CN110254669B - Double-sided wing type towing and self-propulsion dual-purpose unmanned underwater vehicle - Google Patents
Double-sided wing type towing and self-propulsion dual-purpose unmanned underwater vehicle Download PDFInfo
- Publication number
- CN110254669B CN110254669B CN201910605688.9A CN201910605688A CN110254669B CN 110254669 B CN110254669 B CN 110254669B CN 201910605688 A CN201910605688 A CN 201910605688A CN 110254669 B CN110254669 B CN 110254669B
- Authority
- CN
- China
- Prior art keywords
- plate
- main cavity
- wing
- underwater vehicle
- spring
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 claims abstract description 42
- 230000005484 gravity Effects 0.000 claims abstract description 31
- 229910052742 iron Inorganic materials 0.000 claims abstract description 21
- 230000007246 mechanism Effects 0.000 claims abstract description 20
- 229910000831 Steel Inorganic materials 0.000 claims description 4
- 239000010959 steel Substances 0.000 claims description 4
- 235000004443 Ricinus communis Nutrition 0.000 claims description 3
- 230000005540 biological transmission Effects 0.000 abstract description 4
- 238000001514 detection method Methods 0.000 description 12
- 230000033001 locomotion Effects 0.000 description 9
- 238000000034 method Methods 0.000 description 6
- 230000008859 change Effects 0.000 description 5
- 239000000463 material Substances 0.000 description 5
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 4
- 241000251468 Actinopterygii Species 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000010276 construction Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 238000011160 research Methods 0.000 description 2
- 238000005096 rolling process Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 229910052729 chemical element Inorganic materials 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000011835 investigation Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
- 238000012876 topography Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/34—Diving chambers with mechanical link, e.g. cable, to a base
-
- 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
- B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
-
- 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
-
- 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
- B63G8/18—Control of attitude or depth by hydrofoils
-
- 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
- B63G8/24—Automatic depth adjustment; Safety equipment for increasing buoyancy, e.g. detachable ballast, floating bodies
-
- 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
- B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
- B63G2008/002—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned
- B63G2008/005—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned remotely controlled
- B63G2008/007—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned remotely controlled by means of a physical link to a base, e.g. wire, cable or umbilical
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses a double-sided wing type towing self-propulsion dual-purpose unmanned underwater vehicle, which comprises a main cavity, two fixed triangular horizontal wings, two fixed vertical wings, two inclined wing supports, two torpedo-shaped floating bodies, two propellers, a tail wing and a gravity center adjusting mechanism, wherein the main cavity is provided with a plurality of triangular horizontal wings; the gravity center adjusting mechanism is axially arranged in the main cavity, two bases of the gravity center adjusting mechanism are respectively arranged at the front end and the rear end of the main cavity, the lower end of the shaft is connected with the bases through bearings, the upper end of the shaft is connected with the driving wheel, and the two driving wheels are connected through a driving belt; an orthogonal gear is arranged on one shaft in the base and is also connected with the stepping motor and the brake respectively; the upper end of the loading vehicle is connected with the transmission belt, the bottom of the loading vehicle is provided with universal wheels, the universal wheels are movably connected with the track plate, and the loading vehicle is provided with an iron block for adjusting the gravity center. According to the invention, the length space of the main cavity can be fully utilized, and the iron block can axially and rapidly move in the main cavity, so that the rapid control of lifting of the underwater vehicle is realized.
Description
Technical Field
The invention relates to an unmanned underwater vehicle, in particular to a double-side wing type towing self-propulsion dual-purpose unmanned underwater vehicle, which is an unmanned underwater vehicle with self-propulsion and towing functions and provided with underwater detection equipment.
Background
The underwater detection device is mainly divided into an unmanned underwater vehicle and a manned underwater vehicle. Unmanned underwater vehicles can be divided into three types according to the control modes: remote control, autonomous navigation, and towed. With the increasing demand for ocean resource utilization, underwater vehicles are widely applied to ocean resource exploration, and with the scientific investigation of ocean environments, underwater vehicles are also applied to detection and monitoring of submarine topography, submarine hydrology, marine organisms and the like, and in addition, underwater vehicles have abundant application in military aspects, such as anti-submarine combat, sunken ship search and the like.
The underwater towing system consists of underwater vehicles, towlines, tugboats and various instrumentation required for exploration. And the underwater vehicle is a carrying platform for various instruments required for detection and self-control instruments. Among them, the towed underwater vehicle is an important component of the marine towing system, and the autonomous navigation underwater vehicle is also an advantageous tool for performing underwater scientific research activities. The underwater vehicle with the towing and self-propulsion functions not only can realize the function of carrying out large-scale search of the towed underwater vehicle, but also can accurately detect a certain fixed sea area by utilizing the self-propulsion function.
