通过直线位移传感器动端固定支架与B前电池包盖机械连接，用于测量电池组的调节距离。The battery pack passes through the middle bracket of battery pack A and the middle bracket of battery pack B, and the two ends are respectively fixed on the front battery pack cover of B and the rear battery pack cover of C; the front battery pack cover of B is connected with the front battery pack cover of A and the front battery pack cover of C. The battery pack cover is mechanically connected, the rear battery pack cover of C is mechanically connected with the rear battery pack cover of A and the rear battery pack cover of B, the front main shaft guide sleeve and the front pitch and roll counterweight are fixed on the front battery pack cover of C, and the rear battery pack of A The rear main shaft guide sleeve and the rear pitch and roll counterweight are fixed on the package cover; the front main shaft guide sleeve and the rear main shaft guide sleeve are hollow structures and are respectively set on the main shaft, and can move forward and backward along the main shaft or rotate in the circumferential direction; The two ends of the span are mechanically connected to the front spindle guide bush and the rear spindle guide bush respectively, and the screw nut and the bottom of the connection seat are mechanically connected to the battery pack across the span; the moving end of the linear displacement sensor is connected to the front battery pack of B through the moving end fixing bracket of the linear displacement sensor The cover is mechanically connected to measure the adjustment distance of the battery pack.
所述的垂向支架下端与主轴轴承机械连接，主轴轴承安装于主轴上且轴向位置固定；垂向支架上安装有俯仰机构电机支架和横滚传动导轨基架，其中俯仰机构电机支架上安装有俯仰电机连接支架和丝杠轴承座，横滚传动导轨基架上安装有横滚导轨、直线位移传感器固定端及横滚电机组；横滚电机组与横滚机构行星轮机械连接，横滚机构行星轮与横滚机构太阳轮啮合；横滚开口滑块安装于C后电池包盖上，与横滚导轨同轴安装且可轴向移动，用于传递横滚扭矩。The lower end of the vertical support is mechanically connected to the main shaft bearing, and the main shaft bearing is installed on the main shaft and its axial position is fixed; the vertical support is equipped with a pitch mechanism motor support and a rolling transmission guide rail base frame, wherein the pitch mechanism motor support is installed There are pitch motor connection brackets and screw bearing seats, roll guide rails, linear displacement sensor fixed ends and roll motor units are installed on the roll transmission guide rail base frame; the roll motor units are mechanically connected with the planetary wheels of the roll mechanism, and the roll The planetary gear of the mechanism meshes with the sun gear of the rolling mechanism; the rolling opening slider is installed on the rear battery pack cover of C, coaxially installed with the rolling guide rail and can move axially, and is used to transmit the rolling torque.
所述的俯仰电机组固定于俯仰电机连接支架上，俯仰电机组输出端通过联轴器与丝杠机械连接，丝杠由丝杠轴承座支撑，丝杠两端分别装有前丝杠螺丝紧固螺帽和后丝杠螺丝紧固螺帽；垂向支架与角度传感器支架一端固接，角度传感器支架另一端与角度传感器和角度传感器行星轮同轴连接，角度传感器行星轮与横滚机构太阳轮啮合，用于测量电池组的旋转角度；电池组除了为水下滑翔机提供电能之外，还是姿态调节装置中的调节重物。The pitching motor unit is fixed on the pitching motor connection bracket, the output end of the pitching motor unit is mechanically connected to the lead screw through a coupling, the lead screw is supported by the lead screw bearing seat, and the two ends of the lead screw are respectively equipped with front lead screw screws. The fixed nut and the rear lead screw screw fasten the nut; the vertical bracket is fixedly connected to one end of the angle sensor bracket, and the other end of the angle sensor bracket is coaxially connected to the angle sensor and the angle sensor planetary wheel, and the angle sensor planetary wheel is connected to the sun of the roll mechanism. The wheel meshes to measure the angle of rotation of the battery pack; in addition to powering the underwater glider, the battery pack is also the adjustment weight in the attitude control unit.
