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

Gravity center moving device, underwater sailing body and gravity center moving method Download PDF

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JP2008120298A
JP2008120298A JP2006308188A JP2006308188A JP2008120298A JP 2008120298 A JP2008120298 A JP 2008120298A JP 2006308188 A JP2006308188 A JP 2006308188A JP 2006308188 A JP2006308188 A JP 2006308188A JP 2008120298 A JP2008120298 A JP 2008120298A
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center
gravity
slide
weight
moving device
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Koji Hyodo
孝司 兵頭
Wataru Koderayama
亘 小寺山
Masahiko Nakamura
昌彦 中村
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Mitsui Engineering and Shipbuilding Co Ltd
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Mitsui Engineering and Shipbuilding Co Ltd
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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

本発明は、海洋調査を行う水中航走体等の重心移動に用いる重心移動装置とそれを備えた水中航走体、及び、重心移動方法に関する。   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.

近年、全地球規模における環境変化の予測に関する研究や環境保全に関する研究が行われるようになってきている。これらの研究には地球環境に大きな影響を及ぼす海洋に関する時間的・空間的な観測データが必要となるため、観測機器を係留して観測が行われてきた。   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.

しかしながら、係留方式では水深方向の離散的なデータしか得ることができないという問題や、係留された観測機器を回収するまで計測データを確認できず、係留終了までは観測の成否を確かめることができないという問題や、観測機器を係留するに際して、その設計から投入までに多大な労力、時間、費用が必要になるという問題等があった。   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.

このような問題を解決し、観測対象水域において鉛直空間・時間連続データを取得するために、バーチャルモアリング(係留されることなく観測水域に留まる)用の水中ビークルと呼ばれる水中航走体が開発されつつある。この水中航走体は、長期間連続観測を行うためにエネルギー消費量を極力抑え、また、機械的信頼性を確保するために、潜降したり浮上したりする時はグライディング(滑走:gliding)により移動して、観測水域に留まるように構成される。   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.

この水中航走体は、その機体内部に各種の観測機器を搭載し、バーチャルモアリングを実施する水域の水面と設定水深又は水底とを往復しながら、観測データを収集する。この水中航走体の潜降時及び浮上時に計測された各種の観測データは、水中航走体が浮上した時に、人工衛星を介して電波により基地局に逐次送信される。また、水面浮上時にはGPSにより自機の位置を確認して、潮流等の影響により観測対象の設定水域から外れている場合には、潜降時に機体の運動を制御して設定水域の設定水深に帰還する。   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.

この水中航走体は、定期的に潜降と浮上を繰り返しながら、観測水域の計測を続けるが、計測と計測の間では、水底に機体を着底させて待機し、潮流等により機体が流されることを防ぐ。   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.

この水中航走体の一つとして、例えば、図5〜図7に示すような円盤形状の機体を持ち、機体においては、前後方向等の方向性を持たない全方位滑走可能な水中航走体が開発されている。この水中航走体は、中性浮力により水中に留まるように構成されると共に、搭載した浮力調整装置により浮力を減少又は増加して沈降又は浮上を選択し、この沈降時と浮上時において、搭載した重心移動装置により機体の重心を任意の方向に移動することにより、その方向にグライディングするように構成される。   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.

即ち、潜降時には浮力調整装置により浮力を減少させ、重量よりも浮力を小さくすると共に、重心移動装置により機体の重心位置を機体の浮心位置からグライディング方向に移動することにより、機体を傾斜させるモーメントを発生し、機体の姿勢を頭下げの状態にしてその方向にグライディングさせる。また、浮上時には浮力調整装置により浮力を増加させ、重量よりも浮力を大きくすると共に、重心移動装置により重心位置を浮心位置からグライディング方向に移動することにより、機体を傾斜させるモーメントを発生し、機体の姿勢を頭上げの状態にしてその方向にグライディングさせる。この潜降時と浮上時のグライディングによる移動で、水中航走体は対象水域内に留まることができる。また、用途によっては目標位置に移動できる。   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.

この全方位滑走可能な水中航走体の移動を可能にするためには、重心移動装置が必要となる。この重心移動装置として、図8及び図9に示すような、重錘(ウェイト)51Xをレール52X上をX方向に移動させるスライド部(台車)50Xを、Y方向のレール60Xに載せて移動させるXY方向重心移動装置10Xを用いることができる。しかしながら、このXY方向重心移動装置10Xは、スライド用のレール52X,60Xの数が多くなるため、部品点数が多くなり易く、また、重量も大きくなり易いという問題がある。   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.