And whether an underwater vehicle has good stability and maneuverability as an important component of an underwater towing system is an important indicator for evaluating its performance. According to the existing research results, effective control of underwater vehicles can be mainly divided into two types: one is a towing cable and the other is a hydrofoil. In the two modes, the towing cables are controlled, so that the gesture and heading manipulation of the underwater vehicle can be generally only realized in a large scale, the manipulation is rough, and the point-to-point precise control cannot be realized. The underwater vehicle is operated by the hydrofoil, so that the underwater vehicle is more accurate, and the precise attitude adjustment and heading control of the underwater vehicle can be realized by changing the attack angle or equivalent attack angle of the forced sinking hydrofoil.
In the aspect of the appearance of the underwater vehicle, the underwater vehicle can be divided into a frame type, a fish type, a streamline type and the like according to the using purpose and the using mode of the underwater vehicle, wherein the streamline type is the design which is mainly adopted at present. The frame type is generally applied to low-speed towing due to poor hydrodynamic performance, namely, high resistance and low stability. The fish shape is limited to be widely applied due to the large processing difficulty.
In summary, the disturbance of the marine environment, the surface tug, the towing rope, the towed body and the towed body internal equipment together form a complex dynamic response system, so that the towed body has good stability, and the realization of accurate, flexible and convenient control of the towed body in the towing process becomes the key for researching the towing system. Meanwhile, if the towed body has an autonomous navigation function, the underwater vehicle can be more perfect in application in the aspects of ocean exploration, resource exploration, military use and the like.
Disclosure of Invention
The invention aims to provide a double-side wing type towing self-propulsion dual-purpose unmanned underwater vehicle which has high adaptability and can rapidly realize gesture and course control of the vehicle.
The invention aims at realizing the following technical scheme:
A double-side wing type towing and self-propulsion dual-purpose unmanned underwater vehicle mainly comprises a main cavity, two fixed triangular horizontal wings, two fixed vertical wings, two inclined wing supports, two torpedo-shaped floating bodies, two propellers, a tail wing and a gravity center adjusting mechanism; the two fixed triangular horizontal wings are symmetrically arranged at two sides of the front part of the main cavity, the two torpedo-shaped floating bodies are respectively positioned at the lower ends of the two fixed triangular horizontal wings, and each torpedo-shaped floating body is respectively connected with the fixed triangular horizontal wings and the main cavity through the fixed vertical wings and the inclined wing supports; the rear parts of the two torpedo-shaped floating bodies are provided with propeller propellers;
The gravity center adjusting mechanism is arranged in the main cavity and mainly comprises a track plate, a stepping motor, an orthogonal gear, a bearing, a shaft, a base, a brake, a loading vehicle, a driving wheel and a driving belt; the two bases are respectively provided with a front end and a rear end of the main cavity, the lower end of the shaft is connected with the bases through a bearing, the upper end of the shaft is connected with the driving wheels, and the two driving wheels are connected through a driving belt; an orthogonal gear is arranged on one shaft in the base and is also connected with the stepping motor and the brake respectively; the upper end of the loading vehicle is connected with the driving belt, the bottom of the loading vehicle is provided with universal wheels, the universal wheels are movably connected with a track plate, the track plate is arranged between the two bases, and the loading vehicle is provided with an iron block for adjusting the gravity center.
To further achieve the object of the present invention, preferably, the loading vehicle includes a first plate, a spring mounting plate, a rod, a first spring, a universal wheel, and a permanent magnet; the first plates comprise five first plates arranged at the bottom and four first plates respectively connected with the periphery of the first plates at the bottom, the five first plates form a frame structure with an opening at the upper end, iron blocks for adjusting the gravity center are placed in the frame structure, and permanent magnets are arranged on the first plates arranged at the periphery of each first plate; the connecting rod piece has 8, and every member one end is connected with a first panel, and the other end is connected with first spring, and first spring is connected with the spring mounting panel, and the fixed first panel edge that sets up in the bottom of spring mounting panel sets up, and the universal wheel setting is in the first panel lower extreme that the bottom set up.
Preferably, two connecting rods are arranged on the first plate arranged around each block.
Preferably, the upper end of the loading vehicle is connected with the driving belt through one of the first plates arranged around.
Preferably, the distance between the two bases is 600-800mm, and the diameter of the driving wheel 22 is 120-150mm; the universal wheel adopts a 2 inch small castor.
Preferably, the brake mainly comprises an electromagnet, a second plate, a third plate and a second spring; the base is provided with a groove, the third plate is movably arranged in the groove, the third plate is movably connected with the orthogonal gear, the second plate is vertically arranged at the upper end of the groove, the second plate is fixedly connected with the third plate, the second spring is arranged in the groove, one end of the second spring is connected with the second plate, and the other end of the second spring is fixed at the end part of the groove; the electromagnet and the second plate are arranged at intervals.
Preferably, the materials of the second plate and the third plate are steel materials; the diameter of the spring wire of the second spring is 0.4mm-0.5mm, the pitch is 1mm-1.2mm, and the number of turns is 16-20.