本发明的有益效果：本发明所提供的一种用于水下滑翔机的联合姿态调节装置可同时调节水下滑翔机的俯仰姿态和横滚姿态，并且俯仰角和横滚角的调节范围大；联合姿态调节装置结构紧凑，体积重量小，功耗小，可靠性高；联合姿态调节装置采用丝杠传动副调节重心轴向位置、行星齿轮副调节重心周向位置，姿态调节精度高；联合姿态调节装置采用标准零部件，大部分零部件无需特殊加工，互换性好；联合姿态调节装置采用电池组作为姿态调节重物，减轻了调节装置本身的重量，从而增强了水下滑翔机的负载能力。Beneficial effects of the present invention: a combined attitude adjustment device for underwater glider provided by the present invention can simultaneously adjust the pitch attitude and roll attitude of the underwater glider, and the adjustment range of pitch angle and roll angle is large; The attitude adjustment device has compact structure, small volume and weight, low power consumption and high reliability; the joint attitude adjustment device adopts the screw transmission pair to adjust the axial position of the center of gravity, and the planetary gear pair to adjust the circumferential position of the center of gravity, and the attitude adjustment accuracy is high; the joint attitude adjustment The device adopts standard parts, most parts do not need special processing, and the interchangeability is good; the joint attitude adjustment device uses a battery pack as an attitude adjustment weight, which reduces the weight of the adjustment device itself, thereby enhancing the load capacity of the underwater glider.
附图说明Description of drawings
图1是本发明水下滑翔机的联合姿态调节装置的内部结构图；Fig. 1 is the internal structural diagram of the combined attitude adjustment device of underwater glider of the present invention;
图2是本发明水下滑翔机的联合姿态调节装置的A-A横剖面图；Fig. 2 is the A-A cross-sectional view of the joint attitude adjustment device of the underwater glider of the present invention;
图3是本发明水下滑翔机的联合姿态调节装置的B-B横剖面图；Fig. 3 is the B-B cross-sectional view of the combined attitude adjustment device of the underwater glider of the present invention;
图4是本发明水下滑翔机的联合姿态调节装置的C-C横剖面图。Fig. 4 is the C-C cross-sectional view of the joint attitude adjustment device of the underwater glider of the present invention.
具体实施方式Detailed ways
以下将结合附图和实施例对本发明的具体实施作进一步描述。The specific implementation of the present invention will be further described below in conjunction with the drawings and embodiments.
如图1所示，本发明包括：主轴1、前主轴导套2、电池包横跨3、A前电池包盖4、B前电池包盖5、直线位移传感器动端固定支架6、A电池包中间支架7、俯仰电机组编码器8、俯仰电机组制动器9、B电池包中间支架10、俯仰电机组11、俯仰电机连接支架12、联轴器13、俯仰机构电机支架14、直线位移传感器15、前丝杠螺丝紧固螺帽16、丝杠轴承座17、横滚传动导轨基架18、丝杠19、丝杠螺母及连接座20、横滚电机组编码器21、横滚电机组制动器22、横滚电机组23、后丝杠螺丝紧固螺帽24、垂向支架25、横滚机构行星轮26、横滚机构太阳轮27、主轴轴承28、后主轴导套29、后俯仰横滚配重块30、A后电池包盖31、B后电池包盖32、C后电池包盖33、电池组34、C前电池包盖35、前俯仰横滚配重块36、横滚开口滑块37、横滚导轨38、角度传感器39、角度传感器行星轮40、角度传感器支架41。As shown in Figure 1, the present invention includes: main shaft 1, front main shaft guide sleeve 2, battery pack spanning 3, A front battery pack cover 4, B front battery pack cover 5, linear displacement sensor moving end fixing bracket 6, A battery Package middle bracket 7, pitch motor unit encoder 8, pitch motor unit brake 9, B battery pack middle bracket 10, pitch motor unit 11, pitch motor connection bracket 12, coupling 13, pitch mechanism motor bracket 14, linear displacement sensor 15. Front lead screw screw fastening nut 16, lead screw bearing seat 17, roll transmission guide rail base frame 18, lead screw 19, lead screw nut and connecting seat 20, roll motor unit encoder 21, roll motor unit Brake 22, rolling motor unit 23, rear screw screw fastening nut 24, vertical support 25, planetary wheel of rolling mechanism 26, sun gear of rolling mechanism 27, main shaft bearing 28, rear main shaft guide bush 29, rear pitch Roll counterweight 30, A rear battery pack cover 31, B rear battery pack cover 32, C rear battery pack cover 33, battery pack 34, C front battery pack cover 35, front pitch and roll counterweight 36, roll Opening slider 37 , roll guide rail 38 , angle sensor 39 , angle sensor planetary wheel 40 , angle sensor bracket 41 .
