JP2008120298A - Gravity center moving device, underwater sailing body and gravity center moving method - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a gravity center moving device mountable on an underwater sailing body etc. capable of omnidirectionaly gliding with a small number of parts, comparatively lightweight and comparatively simply controllable, and an underwater sailing body provided with the device and a gravity center moving method. <P>SOLUTION: This gravity center moving device is constituted of a slide part 20 for reciprocatively movably holding a gravity center position of a weight 21 in one direction and a turning mechanism for turnably supporting the slide part 20. In the gravity center moving device, the slide part 20 is turnably supported around a shaft 32 orthogonal to a surface including the one direction, and a first actuator 23 for moving the gravity center position of the weight 21 is mounted on the slide part 20. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  The present invention relates to a center-of-gravity moving device used for center-of-gravity movement of an underwater vehicle or the like that conducts ocean surveys, an underwater vehicle equipped with the same, and a method of moving the center of gravity.

  In recent years, research on prediction of environmental change on a global scale and research on environmental conservation have been conducted. These studies require temporal and spatial observational data on the ocean, which has a major impact on the global environment, so observations have been carried out with mooring equipment.

  However, the mooring method can only obtain discrete data in the depth direction, and the measurement data cannot be confirmed until the moored observation equipment is collected, and the success or failure of the observation cannot be confirmed until the mooring is completed. There was a problem, and when mooring the observation equipment, there was a problem that a great deal of labor, time and cost were required from its design to introduction.

  An underwater vehicle called an underwater vehicle for virtual mooring (which stays in the observation area without being moored) has been developed to solve such problems and to acquire continuous vertical space and time data in the observation area. It is being done. This underwater vehicle will minimize energy consumption for long-term continuous observation, and gliding when descending or ascending to ensure mechanical reliability. Configured to stay in the observation area.

  This underwater vehicle is equipped with various observation devices inside its body, and collects observation data while reciprocating between the water surface of the water area where virtual mooring is performed and the set water depth or bottom. The various observation data measured when the underwater vehicle is descending and ascending are sequentially transmitted to the base station by radio waves via an artificial satellite when the underwater vehicle is ascending. In addition, the position of the aircraft is confirmed by GPS at the time of ascent of the water surface, and if it is out of the set water area to be observed due to the influence of tidal current etc., the movement of the aircraft is controlled at the time of descent to the set water depth of the set water area Return.

  This underwater vehicle continues to measure the observation water area while periodically descending and ascending, but between the measurements, the aircraft lands on the bottom of the water and waits, and the aircraft flows due to tidal currents, etc. To prevent it.

  As one of the underwater vehicles, for example, an underwater vehicle that has a disk-shaped aircraft as shown in FIGS. 5 to 7 and can be omnidirectionally slidable without any directionality such as a front-rear direction. Has been developed. This underwater vehicle is configured to stay in the water by neutral buoyancy, and the buoyancy is reduced or increased by the mounted buoyancy adjustment device to select settlement or levitation. By moving the center of gravity of the airframe in an arbitrary direction by the center-of-gravity moving device, it is configured to perform gliding in that direction.

  In other words, the buoyancy is reduced by the buoyancy adjustment device at the time of descent, and the buoyancy is made smaller than the weight, and the center of gravity of the aircraft is moved from the buoyancy position of the aircraft in the gliding direction by the center of gravity moving device to tilt the aircraft A moment is generated, and the attitude of the fuselage is lowered to gliding in that direction. Also, at the time of ascent, the buoyancy is increased by the buoyancy adjustment device, the buoyancy is made larger than the weight, and the moment of gravity is generated by moving the center of gravity position from the buoyancy position to the gliding direction by the center of gravity movement device, Glide in the direction of the aircraft with its head raised. The underwater vehicle can stay in the target water area due to gliding during descent and ascent. Moreover, it can move to a target position depending on the application.

  In order to enable movement of the underwater vehicle capable of omnidirectional sliding, a gravity center moving device is required. As this center-of-gravity moving device, as shown in FIGS. 8 and 9, a slide part (cart) 50X for moving a weight 51X on the rail 52X in the X direction is placed on the rail 60X in the Y direction and moved. The XY direction gravity center moving apparatus 10X can be used. However, the XY-direction center-of-gravity moving device 10X has a problem that the number of parts tends to increase and the weight tends to increase because the number of slide rails 52X and 60X increases.