Preferably, the depth of the groove is 10mm.
Preferably, the main cavity is torpedo-shaped, and the front end of the middle part of the upper surface of the main cavity is provided with a dragging part and a hanging ring.
Preferably, the distance between the tail of the fixed triangular horizontal wing and the tail end of the main cavity is 120-150mm; the distance between the tail of the fixed vertical wing and the tail end of the main cavity is 550-560mm, and the distance between the fixed vertical wing and the outermost end of the fixed triangular horizontal wing is 300-350mm; the other end of the fixed vertical wing is welded with the torpedo-shaped floating body, and the distance between the tail of the fixed vertical wing and the tail end of the torpedo-shaped floating body is 130-150mm.
Compared with the prior art, the invention has the following advantages and beneficial effects:
(1) The lifting of the underwater vehicle is rapidly controlled. According to the invention, the orthogonal gears, the transmission belt and the universal wheels are utilized to directly drive the iron blocks, the sliding friction is changed into rolling through the universal wheels moving on the track plate, the movement of the iron blocks is quicker, and as the track plate is axially arranged in the main cavity, the length space of the main cavity can be fully utilized, and the iron blocks axially and rapidly move in the main cavity, so that the lifting and lowering of the underwater vehicle are rapidly controlled.
(2) High adaptability and wide application range. The gravity center adjusting mechanism can load iron blocks with different sizes by adopting the loading vehicle with the spring, so that the adjusting mechanism can adjust the iron blocks with different weights to adapt to various navigational speeds, various loading states and navigational states with various towing depths, the application range of the aircraft is enlarged, and the adaptability of the aircraft is improved. The screw propeller is arranged at the stern of the two torpedo-shaped floating bodies and can be used as a bow turning controller or a propeller, thrust is provided to help the underwater vehicle to realize self-navigation, and the underwater vehicle is changed from a towing type to an autonomous navigation type, so that the use mode of small-range accurate detection is changed from wide detection in a large range.
(3) The operating structure is simple. The invention can realize the control of multiple degrees of freedom by only controlling the rotation of 3 motors, namely a stepping motor with the center of gravity moving and two watertight motors of the propeller. Specifically, the stepping motor rotates to drive the iron block to move through the driving belt, so that the gravity center of the whole aircraft is changed, the whole aircraft down pitch or pitch-up is enabled to change the fixed horizontal attack angle, lift force and forced sinking force are generated, and the whole aircraft is enabled to perform heave motion; the left watertight motor and the right watertight motor drive the propellers to rotate, and simultaneously control different rotating speeds or rotating speeds of the two propellers, so that the propellers generate thrust with different sizes or directions, the whole aircraft generates bow turning, the attack angles of the two fixed vertical wings are changed, left and right forces are generated, and bow turning movement of the whole aircraft is realized.
(4) The self stability is high. For underwater vehicles, ensuring self-motion stability is critical. The invention has two fixed triangular horizontal wings, two vertical wings, two inclined wings and a tail wing, and can ensure the stability of the heading under a certain speed. Meanwhile, the two fixed triangular horizontal wings and the main cavity body ensure the height of the floating center of the aircraft, the two torpedo-shaped floating bodies can be loaded with heavier instruments or directly weigh iron blocks to reduce the height of the gravity center, and meanwhile, the fixed triangular horizontal wings are larger, meanwhile, the rolling moment arm is increased, and the stability of the aircraft is ensured. All components of the aircraft adopt streamline shapes, and the control mechanism is arranged in the main cavity, and has no redundant additional structure except the main wing, so that the uniformity of a flow field on the surface of the aircraft is ensured, the water resistance is reduced, the tensile force born by the towing rope is reduced, and the risk of the towing rope breaking or slipping is reduced. Meanwhile, the profile of the wing profile reduces disturbance of water flow, vortex is avoided, water flow stably flows through the aircraft, and the wing profile is beneficial to keeping the attitude of the aircraft stable.
(5) The instrument is flexible to arrange. The invention has three cavities, namely a main cavity and two torpedo-shaped floating bodies, which can be used for flexibly arranging equipment and instruments required by use, meanwhile, due to the large space of the cavities, after good subdivision is carried out, the two torpedo-shaped floating bodies can be used as equipment instrument cabins and ballast cabins, and meanwhile, the main cavity can be used as a control cabin and can be divided into enough buoyancy cabins to help an aircraft to improve the floating center and increase the course and gesture stability of the aircraft.