结合图2~4所示，电池组34穿过A电池包中间支架7和B电池包中间支架10，两端分别固定于B前电池包盖5和C后电池包盖33；B前电池包盖5与A前电池包盖4和C前电池包盖35机械连接，C后电池包盖33与A后电池包盖31和B后电池包盖32机械连接，C前电池包盖35上固定有前主轴导套2和前俯仰横滚配重块36，A后电池包盖31上固定有后主轴导套29和后俯仰横滚配重块30；前主轴导套2和后主轴导套29为中空结构且分别套在主轴1上，可沿主轴1前后移动或周向转动；电池包横跨3两端分别与前主轴导套2和后主轴导套29机械连接，丝杠螺母及连接座20底部与电池包横跨3机械连接；直线位移传感器15动端通过直线位移传感器动端固定支架6与B前电池包盖5机械连接，用于测量电池组34的调节距离。As shown in Figures 2 to 4, the battery pack 34 passes through the middle bracket 7 of the battery pack A and the middle bracket 10 of the battery pack B, and the two ends are respectively fixed on the front battery pack cover 5 of B and the rear battery pack cover 33 of C; Cover 5 is mechanically connected to A front battery pack cover 4 and C front battery pack cover 35, C rear battery pack cover 33 is mechanically connected to A rear battery pack cover 31 and B rear battery pack cover 32, and C front battery pack cover 35 is fixed There are front main shaft guide bush 2 and front pitch and roll counterweight 36, A rear main shaft guide bush 29 and rear pitch and roll counterweight 30 are fixed on rear battery pack cover 31; front main shaft guide bush 2 and rear main shaft guide bush 29 is a hollow structure and is respectively set on the main shaft 1, and can move back and forth along the main shaft 1 or rotate in the circumferential direction; the two ends of the battery pack across the 3 are respectively mechanically connected with the front main shaft guide sleeve 2 and the rear main shaft guide sleeve 29, and the lead screw nut and The bottom of the connection seat 20 is mechanically connected to the battery pack spanning 3; the moving end of the linear displacement sensor 15 is mechanically connected to the front battery pack cover 5 of B through the moving end fixing bracket 6 of the linear displacement sensor for measuring the adjustment distance of the battery pack 34.