In addition, as an attitude control method to change the center of gravity position to adjust the trim attitude in the underwater vehicle, by changing the degree of opening of the variable wing of the underwater vehicle, An attitude control method has been proposed (see, for example, Patent Document 1). However, there is a problem that this center-of-gravity moving method cannot be applied to a disk-type underwater vehicle capable of omnidirectional sliding without a variable wing as shown in FIGS.
JP 2006-232070 A

  The present invention has been made to solve the above-mentioned problems, and its purpose is to be mounted on an underwater vehicle that can be omnidirectionally driven, has a small number of parts, is relatively lightweight, and is controlled. It is another object of the present invention to provide a relatively simple center-of-gravity moving device, an underwater vehicle equipped with the same, and a method of moving the center of gravity.

  In order to achieve the above object, the center-of-gravity movement device of the present invention comprises a slide part that holds the center of gravity of a weight so that it can reciprocate in one direction, and supports the slide part so that it can turn. With this configuration, by rotating the slide part, the moving direction (one direction) of the center of gravity of the weight (weight) can be directed to any direction, and the center of gravity of the weight is moved. As a result, the center of gravity position can be moved in an arbitrary direction as a movement target.

  In the above-described center-of-gravity movement device, the slide portion is supported so as to be able to turn around an axis perpendicular to the plane including the one direction, thereby preventing a change in the vertical direction of the center of gravity during the reciprocating movement of the weight and during the turning. be able to.

  In the above-described center-of-gravity moving device, when the first actuator for moving the center of gravity of the weight is mounted on the slide portion, the mechanism for moving the center of gravity of the weight of the slide portion is simplified, further reducing the number of parts and weight. Can be reduced.

  In the above-described center-of-gravity movement device, if a balance member that turns in the opposite direction when the slide portion turns and cancels the rotation moment that occurs when the slide portion turns is provided, the center-of-gravity movement device does not generate a rotation moment when turning. Therefore, the influence of the rotational moment of the center of gravity moving device on the underwater vehicle equipped with this center of gravity moving device can be eliminated.

  In the above-described center-of-gravity moving device, when the center of gravity of the slide portion is moved to a predetermined position and the center of gravity of the slide portion is set as the turning center of the slide portion, the center of gravity moves when the slide portion turns. This makes it possible to prevent the underwater vehicle equipped with this center-of-gravity moving device from moving in a direction outside the target during turning. Therefore, the position control of the underwater vehicle becomes easy.

  The underwater vehicle including the above-described center-of-gravity moving device is an underwater vehicle with a small number of parts, a relatively light weight, and a relatively simple control.

  In the center-of-gravity moving method of the present invention, in the above-described center-of-gravity moving device, before turning the slide part, the center of gravity position of the weight is moved to a preset position, and after the movement, the slide part is turned. The center of gravity of the weight is moved to a target position after the turn. According to this center-of-gravity movement method and the center-of-gravity movement method of the underwater vehicle using this center-of-gravity movement method, the center of gravity can be eliminated during the turning of the slide portion, and the reaction torque can be minimized. Alternatively, it can be minimized, and the underwater vehicle equipped with this center of gravity moving device can be prevented or suppressed from moving in a direction outside the target during turning. Therefore, the position control of the underwater vehicle becomes easy.

  According to the center-of-gravity moving device of the present invention, the number of parts is small, the weight is relatively light, and the control is relatively simple. Therefore, it becomes a center-of-gravity moving device suitable for mounting on an underwater vehicle capable of omnidirectional sliding. Also, the underwater vehicle equipped with this center of gravity moving device has a small number of parts, is relatively lightweight, and is relatively simple to control.

  Further, according to the center-of-gravity movement method of the present invention, the center of gravity of the slide part can be turned without moving, and the direction of movement of the center of gravity can be directed to the target direction. It is possible to prevent the underwater vehicle equipped with the gravity center moving device from moving. Also, the reaction torque is small. Therefore, the underwater vehicle can be easily controlled.

  Hereinafter, embodiments of a center-of-gravity moving device, an underwater vehicle, and a center-of-gravity moving method according to the present invention will be described with reference to the drawings.

  As shown in FIGS. 1 to 3, the center-of-gravity moving device 10 has a slide portion 20 that holds a weight 21 so as to be reciprocally movable in a linear direction (one direction) by a slide shaft 22, and can turn the slide portion 20. And a turning mechanism 30 to be supported.