Drawings
FIG. 1 is a schematic perspective view of a double-sided airfoil towed self-propelled dual-purpose unmanned underwater vehicle;
FIG. 2 is a left side elevational view of the contoured structure of FIG. 1;
FIG. 3 is a front elevational view of the form construction of FIG. 1;
FIG. 4 is a top plan view of the form construction of FIG. 1;
FIG. 5 is a schematic view of the interior of the loader of the center of gravity adjustment mechanism of FIG. 1;
FIG. 6 is a bottom schematic view of the loader of the center of gravity adjustment mechanism of FIG. 1;
FIG. 7 is a schematic illustration of a brake of the center of gravity adjustment mechanism of FIG. 1;
Fig. 8 is a perspective view of the center of gravity adjustment mechanism of fig. 1.
The figure shows: the main cavity 1, the fixed triangular horizontal wings 2, the fixed vertical wings 3, the inclined wing support 4, the torpedo-shaped floating body 5, the propeller 6, the towing part 7, the hanging ring 8, the track plate 9, the stepping motor 10, the electromagnet 11, the orthogonal gear 12, the permanent magnet 13, the first spring 14, the bearing 15, the rod 16, the first plate 17, the universal wheel 18, the spring mounting plate 19, the brake 20, the loading truck 21, the driving wheel 22, the driving belt 23, the tail wing 24, the second spring 25, the shaft 26, the second plate 27, the third plate 28 and the base 29.
Detailed Description
For a better understanding of the present invention, the present invention will be further described with reference to the accompanying drawings, but the embodiments of the present invention are not limited to the following.
As shown in fig. 1-4, a dual-purpose unmanned underwater vehicle with double-sided wing type towing and self-propulsion mainly comprises: the main cavity 1, two fixed triangular horizontal wings 2, two fixed vertical wings 3, two inclined wing supports 4, two torpedo-shaped floating bodies 5, two propellers 6, a tail wing 24 and a gravity center adjusting mechanism. The two fixed triangular horizontal wings 2 are symmetrically arranged on two sides of the front part of the main cavity 1, two torpedo-shaped floating bodies 5 are respectively positioned at the lower ends of the two fixed triangular horizontal wings 2, and each torpedo-shaped floating body 5 is respectively connected with the fixed triangular horizontal wings 2 and the main cavity 1 through the fixed vertical wings 3 and the inclined wing supports 4; the rear parts of the two torpedo-shaped floats 5 are provided with propeller propellers 6;
The gravity center adjusting mechanism is axially arranged in the main cavity 1, and as shown in fig. 5-8, the gravity center adjusting mechanism mainly comprises a track plate 9, a stepping motor 10, an orthogonal gear 12, a bearing 15, a shaft 26, a base 29, a brake 20, a loading truck 21, a driving wheel 22 and a driving belt 23; the two bases 29 are respectively arranged at the front end and the rear end of the main cavity 1, the lower end of the shaft 26 is connected with the bases 29 through the bearings 15, the upper end of the shaft 26 is connected with the driving wheels 22, and the two driving wheels 22 are connected through the driving belt 23; an orthogonal gear 12 is arranged on one shaft 26 in the base 29, and the orthogonal gear 12 is also respectively connected with the stepping motor 10 and the brake 20; the upper end of the loading vehicle 21 is connected with a driving belt 23, the bottom of the loading vehicle 21 is provided with universal wheels 18, the universal wheels 18 are movably connected with a track plate 9, and the track plate 9 is arranged between two bases 29.
As shown in fig. 5 and 6, the loading vehicle 21 mainly includes a first plate 17, a spring mounting plate 19, a lever 16, a first spring 14, a universal wheel 18, and a permanent magnet 13. The first plates 17 comprise five first plates 17 arranged at the bottom and four first plates 17 respectively connected with the periphery of the first plates at the bottom, the five first plates 17 form a frame structure with an opening at the upper end, iron blocks for adjusting the gravity center are placed in the frame structure, and permanent magnets 13 are arranged on the first plates 17 arranged at the periphery of each first plate; the number of the connecting rod pieces 16 is 8, one end of each rod piece 16 is connected with one first plate 17, the other end of each rod piece 16 is connected with the first spring 14, the first spring 14 is connected with the spring mounting plate 19, the spring mounting plate 19 is fixedly arranged at the edge of the first plate 17 arranged at the bottom, and preferably, two connecting rod pieces 16 are arranged on each first plate 17 arranged around; the universal wheel 18 is arranged at the lower end of the first plate 17 arranged at the bottom. Iron blocks of different sizes and different masses can be mounted by telescoping the first spring 14 to accommodate different loading and sailing conditions. In addition, the permanent magnet 13 on each first plate 17 can well lock the iron block, so that the stability of the iron block in the sailing process is ensured. One of the first plates 17 arranged around is connected with a driving belt 23, so that the upper end of the loading vehicle 21 is connected with the driving belt 23.