垂向支架25下端与主轴轴承28机械连接，主轴轴承28安装于主轴1上且轴向位置固定；垂向支架25上安装有俯仰机构电机支架14和横滚传动导轨基架18，其中俯仰机构电机支架14上安装有俯仰电机连接支架12和丝杠轴承座17，横滚传动导轨基架18上安装有横滚导轨38、直线位移传感器15固定端及横滚电机组23；横滚电机组23与横滚机构行星轮26机械连接，横滚机构行星轮26与横滚机构太阳轮27啮合；横滚开口滑块37安装于C后电池包盖33上，与横滚导轨38同轴安装且可轴向移动，用于传递横滚扭矩。The lower end of the vertical support 25 is mechanically connected with the main shaft bearing 28, and the main shaft bearing 28 is installed on the main shaft 1 and its axial position is fixed; A pitch motor connection bracket 12 and a screw bearing seat 17 are installed on the motor bracket 14, and a roll guide rail 38, a fixed end of a linear displacement sensor 15 and a roll motor unit 23 are installed on the roll transmission guide rail base frame 18; 23 is mechanically connected with the planetary wheel 26 of the roll mechanism, and the planetary wheel 26 of the roll mechanism meshes with the sun gear 27 of the roll mechanism; And it can move axially to transmit rolling torque.
俯仰电机组11固定于俯仰电机连接支架12上，俯仰电机组11输出端通过联轴器13与丝杠19机械连接，丝杠19由丝杠轴承座17支撑，丝杠19两端分别装有前丝杠螺丝紧固螺帽16和后丝杠螺丝紧固螺帽24；垂向支架25与角度传感器支架41一端固接，角度传感器支架41另一端与角度传感器39和角度传感器行星轮40同轴连接，角度传感器行星轮40与横滚机构太阳轮27啮合，用于测量电池组34的旋转角度；电池组34除了为水下滑翔机提供电能之外，还是姿态调节装置中的调节重物。The pitching motor unit 11 is fixed on the pitching motor connecting bracket 12, the output end of the pitching motor unit 11 is mechanically connected with the lead screw 19 through the coupling 13, the lead screw 19 is supported by the lead screw bearing housing 17, and the two ends of the lead screw 19 are respectively equipped with Front leading screw screw fastening nut 16 and rear leading screw screw fastening nut 24; Vertical support 25 is affixed with angle sensor support 41 one end, and the other end of angle sensor support 41 is the same with angle sensor 39 and angle sensor planetary wheel 40 The shaft is connected, and the angle sensor planetary gear 40 is meshed with the roll mechanism sun gear 27, and is used to measure the rotation angle of the battery pack 34; the battery pack 34 is also an adjustment weight in the attitude adjustment device except providing electric energy for the underwater glider.
当要改变水下滑翔机的俯仰姿态时，俯仰电机组制动器9停止制动，俯仰电机组11开始工作，通过联轴器13驱动丝杠19转动，丝杠传动副上的丝杠螺母及连接座20将旋转运动转化为轴向移动，并带动电池组34、后俯仰横滚配重块30和前俯仰横滚配重块36等移动，从而改变水下滑翔机重心的轴向位置；当电池组34到达轴向预定位置时，俯仰电机组11停止工作，俯仰电机组制动器9制动锁止，保证重心位置不变。直线位移传感器15测得电池组34的移动距离并将信号反馈给控制器，俯仰电机组编码器8测得俯仰电机组11的转速并将信号反馈给控制器，控制器根据反馈的信号对俯仰电机组11进行控制，从而实现对水下滑翔机的俯仰姿态调节。When the pitch attitude of the underwater glider is to be changed, the pitch motor unit brake 9 stops braking, the pitch motor unit 11 starts to work, and the lead screw 19 is driven to rotate through the coupling 13, and the lead screw nut and the connecting seat on the lead screw transmission pair 20 converts the rotational motion into axial movement, and drives the battery pack 34, the rear pitch and roll counterweight 30 and the front pitch and roll counterweight 36 to move, thereby changing the axial position of the center of gravity of the underwater glider; when the battery pack When 34 reaches the predetermined position in the axial direction, the pitch motor unit 11 stops working, and the pitch motor unit brake 9 is braked and locked to ensure that the position of the center of gravity remains unchanged. The linear displacement sensor 15 measures the moving distance of the battery pack 34 and feeds back the signal to the controller. The pitch motor unit encoder 8 measures the rotating speed of the pitch motor unit 11 and feeds back the signal to the controller. The controller adjusts the pitch according to the feedback signal. The motor unit 11 is controlled to realize the adjustment of the pitching attitude of the underwater glider.