  The slide portion 20 is provided with a weight (weight) 21, a slide shaft 22 having a rod-like male screw portion, and a first actuator 23 that rotationally drives the slide shaft 22, and further, as the slide shaft 22 rotates. Thus, a guide 24 is provided so that the weight 21 does not rotate.

  The weight 21 is formed of a cylindrical body, and an internal thread portion is provided at the center, and is screwed into the external thread portion of the slide shaft 22. The first actuator 23 includes a motor 23a and a speed reducer 23b such as a planetary gear for reducing the rotational speed of the motor 23a. The speed reducer 23b can be omitted depending on the rotational speed and torque characteristics of the motor 23a. Since the slide mechanism is simplified by mounting the first actuator 23 for moving the weight 21 on the slide portion 20, the number of parts and the weight can be further reduced.

  By rotating the slide shaft 22 with the speed reducer 23b driven by the motor 23a, the weight 21 is moved along the slide shaft 22 in the linear direction. When the rotation direction of the motor 23a is changed, the moving direction of the weight 21 is reversed.

  Since the slide mechanism of the weight 21 is a simple linear reciprocating movement, it may be a slide mechanism using a cylinder and a piston, and various known techniques can be used. Further, the first actuator 23 is not limited to an electric motor, and may be a motor or other actuator that operates with other air pressure or hydraulic pressure. 1 to 3, the set of the weight 21 and the slide shaft 22 is one set, but a plurality of sets may be used.

  The turning mechanism 30 is a mechanism for turning the slide part 20 in an arbitrary direction, and a turning support shaft 32 that supports the slide part 20 and a second actuator 31 that rotationally drives the turning support shaft 32. It is comprised.

  The slide portion 20 is configured to be turned around an axis orthogonal to a plane including the moving direction of the weight 21. This configuration can be easily formed by making the slide shaft 22 and the turning support shaft 32 orthogonal to each other when the set of the weight 21 and the slide shaft 22 is one set. Further, when there are a plurality of sets of the weights 21 and the slide shafts 22, they can be easily formed by making each slide shaft 22 orthogonal to the turning support shaft 32. With this configuration, it is possible to prevent the center of gravity from changing in the vertical direction when the weight reciprocates and turns.

  Further, it is preferable to support the center of gravity of the slide portion 20 with the turning support shaft 32 in a state where the center of gravity of the weight 21 is moved to a predetermined position (initial position) of the slide shaft 22. With this configuration, the center of gravity of the slide part 20 can be set as the turning center of the slide part 20, so that the center of gravity does not move with respect to the turning center axis when the slide part 20 turns, and the center of gravity moves during turning. It is possible to prevent the underwater vehicle 1 mounted with the device 10 from moving. Also, the reaction torque is small. Therefore, position control of the underwater vehicle 1 becomes easy.

  Even if the center of gravity of the slide unit 20 in a state where the center of gravity of the weight 21 is moved to a predetermined position (initial position) of the slide shaft 22 cannot be supported by the turning support shaft 32, the slide unit It is preferable to set the predetermined position and the position of the turning support shaft 32 so that the distance between the center of gravity position of 20 and the turning center axis of the slide portion 20 is minimized. Thereby, the movement of the center of gravity with respect to the turning center axis can be reduced during the turning of the slide unit 20, and the movement of the underwater vehicle 1 equipped with the center of gravity moving device 10 can be suppressed during the turning. Therefore, the position control of the underwater vehicle 1 becomes easy.

  Similarly to the first actuator 23, the second actuator 31 also includes a motor 31a and a speed reducer 31b such as a planetary gear for reducing the rotational speed of the motor 31a. The speed reducer 31b can be omitted depending on the rotational speed and torque characteristics of the motor 31a.

  Furthermore, it is preferable to provide a balance member (not shown) that turns in the opposite direction when the slide part 20 turns, and cancels the rotational moment generated when the slide part 20 turns. The balance member can be formed of a disk or the like, and has the center of gravity as the turning center, and the inertia moment with respect to the turning center is the same as the inertia moment with respect to the turning center of the cylinder portion 20. The balance member is configured to turn at the same turning speed in the opposite direction to the cylinder portion 20. In this configuration, for example, the turning shaft of the balance member is provided so as to face the turning support shaft 32 of the slide portion, and the turning shaft, the turning support shaft 32, the rotation shaft of the second actuator 31 and the bevel gear mechanism are connected. It can be implemented by a known mechanism that rotates the turning shaft and the turning support shaft 32 at the same time on the rotation shaft. With this configuration, no rotational moment is generated in the center-of-gravity moving device 10 as a whole at the time of turning, and the influence of the rotational moment of the center-of-gravity moving device 10 on the underwater vehicle on which the center-of-gravity moving device 10 is mounted can be eliminated.

  And as shown in FIG. 4, the underwater vehicle 1 is comprised including this gravity center moving apparatus 10. FIG. The center-of-gravity moving device 10 can exert its effect to the maximum when the underwater vehicle 1 is an underwater vehicle capable of sliding in all directions.

  Next, the center-of-gravity moving device 10 and a center-of-gravity moving method in an underwater vehicle equipped with the center-of-gravity moving device 10 will be described. First, before turning the cylinder part 20, the center of gravity of the weight 21 is moved to a set position (initial position) on the slide shaft 22 as shown in FIG. 1. This set position is a position where the center of gravity of the slider portion 20 is the turning center or a position closest to the turning center. After this movement, as shown in FIG. 2, the motor 31a is driven to rotate the turning support shaft 32, and the slider portion 20 supported thereby is turned. After this turning, as shown in FIG. 3, the motor 23a is driven to rotate the slide shaft 22, the weight 21 is moved to the target position on the slide shaft 22, and the center of gravity position of the weight 21 is set as the target. Move to the position.

  According to this center-of-gravity moving method, the slider 20 can be turned without moving its center of gravity, and the slide shaft 22 that is the moving direction of the weight 21 can be directed to the target direction. During turning, it is possible to prevent or suppress the underwater vehicle 1 equipped with the center-of-gravity moving device 10 from moving in a direction different from the target direction. Therefore, the position control of the underwater vehicle 1 becomes easy.

It is a perspective view which shows the structure of the gravity center moving apparatus of embodiment of this invention. It is a perspective view which shows turning of the turning part in the gravity center moving apparatus of FIG. It is a perspective view which shows the movement of the weight in the gravity center moving apparatus of FIG. It is a figure which shows typically the state provided with the gravity center moving apparatus in the underwater vehicle. It is a side view of the underwater vehicle which can be omnidirectionally slidable. It is a perspective view of the underwater vehicle which can be omnidirectionally slidable. It is the perspective view seen from another angle of the underwater vehicle which can omnidirectionally slide. It is a perspective view of an XY direction gravity center moving apparatus. It is the perspective view seen from another angle of the XY direction gravity center moving apparatus.

Explanation of symbols

1 Underwater vehicle (underwater vehicle)
10 Center of Gravity Moving Device 20 Slide Part 21 Weight
22 Slide shaft 23 First actuator 23a Motor 23b Reducer 24 Guide 30 Turning mechanism 31 Second actuator 31a Motor 31b Reducer
32 Rotating support shaft

Claims (8)

  A slide part that holds the center of gravity of the weight so that it can reciprocate in one direction, and a center-of-gravity movement device that supports the slide so as to be able to turn.   The center-of-gravity moving device according to claim 1, wherein the slide portion is supported so as to be pivotable about an axis orthogonal to a plane including the one direction.   The center-of-gravity moving device according to claim 1 or 2, wherein a first actuator that moves the center of gravity of the weight is mounted on the slide portion.   The center-of-gravity movement device according to claim 1, 2 or 3, further comprising a balance member that turns in the opposite direction when the slide portion turns, and cancels a rotational moment generated when the slide portion turns.   5. The center-of-gravity moving device according to claim 1, wherein the center of gravity of the slide portion in a state in which the center of gravity of the weight is moved to a predetermined position is set as the turning center of the slide portion.   An underwater vehicle including the center-of-gravity moving device according to claim 1, 2, 3, 4, or 5.   6. The center-of-gravity moving device according to claim 1, wherein the center of gravity of the weight is moved to a preset position before turning the slide, and the slide is moved after the movement. A center-of-gravity moving method of turning and moving the center of gravity of the weight to a target position after the turning.   A center of gravity moving method in an underwater vehicle using the center of gravity moving method of claim 7.

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