The distance between the two bases 29 is preferably 600-800mm, and the distance between the two bases 29 can be adjusted according to different loading and sailing conditions; the diameter of the shaft 26 is preferably 8-10mm and the length is preferably 120-150mm; the diameter of the drive wheel 22 is preferably 120-150mm; the material of the first plate 17 is preferably steel, the size of the first plate 17 is preferably 100mm×100mm×5mm, and the size of the spring mounting plate 19 is preferably 10mm×10mm×5mm; the number of rods 16 is 8, the diameter is preferably 8-10mm, and the length is preferably 90-100mm; the number of the first springs 14 is preferably 8, the diameter of the spring wire is preferably 0.8-1mm, the pitch is preferably 4-5 mm, and the number of turns is preferably 20-25; the permanent magnet 13 is a square magnetic sheet, the specification is preferably 100mm multiplied by 50mm multiplied by 5mm, and the universal wheel 18 is a2 inch small castor.
As shown in fig. 7, the brake 20 mainly includes an electromagnet 11, a second plate 27, a third plate 28, and a second spring 25; the base 29 is provided with a groove, the third plate 28 is movably arranged in the groove, the third plate 28 is movably connected with the orthogonal gear 12, the second plate 27 is vertically arranged at the upper end of the groove, the second plate 27 is fixedly connected with the third plate 28, preferably the second plate 27 is welded at the middle part of the third plate 28, the second spring 25 is arranged in the groove, one end of the second spring is connected with the second plate 27, and the other end of the second spring is fixed at the end part of the groove; preferably the depth of the groove is 10mm; the electromagnet 11 and the second plate 27 are arranged at opposite intervals, and the electromagnet is electrified and powered off to attract and release the second plate 27, so that the connection between the third plate 28 and the orthogonal gear 12 is controlled, and braking control is realized. The materials of the second plate 27 and the third plate 28 are preferably steel materials; the diameter of the spring wire of the second spring 25 is preferably 0.4mm to 0.5mm, the pitch is preferably 1mm to 1.2mm, and the number of turns is preferably 16 to 20.
The main cavity 1 is torpedo-shaped, and a dragging part 7 and a hanging ring 8 are arranged at the front end of the middle part of the upper surface of the main cavity.
The propeller comprises a watertight motor and a conduit propeller, and the watertight motor and the propeller are arranged at the tail parts 5 of the two torpedo-shaped floating bodies through transmission shafts. By controlling the two propeller propellers 6 to have different rotation speeds and steering, differential control is realized, and the aircraft is turned to a small angle by using the method, the equivalent attack angle of the fixed vertical wing 3 is induced to change, and pressure difference is generated at two sides of the fixed vertical wing 3, so that the fixed vertical wing generates turning force, and the turning motion of the aircraft is realized.
There are no additional mechanisms and components on the outside of the aircraft, thereby reducing water drag. The fixed triangular horizontal wings 2 are arranged on two sides of the main cavity body and are symmetrically arranged left and right, and the distance between the tail parts of the fixed triangular horizontal wings 2 and the tail end of the main cavity body 1 is preferably 120-150mm. One end of the fixed vertical wing is vertically connected with the fixed triangular horizontal wing 2, the distance between the tail of the fixed vertical wing 3 and the tail end of the main cavity 1 is preferably 550-560mm, and the distance between the fixed vertical wing 3 and the outermost end of the fixed triangular horizontal wing 2 is preferably 300-350mm. The other end of the fixed vertical wing is welded with the torpedo-shaped floating body 5, and the distance between the tail of the fixed vertical wing 3 and the tail end of the torpedo-shaped floating body 5 is preferably 130-150mm.
The stepper motor 10 is arranged on one side of the brake 20, the stepper motor 10 is axially connected with one orthogonal gear 12, the other orthogonal gear 12 (positioned on the base) is axially connected with the shaft 26, and the two joints are connected by keys, so that relative sliding is prevented. The third plate 28 is inserted into the slot of the orthogonal gear 12 under the action of the elasticity of the spring 14, so that the rotation is blocked, the loading truck 21 and the iron block inside are fixed at one position, the electromagnet 11 is electrified to generate attractive force to attract the second plate 27 and the third plate 28 to leave the slot, and the rotation is recovered at the moment. The loading vehicle 21 is placed in the belt 23, and one side of the loading vehicle 21 is connected to the belt 23. The stepping motor 10 and the electromagnet 11 are connected in parallel, and the switch is arranged on a main circuit of the circuit, so that synchronous opening and closing of the stepping motor and the electromagnet are ensured.
The heave operation of the underwater vehicle is as follows: firstly, a required iron block is selected to be placed in a loading vehicle 21, an electromagnet 11 is controlled to attract two second plates 27 and a third plate 28 which are in orthogonal connection, the third plate 28 is separated from a tooth gap, rotation is recovered, a stepping motor 10 rotates, a driving wheel 22 is driven to rotate through transmission of an orthogonal gear 12, the loading vehicle 21 and the iron block are driven to move on a track plate 9 through a driving belt 23, and finally the movement of the whole gravity center is realized. After the center of gravity is moved, down pitch or pitch-up is generated by the movement of the center of gravity of the whole aircraft, the attack angle of the fixed triangular horizontal wing 2 is changed, and accordingly lift force and sinking force are generated to enable the aircraft to ascend and sink.
