CN112407207A - Underwater lifting device for AUV (autonomous Underwater vehicle) - Google Patents
Underwater lifting device for AUV (autonomous Underwater vehicle) Download PDFInfo
- Publication number
- CN112407207A CN112407207A CN202011598443.7A CN202011598443A CN112407207A CN 112407207 A CN112407207 A CN 112407207A CN 202011598443 A CN202011598443 A CN 202011598443A CN 112407207 A CN112407207 A CN 112407207A
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- Prior art keywords
- auv
- sealing cover
- gear
- outer side
- lifting
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Links
- 238000007789 sealing Methods 0.000 claims abstract description 58
- 239000000428 dust Substances 0.000 claims abstract description 10
- OKTJSMMVPCPJKN-UHFFFAOYSA-N Carbon Chemical compound [C] OKTJSMMVPCPJKN-UHFFFAOYSA-N 0.000 claims description 22
- 229910002804 graphite Inorganic materials 0.000 claims description 22
- 239000010439 graphite Substances 0.000 claims description 22
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 claims description 20
- 229910052802 copper Inorganic materials 0.000 claims description 20
- 239000010949 copper Substances 0.000 claims description 20
- 238000009434 installation Methods 0.000 claims description 3
- 241000227287 Elliottia pyroliflora Species 0.000 claims 2
- 239000004677 Nylon Substances 0.000 claims 1
- 229920001778 nylon Polymers 0.000 claims 1
- 239000012535 impurity Substances 0.000 abstract description 4
- 230000007246 mechanism Effects 0.000 abstract description 4
- 230000003028 elevating effect Effects 0.000 abstract 4
- 230000009286 beneficial effect Effects 0.000 abstract 1
- 230000004323 axial length Effects 0.000 description 4
- 239000003638 chemical reducing agent Substances 0.000 description 4
- 208000035874 Excoriation Diseases 0.000 description 3
- 238000005299 abrasion Methods 0.000 description 3
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 3
- 238000004891 communication Methods 0.000 description 2
- 230000018109 developmental process Effects 0.000 description 2
- 206010063385 Intellectualisation Diseases 0.000 description 1
- 230000004075 alteration Effects 0.000 description 1
- 239000000969 carrier Substances 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Images
Classifications
-
- 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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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Transmission Devices (AREA)
Abstract
The invention provides an underwater lifting device for an AUV (autonomous underwater vehicle), which is an underwater robot with an application target positioned. The main function carries out elevating movement for driving AUV surface work subassembly, thereby realize the lift of AUV surface appendage through the work of motor drive lead screw nut mechanism, the dust ring has filtered aquatic impurity, the risk of O type sealing washer wearing and tearing has been reduced, the reliability of elevating gear work has been ensured to the double containment ring, the design that adaptor lower extreme lateral surface diameter is less than upper end lateral surface diameter has reduced elevating gear's the internal and external pressure difference, elevating gear's reliability has been increased. The invention has the beneficial effects that: the lifting device enables the working assembly to lift according to working requirements, greatly reduces the navigation resistance of the AUV, improves the safety and the practicability of the AUV, and enables the standardization and the marketization of the AUV lifting device to be possible.
Description
Technical Field
The invention relates to the field of underwater robots, in particular to an underwater lifting device for an AUV (autonomous underwater vehicle).
Technical Field
With the development of the intellectualization of marine equipment, the performance requirements on the AUV are continuously improved, although working components such as a satellite communication antenna, underwater acoustic communication positioning equipment and the like enrich the functions of the AUV, the outstanding surface attachments not only increase the navigation resistance of the AUV, but also increase the risk of collision of the AUV and reduce the safety of an AUV carrier, so that the working components can be lifted and lifted to work when needed, and are recovered to be conformal with the AUV after completing a task, the improvement of the functions while not changing or slightly changing the resistance and the safety of the AUV carrier is a trend of AUV development in the future, and the research of an AUV underwater lifting device for underwater is one of important problems in the field of underwater robots.
At present, most of surface attachments of domestic AUVs are fixedly connected with AUV carriers and cannot realize the lifting function, so that a practical AUV underwater lifting device becomes one of the main problems of technical breakthrough.