なお、水中航走体におけるトリム姿勢の調整に重心位置を変化させる姿勢制御方法として、水中航走体の可変翼の開き具合を変更することより、重心位置を変化させるグライド型水中航走体の姿勢制御方法が提案されている(例えば、特許文献1参照。)。しかしながら、この重心移動方法は、図4〜図6に示すような可変翼を持たない円盤型の全方位滑走可能な水中航走体には適用できないという問題がある。
特開2006−232070号公報
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

本発明は、上記の問題を解決するためになされたものであり、その目的は、全方位滑走可能な水中航走体等に搭載可能で、部品点数が少なく、比較的軽量で、しかも、制御も比較的単純な重心移動装置とそれを備えた水中航走体及び重心移動方法を提供することにある。   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.

上記の目的を達成するための本発明の重心移動装置は、重錘の重心位置を一方向に往復移動可能に保持したスライド部と、該スライド部を旋回可能に支持して構成される。この構成にすることにより、スライド部を旋回することにより、重錘(ウェイト)の重心位置をの移動方向(一方向)を任意の方向に向けることができ、重錘の重心位置を移動させることにより、重心位置を移動の目標とする任意の方向に移動させることができるようになる。   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.

上記の重心移動装置において、前記スライド部を前記一方向を含む面と直交する軸の周りに旋回可能に支持することにより、重錘の往復移動時及び旋回時における重心の上下方向の変化を防ぐことができる。   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.

上記の重心移動装置において、前記重錘の重心位置を移動させる第1のアクチュエータを前記スライド部に搭載すると、スライド部の重錘の重心移動の機構が単純化され、より部品点数の低減と重量の軽減を図ることができるようになる。   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.

上記の重心移動装置において、前記スライド部の旋回時に逆方向に旋回して、前記スライド部の旋回時に生じる回転モーメントを打ち消すバランス部材を設けると、旋回時に重心移動装置全体として回転モーメントを発生しなくなるので、この重心移動装置を搭載した水中航走体への重心移動装置の回転モーメントの影響を無くすことができるようになる。   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.

上記の重心移動装置において、前記重錘の重心位置を所定の位置に移動させた状態での前記スライド部の重心位置を、前記スライド部の旋回中心とすると、スライド部の旋回時に重心の移動がなくなり、旋回中に、この重心移動装置を搭載した水中航走体が目標外の方向に移動するのを防止できる。そのため、水中航走体の位置制御が容易となる。   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.

そして、上記の重心移動装置を備えた水中航走体は、部品点数が少なく、比較的軽量で、しかも、制御も比較的単純な水中航走体となる。   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.

本発明の重心移動方法は、上記の重心移動装置において、前記スライド部を旋回する前に、前記重錘の重心位置を予め設定された位置に移動させ、該移動後に前記スライド部を旋回し、該旋回後に前記重錘の重心位置を目標の位置に移動させることを特徴とする。この重心移動方法、及び、この重心移動方法を用いた水中航走体における重心移動方法によると、スライド部の旋回時に重心の移動を無くしたり、反動トルクを最小にもできる。あるいは、最小限にすることができ、旋回中に、この重心移動装置を搭載した水中航走体が目標外の方向に移動するのを防止あるいは抑制できる。そのため、水中航走体の位置制御が容易となる。   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.

本発明の重心移動装置によれば、部品点数が少なく、比較的軽量で、しかも、制御も比較的単純となる。そのため、全方位滑走可能な水中航走体への搭載に適した重心移動装置となる。また、この重心移動装置を備えた水中航走体も部品点数が少なく、比較的軽量で、しかも、制御も比較的単純となる。   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.

また、本発明の重心移動方法によれば、スライド部の重心位置が移動しない状態のままで旋回でき、重心の移動方向を目標の方向に向けることができるので、スライド部の旋回中に、この重心移動装置を搭載した水中航走体が移動するのを防止できる。また、反動トルクも少ない。そのため、水中航走体の制御が容易となる。   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.

以下、本発明に係る重心移動装置、水中航走体、及び、重心移動方法の実施の形態について図面を参照しながら説明する。   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.

図1〜図3に示すように、この重心移動装置10は、重錘21をスライド軸22で直線方向(一方向)に往復移動可能に保持したスライド部20と、スライド部20を旋回可能に支持する旋回機構30とで構成される。   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.

スライド部20には、重錘(ウェイト)21と、棒状の雄ねじ部を有するスライド軸22とこのスライド軸22を回転駆動する第1のアクチュエータ23が設けられ、更に、スライド軸22の回転に伴って重錘21が回転しないように、ガイド24が設けられている。   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.