When a mother ship is required to stop in a certain area and accurately detect in the small area during detection in some small areas, the towing force is not provided by the towing cables, and the traditional aircraft cannot navigate autonomously, so that detection and exploration activities in the small areas cannot be performed. The double-side wing profile towing self-propulsion dual-purpose unmanned underwater vehicle provides electric energy through the umbilical cable and provides thrust through the propeller 6 at the tail of the torpedo-shaped floating body 5, so that the underwater vehicle realizes self-propulsion, and the underwater vehicle is changed from towing type to autonomous navigation type, thereby completing the conversion of the use mode from wide detection in a large range to accurate detection in a small range.
The double-sided wing section towing self-propulsion unmanned underwater vehicle is characterized in that:
According to different detection tasks, equipment such as ocean chemical element detectors, physical detection sensors and the like of corresponding types are arranged in the main cavity 1 and the torpedo-shaped floating body 5. A suitable position of the towing element 7 is selected for towing by connecting the towing cable thereto. The counterweight inside the torpedo-shaped floating body 5 is adjusted according to the towing situation so that the aircraft maintains a well-stabilized towing attitude.
When in towing, the stepping motor 10 and the electromagnet 11 in the gravity center adjusting mechanism are electrified to unlock the locking state, the loading vehicle and the iron blocks in the loading vehicle are driven to move through the rotation of the stepping motor 10, the gravity center of the aircraft is changed, so that the aircraft generates down pitch and pitch-up, the equivalent attack angle of the fixed triangular horizontal wing 2 is changed to realize the sinking and rising of the aircraft, and the depth control of the aircraft is realized. By controlling the two propellers 6 to generate different rotation speeds and steering, differential control is realized, and the aircraft is turned to a small angle by using the method, the equivalent attack angle change of the fixed vertical wing 3 is induced, and the pressure difference is generated at two sides of the fixed vertical wing 3, so that the turning force is generated, and the turning motion of the aircraft is realized.
When the vehicle is self-propelled, the umbilical cable provides electric energy to enable the propeller at the tail of the torpedo-shaped floating body to provide thrust, and when the vehicle is self-propelled, steering is needed, differential control is realized by controlling the two propellers 6 to generate different rotating speeds and steering, the vehicle is turned to a small angle by using the method, the equivalent attack angle of the fixed vertical wing 3 is induced to change, the pressure difference is generated at the two sides of the fixed vertical wing 3, so that the bow turning force is generated, the turning motion of the vehicle is realized, and when the vehicle is turned to a target angle, the propellers 6 are enabled to recover the same rotating speed and steering, and the dragging is enabled to be propelled along the direction. And the gravity center adjusting mechanism moves the gravity center of the aircraft to enable the aircraft down pitch and pitch-up to change the attack angle of the fixed triangular horizontal wing 2 so as to enable the aircraft to generate heave motion. The multi-degree-of-freedom autonomous navigation of the aircraft is realized through the method.
As described above, the functions of the towing and self-propulsion dual-purpose double-side airfoil type multi-degree-of-freedom control unmanned underwater vehicle can be well realized. The present invention is not limited to the above embodiments, and any other changes, modifications, substitutions, combinations, and simplifications that do not depart from the spirit and principles of the invention are intended to be equivalent alternatives, and are included within the scope of the present invention.
Claims (10)
1. The double-side wing type towing and self-propulsion dual-purpose unmanned underwater vehicle mainly comprises a main cavity, two fixed triangular horizontal wings, two fixed vertical wings, two inclined wing supports, two torpedo-shaped floating bodies, two propellers, a tail wing and a gravity center adjusting mechanism; the two fixed triangular horizontal wings are symmetrically arranged at two sides of the front part of the main cavity, the two torpedo-shaped floating bodies are respectively positioned at the lower ends of the two fixed triangular horizontal wings, and each torpedo-shaped floating body is respectively connected with the fixed triangular horizontal wings and the main cavity through the fixed vertical wings and the inclined wing supports; the rear parts of the two torpedo-shaped floating bodies are provided with propeller propellers;
The gravity center adjusting mechanism is axially arranged in the main cavity and mainly comprises a track plate, a stepping motor, an orthogonal gear, a bearing, a shaft, a base, a brake, a loading vehicle, a driving wheel and a driving belt; the two bases are respectively arranged at the front end and the rear end of the main cavity, the lower end of the shaft is connected with the bases through bearings, the upper end of the shaft is connected with the driving wheels, and the two driving wheels are connected through a driving belt; an orthogonal gear is arranged on one shaft in the base and is also connected with the stepping motor and the brake respectively; the upper end of the loading vehicle is connected with the driving belt, the bottom of the loading vehicle is provided with universal wheels, the universal wheels are movably connected with a track plate, the track plate is arranged between the two bases, and the loading vehicle is provided with an iron block for adjusting the gravity center.