当要改变水下滑翔机的横滚姿态时，横滚电机组制动器22停止制动，横滚电机组23开始工作，通过驱动横滚机构行星轮26在横滚机构太阳轮27啮合传动而实现自身绕主轴转动，同时带动电池组34、后俯仰横滚配重块30、前俯仰横滚配重块36和角度传感器39等绕主轴转动，从而改变水下滑翔机重心的周向位置；当电池组34到达周向预定位置时，横滚电机组23停止工作，横滚电机组制动器22制动锁止，保证重心位置不变。角度传感器39测得电池组34的旋转角度并将信号反馈给控制器，横滚电机组编码器21测得横滚电机组23的转速并将信号反馈给控制器，控制器根据反馈的信号对横滚电机组23进行控制，从而实现对水下滑翔机的横滚姿态调节。When the rolling attitude of the underwater glider is to be changed, the brake 22 of the rolling motor unit stops braking, and the rolling motor unit 23 starts to work, and realizes self-rotation by driving the planetary gear 26 of the rolling mechanism to mesh with the sun gear 27 of the rolling mechanism. Rotate around the main shaft, and simultaneously drive the battery pack 34, the rear pitch and roll counterweight 30, the front pitch and roll counterweight 36, and the angle sensor 39 to rotate around the main shaft, thereby changing the circumferential position of the center of gravity of the underwater glider; when the battery pack When 34 reaches the predetermined position in the circumferential direction, the rolling motor unit 23 stops working, and the rolling motor unit brake 22 is braked and locked to ensure that the position of the center of gravity remains unchanged. The angle sensor 39 measures the rotation angle of the battery pack 34 and feeds back the signal to the controller. The rolling motor unit encoder 21 measures the rotating speed of the rolling motor unit 23 and feeds back the signal to the controller. The roll motor unit 23 is controlled to realize the roll attitude adjustment of the underwater glider.
本发明通过改变水下滑翔机载体重心的位置来控制调节载体的俯仰角与横滚角，从而改变水下滑翔机的运动姿态。The present invention controls and adjusts the pitch angle and roll angle of the carrier by changing the position of the center of gravity of the carrier of the underwater glider, thereby changing the movement attitude of the underwater glider.
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| CN109178266A (en) * | 2018-10-12 | 2019-01-11 | 上海彩虹鱼深海装备科技有限公司 | Attitude adjusting method and system |
| CN109229317A (en) * | 2018-10-12 | 2019-01-18 | 上海彩虹鱼深海装备科技有限公司 | a submersible |
| CN110723267A (en) * | 2019-09-17 | 2020-01-24 | 浙江大学 | A Center of Gravity Adjustment System for Underwater Robots |
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| CN111907670A (en) * | 2020-07-23 | 2020-11-10 | 天津大学 | Small-size continuous section deep-Yuan exploration type underwater glider |
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| CN113581427A (en) * | 2021-08-25 | 2021-11-02 | 天津大学 | Underwater glider attitude adjusting mechanism with full-angle pitch angle adjusting function |
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| CN114872870B (en) * | 2022-03-22 | 2024-04-26 | 重庆大学 | A self-locking center of gravity adjustment mechanism for AUV |
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| CN116573126A (en) * | 2023-04-28 | 2023-08-11 | 广州欧纳电子科技有限公司 | Attitude Adjustment Mechanism for Underwater Glider |
| CN116853467A (en) * | 2023-06-29 | 2023-10-10 | 中国航天空气动力技术研究院 | An underwater glider pitch attitude adjustment mechanism |
| CN119674408A (en) * | 2025-01-27 | 2025-03-21 | 天津大学 | A rapid disassembly and assembly mechanism for underwater vehicle battery pack with center of gravity adjustment capability |
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Application publication date: 20180904 |