この重錘21は円筒体で形成され、この中心部には雌ねじ部が設けられ、スライド軸22の雄ねじ部に螺合されている。第1アクチュエータ23は、モータ23aとこのモータ23aの回転数を低下させるための遊星歯車等の減速器23bとからなる。この減速器23bはモータ23aの回転数とトルクの特性によっては省略することができる。この重錘21を移動させる第1のアクチュエータ23をスライド部20に搭載することにより、スライド機構が単純化されるので、より部品点数の低減と重量の軽減を図ることができる。   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.

このスライド軸22をモータ23aの駆動により、減速器23bでその回転速度を低下されて回転させることにより、重錘21をスライド軸22に沿って直線方向に移動する。モータ23aの回転方向を変えると、重錘21の移動方向が逆方向となる。   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.

なお、この重錘21のスライド機構は、単純な直線方向の往復移動であるので、シリンダとピストンを使用したスライド機構でも良く、各種の周知の技術を使用することができる。また、第1のアクチュエータ23も電動モータに限ることなく、他の空気圧や油圧で作動するモータや他のアクチュエータであってもよい。また、図1〜図3では重錘21とスライド軸22の組を1組としているが、複数組であってもよい。   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.

旋回機構30は、スライド部20を目標とする任意の方向に旋回するための機構であり、スライド部20を支持する旋回支持軸32と、この旋回支持軸32を回転駆動する第2のアクチュエータ31を有して構成される。   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.

このスライド部20を重錘21の移動方向を含む面と直交する軸周りに旋回させるように構成する。この構成は、重錘21とスライド軸22の組が1組の場合は、スライド軸22と旋回支持軸32を直交させることにより、容易に形成できる。また、重錘21とスライド軸22の組が複数組の場合は、各スライド軸22を旋回支持軸32に直交させることにより、容易に形成できる。この構成により、重錘の往復移動時及び旋回時における重心の上下方向の変化を防ぐことができる。   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.

また、重錘21の重心位置をスライド軸22の所定の位置(初期位置)に移動させた状態でのスライド部20の重心位置を、旋回支持軸32で支持することが好ましい。この構成により、スライド部20の重心位置をスライド部20の旋回中心とすることができるので、スライド部20の旋回時に旋回中心軸に対しての重心の移動がなくなり、旋回中に、この重心移動装置10を搭載した水中航走体1が移動するのを防止できる。また、反動トルクも少ない。そのため、水中航走体1の位置制御が容易となる。   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.

なお、重錘21の重心位置をスライド軸22の所定の位置(初期位置)に移動させた状態でのスライド部20の重心位置を、旋回支持軸32で支持できない場合であっても、スライド部20の重心位置とスライド部20の旋回中心軸との距離が最小となるように、所定の位置と旋回支持軸32の位置を設定することが好ましい。これにより、スライド部20の旋回時に旋回中心軸に対しての重心の移動を小さくすることができ、旋回中に、この重心移動装置10を搭載した水中ビークル1が移動するのを抑制できる。そのため、水中ビークル1の位置制御が容易となる。   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.

そして、第2のアクチュエータ31も、この第1のアクチュエータ23と同様に、モータ31aとこのモータ31aの回転数を低下させるための遊星歯車等の減速器31bとからなる。この減速器31bはモータ31aの回転数とトルクの特性によっては省略することができる。   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.

更に、スライド部20の旋回時に逆方向に旋回して、スライド部20の旋回時に生じる回転モーメントを打ち消すバランス部材(図示しない)を設けることが好ましい。このバランス部材は、円盤等で形成することができ、その重心位置を旋回中心とすると共に、この旋回中心に対する慣性モーメントをシリンダ部20の旋回中心に対する慣性モーメントと同じになる形成する。このバランス部材は、シリンダ部20と逆方向に同じ旋回各速度で旋回するように構成する。この構成は、例えば、バランス部材の旋回軸をスライド部の旋回支持軸32と対向させて設け、この旋回軸と旋回支持軸32と第2のアクチュエータ31の回転軸と傘歯車機構で接続し、旋回軸と旋回支持軸32を回転軸で同時に回転させる周知の機構などにより実施できる。この構成により、旋回時に重心移動装置10全体としては回転モーメントが発生しなくなり、この重心移動装置10を搭載した水中ビークルへ1に対する重心移動装置10の回転モーメントの影響を無くすことができる。   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.

そして、図4に示すように、この重心移動装置10を備えて水中航走体1を構成する。この重心移動装置10は、特に水中航走体1が全方位滑走可能な水中航走体の場合にその効果を最大に発揮できる。   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.

次に、この重心移動装置10及びこの重心移動装置10を搭載した水中航走体における重心移動方法について説明する。先ず、シリンダ部20を旋回する前に、図1に示すように、重錘21の重心位置をスライド軸22上の設定された位置(初期位置)に移動させる。この設定された位置は、スライダ部20の重心位置が旋回中心になる位置であるか、旋回中心に最も近くなる位置である。この移動を行った後に、図2に示すように、モータ31aを駆動して旋回支持軸32を回転して、これに支持されたスライダ部20を旋回する。この旋回の後に、図3に示すように、モータ23aを駆動してスライド軸22を回転させて、重錘21をスライド軸22上の目標の位置に移動させ、重錘21の重心位置を目標の位置に移動させる。   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.

この重心移動方法によれば、スライダ20をその重心位置が移動しない状態のままで旋回でき、重錘21の移動方向であるスライド軸22を目標の方向に向けることができるので、スライダ部20の旋回中に、この重心移動装置10を搭載した水中航走体1が目標の方向とは別の方向に移動するのを防止又は抑制できる。そのため、水中ビークル1の位置制御が容易となる。   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.

本発明の実施の形態の重心移動装置の構成を示す斜視図である。It is a perspective view which shows the structure of the gravity center moving apparatus of embodiment of this invention. 図1の重心移動装置における旋回部の旋回を示す斜視図である。It is a perspective view which shows turning of the turning part in the gravity center moving apparatus of FIG. 図1の重心移動装置における重錘の移動を示す斜視図である。It is a perspective view which shows the movement of the weight in the gravity center moving apparatus of FIG. 重心移動装置を水中航走体に備えた状態を模式的に示す図である。It is a figure which shows typically the state provided with the gravity center moving apparatus in the underwater vehicle. 全方位滑走可能な水中航走体の側面図である。It is a side view of the underwater vehicle which can be omnidirectionally slidable. 全方位滑走可能な水中航走体の斜視図である。It is a perspective view of the underwater vehicle which can be omnidirectionally slidable. 全方位滑走可能な水中航走体の別の角度から見た斜視図である。It is the perspective view seen from another angle of the underwater vehicle which can omnidirectionally slide. XY方向重心移動装置の斜視図である。It is a perspective view of an XY direction gravity center moving apparatus. XY方向重心移動装置の別の角度から見た斜視図である。It is the perspective view seen from another angle of the XY direction gravity center moving apparatus.

符号の説明Explanation of symbols

1 水中航走体(水中ビークル)
10 重心移動装置
20 スライド部
21 重錘(ウェイト)
22 スライド軸
23 第1のアクチュエータ
23a モータ
23b 減速器
24 ガイド
30 旋回機構
31 第2のアクチュエータ
31a モータ
31b 減速器
32 旋回支持軸
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)

重錘の重心位置を一方向に往復移動可能に保持したスライド部と、該スライド部を旋回可能に支持した重心移動装置。   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. 前記スライド部を前記一方向を含む面と直交する軸の周りに旋回可能に支持した請求項1記載の重心移動装置。   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. 前記重錘の重心位置を移動させる第1のアクチュエータを前記スライド部に搭載した請求項1又は2記載の重心移動装置。   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. 前記スライド部の旋回時に逆方向に旋回して、前記スライド部の旋回時に生じる回転モーメントを打ち消すバランス部材を設けた請求項1、2又は3記載の重心移動装置。   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. 前記重錘の重心位置を所定の位置に移動させた状態での前記スライド部の重心位置を、前記スライド部の旋回中心とする請求項1、2、3又は4記載の重心移動装置。   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. 請求項1、2、3、4又は5記載の重心移動装置を備えた水中航走体。   An underwater vehicle including the center-of-gravity moving device according to claim 1, 2, 3, 4, or 5. 請求項1、2、3、4又は5記載の重心移動装置において、前記スライド部を旋回する前に、前記重錘の重心位置を予め設定された位置に移動させ、該移動後に前記スライド部を旋回し、該旋回後に前記重錘の重心位置を目標の位置に移動させる重心移動方法。   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. 請求項7の重心移動方法を用いた水中航走体における重心移動方法。   A center of gravity moving method in an underwater vehicle using the center of gravity moving method of claim 7.
JP2006308188A 2006-11-14 2006-11-14 Gravity center moving device, underwater sailing body and gravity center moving method Withdrawn JP2008120298A (en)

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