2. The double-sided airfoil towing self-propelled dual-purpose unmanned underwater vehicle of claim 1, wherein the loading vehicle comprises a first plate, a spring mounting plate, a rod, a first spring, a universal wheel and a permanent magnet; the first plates comprise five first plates arranged at the bottom and four first plates respectively connected with the periphery of the first plates at the bottom, the five first plates form a frame structure with an opening at the upper end, iron blocks for adjusting the gravity center are placed in the frame structure, and permanent magnets are arranged on the first plates arranged at the periphery of each first plate; the connecting rod piece has 8, and every member one end is connected with a first panel, and the other end is connected with first spring, and first spring is connected with the spring mounting panel, and the fixed first panel edge that sets up in the bottom of spring mounting panel sets up, and the universal wheel setting is in the first panel lower extreme that the bottom set up.
3. The double-sided wing type towing self-propelled dual-purpose unmanned underwater vehicle according to claim 2, wherein two connecting rods are arranged on the first plate arranged on the periphery of each block.
4. The double-sided wing type towing self-propelled dual-purpose unmanned underwater vehicle according to claim 2, wherein the connection between the upper end of the loading vehicle and the driving belt is realized by connecting one of the first plates arranged on the periphery with the driving belt.
5. The double-sided wing type towing self-propelled dual-purpose unmanned underwater vehicle according to claim 1, wherein the distance between the two bases is 600-800mm, and the diameter of the driving wheel (22) is 120-150mm; the universal wheel adopts a2 inch small castor.
6. The double-sided airfoil towing self-propelled dual-purpose unmanned underwater vehicle of claim 1, wherein the brake comprises an electromagnet, a second plate, a third plate and a second spring; the base is provided with a groove, the third plate is movably arranged in the groove, the third plate is movably connected with the orthogonal gear, the second plate is vertically arranged at the upper end of the groove, the second plate is fixedly connected with the third plate, the second spring is arranged in the groove, one end of the second spring is connected with the second plate, and the other end of the second spring is fixed at the end part of the groove; the electromagnet and the second plate are arranged at intervals.
7. The double-sided airfoil towing self-propelled dual-purpose unmanned underwater vehicle of claim 6, wherein the second and third plates are steel; the diameter of the spring wire of the second spring is 0.4mm-0.5mm, the pitch is 1mm-1.2mm, and the number of turns is 16-20.
8. The double-sided airfoil towed self-propelled dual-purpose unmanned underwater vehicle of claim 6, wherein the depth of the groove is 10mm.
9. The double-sided wing type towing self-propelled dual-purpose unmanned underwater vehicle according to claim 1, wherein the main cavity is torpedo-shaped, and a towing part and a hanging ring are arranged at the front end of the middle part of the upper surface of the main cavity.
10. The double-sided wing type towing self-propelled dual-purpose unmanned underwater vehicle according to claim 1, wherein the distance between the tail of the fixed triangular horizontal wing and the tail end of the main cavity is 120-150mm; the distance between the tail of the fixed vertical wing and the tail end of the main cavity is 550-560mm, and the distance between the fixed vertical wing and the outermost end of the fixed triangular horizontal wing is 300-350mm; the other end of the fixed vertical wing is welded with the torpedo-shaped floating body, and the distance between the tail of the fixed vertical wing and the tail end of the torpedo-shaped floating body is 130-150mm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910605688.9A CN110254669B (en) | 2019-07-05 | 2019-07-05 | Double-sided wing type towing and self-propulsion dual-purpose unmanned underwater vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910605688.9A CN110254669B (en) | 2019-07-05 | 2019-07-05 | Double-sided wing type towing and self-propulsion dual-purpose unmanned underwater vehicle |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110254669A CN110254669A (en) | 2019-09-20 |
| CN110254669B true CN110254669B (en) | 2024-06-11 |
Family
ID=67924657
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910605688.9A Active CN110254669B (en) | 2019-07-05 | 2019-07-05 | Double-sided wing type towing and self-propulsion dual-purpose unmanned underwater vehicle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110254669B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111572720B (en) * | 2020-05-11 | 2025-02-14 | 华南理工大学 | A high-speed, high-sea-state submersible multi-body unmanned vehicle and control method thereof |