Disclosure of Invention
The invention provides an underwater lifting device for an AUV (autonomous underwater vehicle), which realizes the lifting of an AUV surface attachment by driving a screw nut mechanism to work through a motor, the power is transmitted between the motor and a screw nut through a gear reducer, the torque is increased, the axial length of the lifting device is reduced, the resistance of the lifting nut to lift along a guide rod is reduced by a graphite copper sleeve, the stroke of the lifting nut for driving a working assembly to lift is limited by two microswitches, impurities in water are filtered by a dust ring, the risk of abrasion of an O-shaped sealing ring is reduced, the working reliability of the lifting device is ensured by a double sealing ring, the inside and outside pressure difference of the lifting device is reduced by the design that the diameter of the outer side surface of the lower end of an adapter is smaller than that of the outer side surface of the upper end of the adapter, the reliability of the lifting device is improved, the working assembly can lift according, the safety and the practicability of the AUV are improved, and the standardization and the marketization of the AUV lifting device become possible.
In order to solve the technical problem, the embodiment of the application provides an underwater lifting device for an AUV (autonomous Underwater vehicle), which comprises a lifting part and a driving part, and is characterized by further comprising a pressure-resistant shell 1, an upper sealing cover, a lower sealing cover, an O-shaped sealing ring I, O type sealing ring II, a dustproof ring and a working assembly, wherein the pressure-resistant shell is of a hollow cylindrical structure, cylindrical through holes are respectively formed in the upper end and the lower end of the pressure-resistant shell, the cylindrical through holes in the upper end and the lower end of the pressure-resistant shell are respectively matched with the outer side surfaces of the upper sealing cover and the lower sealing cover and are connected through a connecting flange, the O-shaped sealing rings are arranged between the inner side surfaces of the cylindrical through holes in the upper end and the lower end of the pressure-resistant shell and the outer side surfaces of the upper sealing cover and the lower sealing cover, the mounting plate is of an inverted concave structure, the mounting plate is arranged at the upper end of the lower sealing cover, the inner side surface of the mounting plate is matched with the outer side surface of the lower sealing cover, a gear II, a lead screw, a gear I and a motor shaft are sequentially arranged between the mounting plate and the lower sealing cover from left to right, the lead screw and the motor shaft respectively penetrate through the centers of the gear II and the gear I, the gear II is meshed with the gear I, one end of the motor shaft is contacted with a bearing, the other end of the motor shaft is matched with a motor, the motor is arranged, and is connected with the mounting panel through flange, the lead screw upper end is equipped with the lift part, the lift part include lifting nut, adaptor, graphite copper sheathing I, graphite copper sheathing II, guide arm I, guide arm II, micro-gap switch I and micro-gap switch II, be equipped with lifting nut, adaptor and work subassembly respectively from bottom to top along lead screw axle center direction. The lifting nut is of a hollow cylindrical structure, the inner side surface of the lifting nut is contacted with the outer side surface of a lead screw through T-shaped threads, cylindrical through holes are symmetrically arranged on flanges on two sides of the lower end of the lifting nut, the cylindrical through holes on two sides of the lower end of the lifting nut are respectively matched with the outer side surfaces of a graphite copper sleeve I and a graphite copper sleeve II, the inner side surfaces of the graphite copper sleeve I and the graphite copper sleeve II are respectively matched with the outer side surfaces of a guide rod I and a guide rod II, the lower end surfaces of the guide rod I and the guide rod II are contacted with a mounting plate, the upper end surface is contacted with an upper sealing cover, a microswitch I and a microswitch II are respectively arranged on the upper end surface of the mounting plate and the lower end surface of the upper sealing cover, the adaptor is of an inverted convex structure, the inner side surface of the adaptor is, an O-shaped sealing ring I, O type sealing ring II and a dust ring are sequentially arranged between the outer side surface of the lower end of the adapter and the inner side surface of the upper sealing cover from bottom to top.
As the preferred embodiment of the scheme, the axes of the motor, the motor shaft and the gear I are positioned on the same straight line, the axes of the gear II, the screw rod, the lifting nut, the adapter and the upper sealing cover are positioned on the same straight line, and the limit positions of the lifting nut in vertical movement are respectively limited by the micro switch II and the micro switch I.
As the preferred embodiment of the scheme, the adaptor is in an inverted convex structure, and the diameter of the outer side surface of the lower end of the adaptor is smaller than that of the outer side surface of the upper end of the adaptor.
One or more technical solutions provided in the embodiments of the present application have at least the following technical effects or advantages:
the motor is adopted to drive the screw nut mechanism to work so as to realize the lifting of the AUV surface appendage, the power is transmitted between the motor and the screw nut through the gear reducer, the torque is increased, the axial length of the lifting device is reduced, the resistance of lifting nuts rising and falling along the guide rod is reduced by the graphite copper sleeve, the stroke of lifting nuts driving the working assembly to rise and fall is limited by the two micro switches, impurities in water are filtered by the dust ring, the risk of abrasion of the O-shaped sealing ring is reduced, the reliability of the working of the lifting device is guaranteed by the double sealing rings, the difference between the inner pressure and the outer pressure of the lifting device is reduced by the design that the diameter of the outer side face of the lower end of the adaptor is smaller than that of the outer side face of the upper end of the adaptor, the reliability of the lifting device is improved, the working assembly can rise and fall according to working requirements by the lifting device, the navigation resistance of the AUV is greatly reduced, the safety and the practicability of the AUV are.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is a schematic structural diagram of an embodiment of the present application.
Fig. 2 is a partial cross-sectional view of an embodiment of the present application.
In the figure, 1, a pressure-resistant shell, 2, an upper sealing cover, 3, a lower sealing cover, 4, O-shaped sealing rings I, 5, O-shaped sealing rings II, 6, a dust ring, 7, gears II, 8, a lead screw, 9, gears I, 10, a motor shaft, 11, a motor, 12, an installation plate, 13, a lifting nut, 14, an adapter, 15, a working assembly, 16, micro switches I, 17, micro switches II, 18, guide rods I, 19, graphite copper sleeves I, 20, graphite copper sleeves II, 21 and guide rod II.
Detailed Description
The invention provides an AUV underwater lifting device, which adopts a motor to drive a screw nut mechanism to work so as to realize the lifting of an AUV surface attachment, the power is transmitted between the motor and the screw nut through a gear reducer, the torque is increased, the axial length of the lifting device is reduced, the resistance of the lifting nut to lift along a guide rod is reduced by a graphite copper sleeve, the stroke of the lifting nut for driving a working assembly to lift is limited by two micro switches, a dust ring filters impurities in water, the risk of abrasion of an O-shaped sealing ring is reduced, the working reliability of the lifting device is ensured by a double sealing ring, the inner-outer pressure difference of the lifting device is reduced by the design that the diameter of the outer side surface of the lower end of an adapter is smaller than that of the outer side surface of the upper end of the adapter, the reliability of the lifting device is improved, the working assembly can lift according to the working requirement, the safety and the practicability of the AUV are improved, and the standardization and the marketization of the AUV lifting device become possible.
In order to better understand the technical solution, the technical solution will be described in detail with reference to the drawings and the specific embodiments.
As shown in the figures, the underwater lifting device for AUV described in this embodiment includes a lifting portion and a driving portion, and is characterized by further including a pressure casing 1, an upper sealing cover 2, a lower sealing cover 3, an O-ring I4, an O-ring II5, a dust ring 6 and a working assembly 15, where the pressure casing 1 is a hollow cylindrical structure, the upper end and the lower end of the pressure casing 1 are respectively provided with a cylindrical through hole, the cylindrical through holes of the upper end and the lower end of the pressure casing 1 are respectively matched with the outer side surfaces of the upper sealing cover 2 and the lower sealing cover 3 and connected with each other through a connecting flange, the O-ring is arranged between the inner side surfaces of the cylindrical through holes of the upper end and the lower end of the pressure casing 1 and the outer side surfaces of the upper sealing cover 2 and the lower sealing cover 3, the lifting portion and the driving portion are arranged inside the pressure casing 1, and the, Gear II7, lead screw 8 and mounting panel 12, the mounting panel 12 be "concave" font structure of handstand, mounting panel 12 is located lower sealed lid 3 upper end, the medial surface of mounting panel 12 cooperatees with lower sealed lid 3 lateral surface, be equipped with gear II7 from left to right in proper order between mounting panel 12 and the lower sealed lid 3, lead screw 8, gear I9 and motor shaft 10, lead screw 8 and motor shaft 10 pass the center of gear II7 and gear I9 respectively, gear II7 and gear I9 mesh mutually, motor shaft 10 one end contacts with the bearing, the other end of motor shaft 10 cooperatees with motor 11, motor 11 locates mounting panel 12 upper end right side, and be connected with mounting panel 12 through the flange, lead screw 8 upper end is equipped with the lift part, the lift part include lifting nut 13, adaptor 14, graphite copper sheathing I19, graphite copper sheathing II20, guide arm I18, guide arm II21, micro-gap switch I16 and micro-gap switch II17, a lifting nut 13, an adapter 14 and a working assembly 15 are respectively arranged from bottom to top along the axial direction of the screw rod 8. The lifting nut 13 is of a hollow cylindrical structure, the inner side surface of the lifting nut 13 is contacted with the outer side surface of the lead screw 8 through T-shaped threads, cylindrical through holes are symmetrically arranged on flanges on two sides of the lower end of the lifting nut 13, the cylindrical through holes on two sides of the lower end of the lifting nut 13 are respectively matched with the outer side surfaces of a graphite copper sleeve I19 and a graphite copper sleeve II20, the inner side surfaces of the graphite copper sleeve I19 and the graphite copper sleeve II20 are respectively matched with the outer side surfaces of a guide rod I18 and a guide rod II21, the lower end surfaces of the guide rod I18 and the guide rod II21 are contacted with the mounting plate 12, the upper end surface is contacted with the upper sealing cover 2, the micro switch I16 and the micro switch II17 are respectively arranged on the upper end surface of the mounting plate 12 and the lower end surface of the upper sealing cover 2, the adapter 14 is of an inverted convex structure, the inner side surface of the adapter 14 is matched with, an O-shaped sealing ring I4, an O-shaped sealing ring II5 and a dust ring 6 are sequentially arranged between the outer side surface of the lower end of the adapter 14 and the inner side surface of the upper sealing cover 2 from bottom to top.
In practical application, the axes of the motor 11, the motor shaft 10 and the gear I9 are on the same straight line, the axes of the gear II7, the screw 8, the lifting nut 13, the adaptor 14 and the upper sealing cover 2 are on the same straight line, the limit position of the lifting nut 13 moving up and down is limited by the micro switch II17 and the micro switch I16 respectively, power is transmitted between the motor 11 and the screw nut through the gear reducer, the torque is increased, the axial length of the lifting device is reduced, and the stroke of the lifting nut driving the working assembly to lift is limited by the two micro switches.
In practical application, the adaptor 14 is in an inverted convex structure, the diameter of the outer side surface of the lower end of the adaptor 14 is smaller than that of the outer side surface of the upper end of the adaptor, the area of the pressure difference between the inside and the outside of the AUV is reduced, the pressure difference between the inside and the outside of the lifting device is reduced, and the reliability of the lifting device is improved.
Although the present invention has been described with reference to a preferred embodiment, it should be understood that various changes, substitutions and alterations can be made herein without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (3)
1. An underwater lifting device for AUV (autonomous Underwater vehicle) comprises a lifting part and a driving part, and is characterized by further comprising a pressure-resistant shell (1), an upper sealing cover (2), a lower sealing cover (3), an O-shaped sealing ring I (4), an O-shaped sealing ring II (5), a dust ring (6) and a working component (15), wherein the pressure-resistant shell (1) is of a hollow cylindrical structure, cylindrical through holes are respectively formed in the upper end and the lower end of the pressure-resistant shell (1), the cylindrical through holes in the upper end and the lower end of the pressure-resistant shell (1) are respectively matched with the outer side surfaces of the upper sealing cover (2) and the lower sealing cover (3) and are connected through connecting flanges, the O-shaped sealing rings are arranged between the inner side surfaces of the cylindrical through holes in the upper end and the lower end of the pressure-resistant shell (1) and the outer side surfaces of the upper sealing cover, the driving part comprises a motor (11), a motor shaft (10), a gear I (9), a gear II (7), a lead screw (8) and a mounting plate (12), the mounting plate (12) is of an inverted concave structure, the mounting plate (12) is arranged at the upper end of a lower sealing cover (3), the inner side surface of the mounting plate (12) is matched with the outer side surface of the lower sealing cover (3), the gear II (7), the lead screw (8), the gear I (9) and the motor shaft (10) are sequentially arranged between the mounting plate (12) and the lower sealing cover (3) from left to right, the lead screw (8) and the motor shaft (10) respectively pass through the centers of the gear II (7) and the gear I (9), the gear II (7) and the gear I (9) are meshed, one end of the motor shaft (10) is contacted with a bearing, the other end of the motor shaft (10) is matched with the motor (11), the motor (11) is, and is connected with the mounting plate (12) through a connecting flange, the upper end of the screw rod (8) is provided with a lifting part, the lifting part comprises a lifting nut (13), an adapter (14), a graphite copper bush I (19), a graphite copper bush II (20), a guide rod I (18), a guide rod II (21), a micro switch I (16) and a micro switch II (17), the lifting nut (13), the adapter (14) and a working assembly (15) are respectively arranged along the axis direction of the screw rod (8) from bottom to top, the lifting nut (13) is of a hollow cylindrical structure, the inner side surface of the lifting nut (13) is contacted with the outer side surface of the screw rod (8) through T-shaped threads, cylindrical through holes are symmetrically arranged on flanges at two sides of the lower end of the lifting nut (13), the cylindrical through holes at two sides of the lower end of the lifting nut (13) are respectively matched with the outer side surfaces of the graphite copper, the inner side surfaces of a graphite copper sleeve I (19) and a graphite copper sleeve II (20) are respectively matched with the outer side surfaces of a guide rod I (18) and a guide rod II (21), the lower end surfaces of the guide rod I (18) and the guide rod II (21) are contacted with an installation plate (12), the upper end surfaces of the guide rod I (18) and the guide rod II (21) are contacted with an upper sealing cover (2), a microswitch I (16) and a microswitch II (17) are respectively arranged on the upper end surface of the installation plate (12) and the lower end surface of the upper sealing cover (2), an adapter (14) is of an inverted convex structure, the inner side surface of the adapter (14) is matched with the outer side surface of a lifting nut (13) and is connected with the lifting nut (13) through a nylon wire, the outer side surface of the lower end of the adapter (14) is matched with the inner side surface of the upper sealing cover (2), and an O-type sealing ring I, An O-shaped sealing ring II (5) and a dust ring (6).
2. The underwater lifting device for the AUV according to claim 1, wherein the axes of the motor (11), the motor shaft (10) and the gear I (9) are on the same straight line, the axes of the gear II (7), the screw rod (8), the lifting nut (13), the adaptor (14) and the upper sealing cover (2) are on the same straight line, and the limit positions of the lifting nut (13) moving up and down are respectively limited by a microswitch II (17) and a microswitch I (16).
3. An underwater lifting device for AUV according to claim 1, wherein the adaptor (14) is of an inverted 'convex' shape, and the diameter of the outer side surface of the lower end of the adaptor (14) is smaller than that of the outer side surface of the upper end.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011598443.7A CN112407207A (en) | 2020-12-30 | 2020-12-30 | Underwater lifting device for AUV (autonomous Underwater vehicle) |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011598443.7A CN112407207A (en) | 2020-12-30 | 2020-12-30 | Underwater lifting device for AUV (autonomous Underwater vehicle) |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112407207A true CN112407207A (en) | 2021-02-26 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011598443.7A Pending CN112407207A (en) | 2020-12-30 | 2020-12-30 | Underwater lifting device for AUV (autonomous Underwater vehicle) |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112407207A (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20110032430A (en) * | 2009-09-23 | 2011-03-30 | 현대중공업 주식회사 | Steel mast device for underwater vehicle using screw |
| US20130074759A1 (en) * | 2010-05-31 | 2013-03-28 | Jiashan Chen | Telescopic submarine |
| CN107697250A (en) * | 2017-09-29 | 2018-02-16 | 浙江嘉蓝海洋电子有限公司 | It is a kind of that nobody can dive speedboat |
| CN207183865U (en) * | 2017-07-26 | 2018-04-03 | 江苏双燕电气箱柜有限公司 | A kind of adjustable switch board of protection against electric shock |
| CN107902058A (en) * | 2017-12-18 | 2018-04-13 | 天津瀚海蓝帆海洋科技有限公司 | A kind of microminiature underwater robot buoyancy regulating system |
| CN208802136U (en) * | 2018-08-30 | 2019-04-30 | 中华人民共和国天津海关 | The unmanned water gauge viewing device of semi-submersible type |
| CN215826954U (en) * | 2020-12-30 | 2022-02-15 | 天津瀚海蓝帆海洋科技有限公司 | Underwater lifting device for AUV (autonomous Underwater vehicle) |
-
2020
- 2020-12-30 CN CN202011598443.7A patent/CN112407207A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20110032430A (en) * | 2009-09-23 | 2011-03-30 | 현대중공업 주식회사 | Steel mast device for underwater vehicle using screw |
| US20130074759A1 (en) * | 2010-05-31 | 2013-03-28 | Jiashan Chen | Telescopic submarine |
| CN207183865U (en) * | 2017-07-26 | 2018-04-03 | 江苏双燕电气箱柜有限公司 | A kind of adjustable switch board of protection against electric shock |
| CN107697250A (en) * | 2017-09-29 | 2018-02-16 | 浙江嘉蓝海洋电子有限公司 | It is a kind of that nobody can dive speedboat |
| CN107902058A (en) * | 2017-12-18 | 2018-04-13 | 天津瀚海蓝帆海洋科技有限公司 | A kind of microminiature underwater robot buoyancy regulating system |
| CN208802136U (en) * | 2018-08-30 | 2019-04-30 | 中华人民共和国天津海关 | The unmanned water gauge viewing device of semi-submersible type |
| CN215826954U (en) * | 2020-12-30 | 2022-02-15 | 天津瀚海蓝帆海洋科技有限公司 | Underwater lifting device for AUV (autonomous Underwater vehicle) |
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