| CN112478044B (en) * | 2020-12-07 | 2025-01-17 | 徐州创之社通用技术产业研究院有限公司 | Impact speed reduction assembly for underwater vehicle |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5018472A (en) * | 1989-06-22 | 1991-05-28 | The United States Of America As Represented By The Secretary Of The Navy | Horizontally moveable weight stabilizing device |
| US5979354A (en) * | 1996-12-30 | 1999-11-09 | Arzola; Javier Silvano | Submarine |
| CN1709766A (en) * | 2005-06-16 | 2005-12-21 | 上海交通大学 | Buoyancy and thruster dual-drive remote autonomous underwater robot |
| CN103144752A (en) * | 2013-02-05 | 2013-06-12 | 华南理工大学 | Underwater towed body with multiple degrees of manipulation freedom |
| CN103625622A (en) * | 2013-11-11 | 2014-03-12 | 华南理工大学 | Vertical type operable underwater towed vehicle with stable course |
| CN104044715A (en) * | 2014-06-10 | 2014-09-17 | 华南理工大学 | Tail control force induced control pull-type cable remote control underwater vehicle |
| CN203958580U (en) * | 2014-06-10 | 2014-11-26 | 华南理工大学 | A kind of tail groove-type thruster is controlled trailing type band cable remote-controlled water diving device |
| JP2016064798A (en) * | 2014-09-26 | 2016-04-28 | 株式会社Ihi | Attitude controller for underwater equipment |
| CN210592376U (en) * | 2019-07-05 | 2020-05-22 | 华南理工大学 | A towed and self-propelled dual-purpose multi-DOF maneuvering underwater vehicle |
-
2019
- 2019-07-05 CN CN201910605688.9A patent/CN110254669B/en active Active
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5018472A (en) * | 1989-06-22 | 1991-05-28 | The United States Of America As Represented By The Secretary Of The Navy | Horizontally moveable weight stabilizing device |
| US5979354A (en) * | 1996-12-30 | 1999-11-09 | Arzola; Javier Silvano | Submarine |
| CN1709766A (en) * | 2005-06-16 | 2005-12-21 | 上海交通大学 | Buoyancy and thruster dual-drive remote autonomous underwater robot |
| CN103144752A (en) * | 2013-02-05 | 2013-06-12 | 华南理工大学 | Underwater towed body with multiple degrees of manipulation freedom |
| CN103625622A (en) * | 2013-11-11 | 2014-03-12 | 华南理工大学 | Vertical type operable underwater towed vehicle with stable course |
| CN104044715A (en) * | 2014-06-10 | 2014-09-17 | 华南理工大学 | Tail control force induced control pull-type cable remote control underwater vehicle |
| CN203958580U (en) * | 2014-06-10 | 2014-11-26 | 华南理工大学 | A kind of tail groove-type thruster is controlled trailing type band cable remote-controlled water diving device |
| JP2016064798A (en) * | 2014-09-26 | 2016-04-28 | 株式会社Ihi | Attitude controller for underwater equipment |
| CN210592376U (en) * | 2019-07-05 | 2020-05-22 | 华南理工大学 | A towed and self-propelled dual-purpose multi-DOF maneuvering underwater vehicle |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110254669A (en) | 2019-09-20 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111846170B (en) | Autonomous underwater robot structure cruises on a large scale | |
| CN109878666A (en) | A leading edge rotating cylindrical wing controlled underwater drag body | |
| CN103253312B (en) | Mode-switch under-water robot and control method thereof | |
| CN110282100B (en) | Torpedo type main body multi-degree-of-freedom operated underwater vehicle | |
| JP2007276609A5 (en) | ||
| CN103144752B (en) | A kind of multiple degree of freedom handles underwater towed vehicle, | |
| CN106864708B (en) | The underwater operation robot and its control method that a kind of bionical knife edge leg of migration mixing is combined with omni-directional wheel | |
| CN103625622B (en) | A kind of vertical coursekeeping can handle underwater towed vehicle, | |
| CN103600821A (en) | Omni-directional floating and wall-climbing underwater robot | |
| CN210592376U (en) | A towed and self-propelled dual-purpose multi-DOF maneuvering underwater vehicle | |
| CN104527952B (en) | Minitype autonomous underwater vehicle | |
| CN102351032A (en) | Twin submersible | |
| CN110254669B (en) | Double-sided wing type towing and self-propulsion dual-purpose unmanned underwater vehicle | |
| CN102616353A (en) | Saucer submersible | |
| CN201010037Y (en) | Disomic placement towed body with empennage control | |
| JPH0749277B2 (en) | A glider-type submersible with control of boat attitude by adjusting gravity and buoyancy | |
| CN107985536B (en) | A submersible equipped with a space parallel mechanism vector thruster | |
| CN108860532A (en) | A kind of omnidirectional's revolution submarine navigation device | |
| CN102139749A (en) | Underwater monitoring robot mechanism | |
| CN112093015B (en) | Underwater robot | |
| CN203127126U (en) | Three-cylinder underwater dragging body | |
| CN115675800A (en) | Underwater towed body capable of realizing self-navigation and used for different-depth detection | |
| RU2680678C1 (en) | Underwater glider motion control system | |
| JP2007160972A (en) | Control method for course of underwater navigating body | |
| CN210083503U (en) | Towed type front edge rotating cylindrical wing remote control underwater vehicle with cable |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |