CN104044715B - Tail control force induced control pull-type cable remote control underwater vehicle - Google Patents
Tail control force induced control pull-type cable remote control underwater vehicle Download PDFInfo
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- CN104044715B CN104044715B CN201410256358.0A CN201410256358A CN104044715B CN 104044715 B CN104044715 B CN 104044715B CN 201410256358 A CN201410256358 A CN 201410256358A CN 104044715 B CN104044715 B CN 104044715B
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Abstract
The invention discloses a tail control force induced control pull-type cable remote control underwater vehicle which comprises torpedo type floating bodies, a fixed tilt wing type support, a fixed horizontal main wing, a fixed vertical tail wing, a controllable attack angle horizontal tail wing, a tail horizontal thrust water sprayer pipe system and a main cavity capable of realizing a pull course stabilization function, wherein the main cavity is of a vertical rudder shape, the two torpedo type floating bodies are arranged at two sides above a vertical symmetric surface of the main cavity of the underwater vehicle, the fixed horizontal main wing is connected with the two torpedo type floating bodies through a fixed shaft, two support short plates are arranged between the front part of the fixed horizontal main wing and the main cavity, the fixed tilt wing type support is used for connecting the torpedo type floating bodies with the upper part of the main cavity, and the controllable attack angle horizontal tail wing and the fixed vertical tail wing are arranged above the rear part of the main cavity. The tail control force induced control pull-type cable remote control underwater vehicle is flexible and reliable in control mechanism, better in pull course stability, strong in autonomous stabilizing capacity, high in bow steering, heaving, and swaying movement control efficiencies, and higher in business development value.
Description
Technical field
The present invention relates to a kind of pull-type band cable remote control underwater hiding-machine, more particularly to a kind of tail steering force Induction Control drags
Drag formula band cable remote control underwater hiding-machine, be mainly used in the tincture such as the physics such as acousto-optic or water quality under water and detect.
Background technology
Pull-type band cable remote control underwater hiding-machine is that one kind is applied to dynamic acoustic optical physics observation under water, under water water quality shape
The dynamic underwater towing detection equipment of the chemical parameters such as condition, latent device system generally is passed through to pull hawser to water by towing working mother boat
Diving device carries out towing to implement undersea detection operation.Main cavity is the chief component of underwater hiding-machine, and it in vivo can basis
Different detection missions requires to carry different types of monitoring device.Operating personnel on towing working mother boat can be by controlling
Signal cable sends specific control instruction to the attitude coutrol mechanism of underwater hiding-machine to be come the track to underwater hiding-machine and is entered with attitude
Row manipulates.Monitoring device job specification in underwater hiding-machine body requires underwater hiding-machine to have good attitude during its towing
Stability and towing shipping-direction stability, and possess flexible attitude maneuvering capability.How according to the job requirements of underwater hiding-machine
Realize its attitude carried out stable, effectively control, be pull-type band cable remote control underwater hiding-machine success apply to reality
One key of undersea detection operation.
In existing pull-type band cable remote control underwater hiding-machine, the depth for latent device and TRAJECTORY CONTROL are mainly passed through to change
Towing cable cable length or adjust underwater hiding-machine and compel the angle of attack of heavy hydrofoil to realize.In terms of external form, different research institutions or institute of enterprise
The various forms pull-type of exploitation substantially copies the form of aviation aircraft with cable remote control underwater hiding-machine, with fixing or adjustable
The heavy hydrofoil of compeling of the angle of attack adds the single cylindricality main cavity composition being loaded with underwater monitoring equipment.This kind of single cylindricality main chamber bodily form
The major defect of formula underwater hiding-machine is: self-stability is poor, towing shipping-direction stability bad it is difficult to carry out flexibly many to latent device
Free degree Comprehensive Control.Cause latent device therefrom to be not easy to maintain its attitude stabilization and towing boat during its drag operation
To stable it is not easy to realize multiple degrees of freedom, on a large scale, perpendicular to tow direction move when transverse horizontal underwater observation.For reality
Existing underwater hiding-machine can be stablized, underwater operation on a large scale, and existing pull-type band cable remote control underwater hiding-machine is mostly with reference to aviation flight
The control principle of device, to meet the requirement of its undersea detection using umbrella complex control mechanism.On the other hand, on market
Some light pull-type band cable remote control underwater hiding-machines of commercialization then because control action is single, be difficult to ensure its attitude stabilization,
Control reliability difference and be difficult to obtain the application of satisfaction in actual towing observation operation.
Content of the invention
It is an object of the invention to provide one kind have autonomous stabilisation function, towing shipping-direction stability good, higher with efficiency
Control mode is realizing it is carried out with the pull-type band cable remote control underwater hiding-machine of track and gesture stability.
The present invention is achieved through the following technical solutions:
A kind of tail steering force Induction Control pull-type band cable remote control underwater hiding-machine, including torpedo buoyancy aid, the constant tilt wing
Type supports, fixing horizontal main wing, controlled angle of attack tailplane, fixed vertical empennage, caudal push away sparge pipe system and main cavity；Institute
State the shell structure that main cavity is vertical direction rudder profile, its top cover front end is provided with the towing hole as towpoint, and middle part sets
There are operation suspension ring, front end also has cable hole, communication power cable stretches out from cable hole；Main cavity lower front part is provided with into water
Mouthful, it is provided with horizontally disposed caudal in main chamber body and pushes away sparge pipe system, caudal pushes away the supervisor of sparge pipe system along along main cavity
Portion is arranged, and is provided with immersible pump in supervisor, and the right caudal that the connection of supervisor end is located at main cavity upper rear pushes away sparge pipe and left tail
Side pushes away sparge pipe, and right caudal pushes away sparge pipe and left caudal pushes away sparge pipe and stretches out main chamber body sidewall from delivery port, and right caudal pushes away water spray
First electromagnetic valve switch is provided with pipe, left caudal pushes away and is provided with the second electromagnetic valve switch on sparge pipe, for controlling caudal to push away
The water spraying direction of sparge pipe；
Two torpedo buoyancy aids are arranged in both sides above main cavity vertical symmetry plane, and fixing horizontal main wing is symmetrical airfoil,
Horizontal direction connects two torpedo buoyancy aids by fixing axle, and fixing axle passes through fixing horizontal main wing rear portion, and two ends are fixed on two fishes
On thunder type buoyancy aid；The horizontal main wing of fixation is anterior to be provided with two pieces of support short slabs and main cavity between；One piece supports short slab and fixing water
Flat wing lower surface front end is affixed, and another piece supports short slab to be fixed on main cavity；Short slab is supported to be all circular arc, with fixing level
The support short slab of wing welding, with the axle center in fixing axle as the center of circle, supports and has multiple circular holes on short slab, and two support short slabs activity
Connect；Constant tilt airfoil support is arranged between torpedo buoyancy aid and main cavity, using symmetrical airfoil, its one end and torpedo
Buoyancy aid connects, and the other end is connected with main cavity top；
Described controlled angle of attack tailplane and fixed vertical empennage are arranged on main cavity rear portion, all using symmetrical airfoil；Can
Control angle of attack tailplane is arranged above a pair of fixed vertical empennage, and fixed vertical empennage top is provided with circular arc bearing with holes,
Controlled angle of attack tailplane lower surface afterbody is again provided with circular arc bearing with holes, and two groups of bearings are hinged by a stay bolt；
Controlled angle of attack tailplane can be around tailplane axis of rotation, and tailplane corner drive mechanism includes watertight linear electric motors, pushes away
Bar, articulated joint, short axle and chute；Watertight linear electric motors are arranged vertically in main chamber body, push rod one end and watertight linear electric motors
Axle connect, the other end is connected with articulated joint, and the joint other end is hinged with chute by short axle, and chute is arranged at the controlled angle of attack
Tailplane lower surface front end.
Preferably, described towing hole setting quantity is 4～7, a diameter of 8～10mm, spacing 15～20mm, described cable
Bore dia is 30～40mm, is provided with instrument room and multiple separation inside main cavity, is provided with seawater and imports and exports below main cavity
Conduit.Caudal pushes away a diameter of 40～50mm of piping of sparge pipe system.Main chamber body height is 400～450mm, and width is
200～220mm, length is 1200～1300mm.The distance between described two torpedo buoyancy aids are 600mm～700mm, torpedo
Buoyancy aid is 250～300mm with the vertical range of main cavity upper surface, a diameter of 180～200mm of two torpedo buoyancy aids, and length is
600～750mm.The horizontal main wing two ends of described fixation are respectively provided with the first side plate, and the length of the first side plate is than fixing horizontal main wing
Chord length greatly 50～60mm, the big 40～60mm of maximum gauge of the fixing horizontal main wing of aspect ratio, the thickness of the first side plate is 3～
4mm.The chord length of the horizontal main wing of described fixation is 200～250mm, and maximum gauge is 20～25mm.Described constant tilt aerofoil profile is propped up
The chord length of support is 200～250mm, and maximum gauge is 35～50mm.Described controlled angle of attack tailplane adopts sweepback form, two ends
It is provided with the second side plate, the second side plate length 50～60mm bigger than controlled angle of attack tailplane wing tip chord length, aspect ratio is controlled to attack
Big 40～the 50mm of angle tailplane wing tip maximum gauge, the second side plate thickness is 3～4mm.Described controlled angle of attack tailplane
Maximum chord length is 200～250mm, wing tip chord length 90～100mm, and the span is 450～500mm, and maximum gauge is 12～18mm, Gu
Determining vertical tail height is 220～250mm, and maximum gauge is 12～18mm.
Main cavity of the present invention is vertical direction rudder profile, and the effect one side using this profile can be erected in order to instrument and equipment
Straight placement or horizontal positioned；Meanwhile, using such main cavity contour structures, on the one hand can be easier to maintain to dive under water
Towing course-stability in operation process for the device, on the other hand under the side-thrust square induction that caudal pushes away sparge pipe generation, vertical
The main cavity of direction rudder profile easily produces enough side force manipulation underwater hiding-machines and carries out the horizontal water perpendicular to tow direction
Flat motion.Buoyancy aid of the present invention adopts torpedo profile, and to reduce the water resistance that underwater hiding-machine is subject to during towing, satisfaction is dragged
Drag operation to the buoyancy of underwater hiding-machine and stability requirement；Double float structures make the transverse metacentric radius of underwater hiding-machine increase, horizontal
Shake damping to increase, thus lateral stability improves, than traditional single cylindricality main cavity, its autonomous stabilisation ability carries significantly
High.
The present invention is fixing, and horizontal main wing adopts symmetrical airfoil structure, is fixedly connected two torpedo buoyancy aids, can be underwater hiding-machine
Dive provides required heavy power of compeling, two ends setting side plate, to increase effective aspect ratio of hydrofoil, improves lift-drag ratio, from structure
Consider then to play the effect of reinforcement structure stability.Fixed vertical empennage and controlled angle of attack tailplane are all tied using symmetrical airfoil
Structure, fixed vertical empennage also contributes to keep towing course-stability；Controlled angle of attack tailplane two ends are again provided with side plate, pass through
Tailplane corner drive mechanism is controlled to adjust the angle of attack of controlled angle of attack tailplane, device afterbody of diving under water produces one additionally
Lift up or down, and then induce be arranged on latent device stem position the fixation horizontal main wing angle of attack change, make water whereby
Diving device obtains dive to the urgent heavy power of required depth.
The present invention is internally provided with horizontally disposed caudal in main cavity and pushes away sparge pipe system, is responsible for interior in sparge pipe system
It is provided with immersible pump, the left and right caudal that supervisor end UNICOM is located at main cavity upper rear pushes away sparge pipe, and caudal pushes away sparge pipe spout
Positioned at main cavity afterbody left and right sides, left and right caudal pushes away and is respectively arranged with electromagnetic valve switch on sparge pipe, for controlling caudal
Push away the water spraying direction of sparge pipe.During drag operation, water spray current enter sparge pipe system superintendent from main cavity head end, in supervisor
Accelerate through immersible pump, left caudal pushes away sparge pipe or right caudal pushes away sparge pipe and sprays at a high speed to control water to flow through by electromagnetic valve switch, right
Latent device main cavity produces a side-thrust, and this side-thrust promotes main cavity to deflect around towpoint, makes vertical direction rudder profile
Main cavity to be flowed with towing and to form an angle of attack, and then the enough side forces of generation promote underwater hiding-machine to carry out perpendicular to towing side
To transverse horizontal move.
The present invention compared with prior art, has the advantage that and beneficial effect:
(1) driving efficiency height, gesture stability are flexible.Tail steering force Induction Control pull-type band cable remote-controlled water of the present invention
The swaying of diving device and heave movement manipulate and mainly pass through to control the caudal being arranged on underwater hiding-machine afterbody to push away sparge pipe and can
The steering force that control angle of attack tailplane is sent, induction respectively has the main cavity of vertical direction rudder profile and function or fixes water
The hydrodynamic force angle of attack of flat main wing changes, and makes them produce manipulation underwater hiding-machine and does the side force of swaying or heave movement or compel to sink
Power.Because caudal pushes away sparge pipe and controlled angle of attack tailplane is longer with the distance of towpoint, steering force produced by them arrives
The arm of force between towpoint than traditional be arranged on main cavity both sides and produced by a pair of screw propeller turn bow moment
The arm of force that underwater hiding-machine is formed is much greater, thus can produce larger control moment with less steering force, thus
Pull-type band cable remote control underwater hiding-machine can be implemented with flexible swaying to control with heave movement.A kind of such maneuverability pattern gram
Taken existing pull-type with cable remote control underwater hiding-machine often due to control arm short and result in the need for very big steering force could be real
Now underwater hiding-machine is carried out with the defect of effective track and gesture stability, has reached with less steering force and higher manipulation effect
Rate carries out, with cable remote control underwater hiding-machine, the purpose that flexible track is manipulated with attitude to pull-type.
(2) steering maneuver demand is low, control device is simple.Controlling organization of the present invention includes Liang Ge steering maneuver mechanism
And two caudal push away sparge pipe water spraying direction controlling organization.Steering maneuver mechanism is respectively and controls caudal to push away in sparge pipe system
The immersible pump of water flow or flow velocity and the tailplane corner drive mechanism controlling the controlled angle of attack tailplane angle of attack, caudal pushes away
Sparge pipe water spraying direction controlling organization is to be arranged on left and right caudal to push away the electromagnetic valve switch on sparge pipe.Just it is right to can achieve accordingly
The heave of described underwater hiding-machine, turn the modes such as bow and swaying motion manipulate.Due to pull-type band cable remote control of the present invention
In underwater hiding-machine, the caudal as operating control mechanism pushes away sparge pipe and controlled angle of attack tailplane is arranged at main cavity afterbody,
Longer with a distance from the towpoint of main cavity front end from being arranged on, thus possessing the steering force controling power that operating control mechanism is sent
The feature of brachium, it can realize the big steering force to underwater hiding-machine with smaller linear electric motors and immersible pump driving power
The manipulation of square.By with the such a tail steering force version with cable remote control underwater hiding-machine for the Induction Control pull-type, permissible
Realize the manipulation on a large scale to underwater hiding-machine with smaller steering maneuver and less control power-equipment.
(3) present invention achieves hydrostatic pressure potential energy is detained in main cavity front end spray water flow dynamic energy to its afterbody side
Favourable conversion.The present invention pushes away sparge pipe system by current are introduced caudal by main cavity front end water inlet, accelerates through immersible pump,
By electromagnetic valve switch control, the mode guiding high-velocity flow to be sprayed by main chamber body side surface and producing steering force to reach control under water
Latent device turns the purpose of bow and swaying motion.Such a maneuverability pattern will be due to being trapped in during underwater hiding-machine towing navigation
The hydrostatic pressure potential energy of main cavity front end, pushes away immersible pump acceleration in sparge pipe system through caudal and is converted into generation lateral control
The kinetic energy being sprayed current by main cavity afterbody side required for power.The mode that this side pushes away steering force generation decreases and dives under water
The towrope resistance of device and towing unstability, improve the driving efficiency of underwater hiding-machine, it also avoid conventional channels formula Side Thrusters
The not good weakness of side pushing effect under the conditions of having the speed of a ship or plane.
(4) what the present invention adopted pushes away sparge pipe system to produce side-thrust square, to control vertical direction rudder profile with caudal
The mode that main cavity turns to, is induced the main cavity of vertical direction rudder profile to be flowed with towing and forms an angle of attack, and then produce foot
Enough side forces promote underwater hiding-machine to carry out the transverse horizontal motion perpendicular to tow direction.This pushes away sparge pipe using caudal and produces
The raw mode to underwater hiding-machine controling power overcomes to produce the pull-type underwater hiding-machine of controling power in variable speed drag with screw
When, by screw met with enter speed unstable change and lead to propulsive force size and Orientation change unstable thus
Cause the defect not good to underwater hiding-machine control effect.It is underwater hiding-machine rail that caudal proposed by the invention pushes away water spray control mode
Mark and gesture stability provide a kind of means of practicality and high efficiency.
Brief description
Fig. 1 is the tail contour structures schematic side view with cable remote control underwater hiding-machine for the steering force Induction Control pull-type；
Fig. 2 is the tail contour structures schematic top plan view with cable remote control underwater hiding-machine for the steering force Induction Control pull-type；
Fig. 3 is the tail contour structures front-view schematic diagram with cable remote control underwater hiding-machine for the steering force Induction Control pull-type；
Fig. 41 is that the horizontal main wing of fixation with cable remote control underwater hiding-machine for the tail steering force Induction Control pull-type fixes shaft position
Schematic diagram；
Fig. 42 is a a of Fig. 41 to sectional view；
Fig. 5 is that the horizontal main wing of fixation with cable remote control underwater hiding-machine for the tail steering force Induction Control pull-type supports short slab to illustrate
Figure；
Fig. 6 is that the controlled angle of attack tailplane profile with cable remote control underwater hiding-machine for the tail steering force Induction Control pull-type is illustrated
Figure；
Fig. 7 is the controlled angle of attack tailplane controlling organization with cable remote control underwater hiding-machine for the tail steering force Induction Control pull-type
Schematic diagram；
Fig. 81 is that the controlled angle of attack tailplane with cable remote control underwater hiding-machine for the tail steering force Induction Control pull-type props up seat
Put schematic diagram；
Fig. 82 is the b b of Fig. 81 to sectional view；
Fig. 91 is the tail push rod articulated joint with cable remote control underwater hiding-machine for the steering force Induction Control pull-type and chute is illustrated
Figure；
Fig. 92 is the c c of Fig. 91 to sectional view；
Figure 10 is that in tail steering force Induction Control pull-type band cable remote control underwater hiding-machine, caudal pushes away sparge pipe system schematic.
Specific embodiment
The present invention is further illustrated with reference to the accompanying drawings and examples, but embodiments of the present invention are not limited to
This.
As shown in Fig. 1,2,3,10, a kind of tail steering force Induction Control pull-type band cable remote control underwater hiding-machine, including torpedo
Type buoyancy aid 1, fixing horizontal main wing 2, constant tilt airfoil support 3, controlled angle of attack tailplane 4, fixed vertical empennage 5 and master
Cavity 6；Main cavity 6 is the shell structure of vertical direction rudder profile, and its top cover front end is provided with 4～7 towing holes 13, and middle part sets
There are operation suspension ring；Main cavity 6 front end has cable hole 14, and communication power cable stretches out from cable hole 14；Main cavity lower front part
It is provided with water inlet 28；Main cavity 6 is internally provided with the supervisor 9 that longitudinally through caudal pushes away sparge pipe system, is responsible for 9 front ends and enters
The mouth of a river 28 connects, and is provided with immersible pump 29 in supervisor, and the right caudal that the connection of supervisor end is located at main cavity upper rear pushes away sparge pipe
30 and left caudal push away sparge pipe 33, right caudal pushes away sparge pipe 30 and left caudal pushes away sparge pipe 33 and stretches out main chamber body sidewall from delivery port
40～50mm, right caudal pushes away and is provided with the first electromagnetic valve switch 31 on sparge pipe 30, and left caudal pushes away and is provided with sparge pipe 33
Two electromagnetic valve switch 32, for controlling caudal to push away the water spraying direction of sparge pipe；It is provided with instrument and equipment cabin 11 in the middle part of main cavity 6,
Be provided with below main cavity 6 seawater import and export conduit 12, main cavity 6 is highly preferred to be 400～450mm, width be preferably 200～
220mm, length is preferably 1300～1400mm.First electromagnetic valve switch 31 and the second electromagnetic valve switch 32 are preferably waterproof electromagnetism
Valve.
Two torpedo buoyancy aids 1 are arranged in both sides above main cavity 6 vertical symmetry plane, torpedo buoyancy aid 1 and main cavity 6 upper table
The vertical range in face is preferably 250～300mm, and the distance between two torpedo buoyancy aids 1 are preferably 600mm～700mm, and it is maximum
Diameter is preferably 180～200mm, and length is preferably 600～750mm.
As shown in figure 5, fixing horizontal main wing 2 is symmetrical airfoil, in the horizontal direction two torpedos are connected by fixing axle 19
Buoyancy aid 1, the horizontal main wing of fixation 2 is anterior to be provided with two pieces of support short slabs 20 with several circular holes and main cavity 6 between；One piece of support
Short slab and the welding of fixing horizontal tail lower surface front end, another piece supports short slab to be welded on main cavity；Support short slab 20 is circular arc
Shape, the support short slab being welded with fixing horizontal tail, with the axle center in fixing axle 19 as the center of circle, is supported and has multiple circles on short slab 20
Hole, fixing horizontal tail goes to the angle of attack of needs along fixing axle 19, two pieces of circular holes supporting on short slab 20 is overlapped, then uses bolt lock
Live；The corner that adjacent small sircle hole can be set around fixing axle 19 is as 5 °.
Fixing horizontal main wing 2 two ends are respectively arranged with the first side plate 16, and the length of the first side plate 16 is than fixing horizontal main wing 3
The big 50～60mm of chord length, the big 40～60mm of maximum gauge of the fixing horizontal main wing 3 of aspect ratio, the thickness of the first side plate 16 is preferred
For 3～4mm；Constant tilt airfoil support 3 is arranged between torpedo buoyancy aid 1 and main cavity 6, using symmetrical airfoil, its one end
It is connected with torpedo buoyancy aid 1, the other end is connected with main cavity 6 top, the chord length of constant tilt airfoil support 3 is 200～
250mm, maximum gauge is 35～50mm.
As shown in Fig. 41 and Fig. 42, fixing axle 19 is crossed entirely admittedly along the length direction at fixing horizontal main wing 2 rear portion
Determine horizontal tail afterbody, fixing axle 19 two ends are respectively embedded in the circular groove being formed by upper and lower two pieces of gripping blocks 18, lower clamping block welding
On torpedo buoyancy aid 1 madial wall, upper clamping block is fixed with lower gripping block phase by bolt, and fixing axle 19 is nested in two pieces of clampings
In the circular groove of block 18, upper and lower two pieces of gripping blocks are passed through two support bolts and are fastened, and a diameter of 10～15mm of circular groove of gripping block 18 is fixing
A diameter of 8～the 10mm of axle 19.
Controlled angle of attack tailplane 4 and fixed vertical empennage 5 are arranged on main cavity 6 rear portion, all using symmetrical airfoil, controlled
Angle of attack tailplane 4 adopts sweepback form, and two ends are provided with the second side plate 17 (Fig. 3,6), and the length of the second side plate 17 is than controlled
Big 50～the 60mm of angle of attack tailplane 4 two ends chord length, aspect ratio controlled angle of attack tailplane 4 two ends maximum gauges are big 40～
50mm, the maximum chord length of controlled angle of attack tailplane 4 is 200～250mm, wing tip chord length 90～100mm, maximum gauge is 12～
18mm, the span is 450～500mm；The height of fixed vertical empennage 5 is 220～250mm, and maximum gauge is 12～18mm.
As shown in Fig. 81,82, controlled angle of attack tailplane 4 is arranged above double fixed vertical empennages 5, fixed vertical tail
Bearing 27 with holes with two group of second circular arc is connected respectively on the wing 5 top, controlled angle of attack tailplane 4 lower surface afterbody and two group
One circular arc bearing with holes 26 connects, and the first circular arc bearing with holes 26 is located inside the second bearing circular arc bearing 27 with holes,
It is hinged that two group of first circular arc bearing 26 with holes and two group of second circular arc bearing 27 with holes pass through a tailplane rotating shaft 25；
Controlled angle of attack tailplane 4 can 25 rotation around the shaft；
As shown in Fig. 7,91 and 92, the corner drive mechanism of controlled angle of attack tailplane 4 include watertight linear electric motors 7,
Push rod 21, articulated joint 22, chute 23 and short axle 24；Watertight linear electric motors 7 are arranged vertically on afterbody base plate in main cavity 6
On bearing 8, push rod 21 one end is connected with the drive shaft of watertight linear electric motors 7, and the other end is connected with articulated joint 22, articulated joint
22 is hinged with chute 23 by short axle 24, and chute 23 is arranged at controlled angle of attack tailplane 4 lower surface front end；Watertight linear electric motors
7 driving push rods 21 are moved upwardly or downwardly, and drive the controlled angle of attack tailplane 4 certain angle of 25 deflections around the shaft, are changed with this
Become the angle of attack and produce lift, provide trim induction moment for underwater hiding-machine, the induction of this moment is arranged on latent device stem position
The horizontal main wing angle of attack of fixation changes, and makes underwater hiding-machine obtain dive to the urgent heavy power of required depth whereby, is dived under water with manipulating
The dive of device or floating, thus realize the severity control to underwater hiding-machine.Watertight linear electric motors 7 are as controlled angle of attack tailplane
The major impetus issue device of 4 corner drive mechanism, (tecnadyne is public for preferred model model218 of watertight linear electric motors 7
Department).
As shown in Figure 10, caudal pushes away and is provided with a miniature immersible pump 29 in the supervisor 9 of sparge pipe system (immersible pump is preferred
Model dc40, Shenzhen Zhong Ke ShiJi Co., Ltd), the right caudal that supervisor end UNICOM is located at main cavity upper rear pushes away sparge pipe 30
Push away sparge pipe 33 with left caudal, right caudal pushes away sparge pipe 30 and left caudal pushes away sparge pipe 33 and stretches out main chamber body sidewall 40 from delivery port
～50mm, right caudal pushes away and is provided with the first electromagnetic valve switch 31 on sparge pipe 30, and left caudal pushes away and is provided with second on sparge pipe 33
Electromagnetic valve switch 32；Current enter in supervisor 9 from main cavity front end water inlet 28, the acceleration through immersible pump 29, will be with relatively
Push away sparge pipe through left and right caudal with the horizontal ejection perpendicular to main chamber body side surface at high speed.When opening the second electromagnetic valve switch 32,
Close the first electromagnetic valve switch 31, current only will push away sparge pipe 33 from left caudal and spray, and produce one to the right in main cavity 6 afterbody
Reaction force, for underwater hiding-machine provide to the left turn bow moment；When opening the first electromagnetic valve switch 31, close electric second magnet valve
Switch 32, current only will push away sparge pipe 30 from right caudal and spray, and produce a reaction force to the left in main cavity 6 afterbody, be
Underwater hiding-machine provide to the right turn bow moment；When closing the first electromagnetic valve switch 31 and electric second magnet valve switch 32, caudal pushes away
Sparge pipe system does not produce and turns bow moment.By setting band immersible pump 29 and the first electromagnetic valve switch 31 and electric second magnet valve switch
32 caudal pushes away sparge pipe system, by the way of caudal pushes away water spray, produces the induction moment that enough underwater hiding-machines turn bow, induction
The main cavity with vertical rudder function meets the change of the stream angle of attack, so that it is produced manipulation underwater hiding-machine and do and turns bow or swaying motion
Side force, thus reach manipulation underwater hiding-machine do the purpose turning bow or swaying motion.
During the tail work with cable remote control underwater hiding-machine for the steering force Induction Control pull-type of the present invention:
In vertical direction rudder profile main cavity 6, first according to different detection missions, arrange the marine monitoring of respective type
Equipment, due to varying in weight of dissimilar instrument and equipment, and the placement requirement of different instrument is also different, and these factors all can
Have influence on the overall center of gravity of underwater hiding-machine.So should according to actually used situation, suitably add regulation ballast slide block, with this according to
During underwater hiding-machine drag operation, the requirement to latent device distribution of weight to adjust the position of centre of gravity of latent device so that underwater hiding-machine center of gravity with
Centre of buoyancy is in the status requirement top-uping and having autonomous stabilisation function.It is provided with other separations, for placing control in main cavity 6
Circuit board, power supply and counterweight, or provide buoyancy directly as buoyancy compartment.
After adjusting underwater hiding-machine weight center of gravity position and hull position, select a certain towing hole 13, towing cable is lain in
At this towing hole, communication power cable stretches out from cable hole 14, lies on towing cable, and cable slack is not subject to pulling force, is then tried
Drag.Drag situation, adjustment or replacing towing hole to proceed towage according to examination, according to test situation, underwater hiding-machine can be adjusted at any time
Position of centre of gravity so that underwater hiding-machine keeps well stable towage attitude, also can at any time the angle of attack of fixing horizontal main wing 2 be entered
Row micro-adjustment, to meet underwater hiding-machine severity control requirement.Record the counterweight of underwater hiding-machine and attitudes vibration under different condition
Situation, provides reference for later experiment.
During towing, by adjusting the corner of controlled angle of attack tailplane 4, fixing horizontal main wing 2 hydrodynamic force of induction
The change of the angle of attack, so that the urgent heavy power required for underwater hiding-machine, realizes the control to underwater hiding-machine towing depth with this.Under water
Latent device all constituents all using streamlined contour, to reduce the water resistance during latent device pulls, also just reduce towing cable
The tension force burden born；The horizontal main wing of fixation 2 and constant tilt airfoil support 3 constitute a del, torpedo buoyancy aid 1
It is three summits of triangle with main cavity 6, this form makes the structural intergrity of whole underwater hiding-machine be ensured, simultaneously
Aerofoil profiles reduce the disturbance of current, it is to avoid produce whirlpool, make current steadily can flow through underwater hiding-machine, and this is for holding water
Diving device attitude stabilization is favourable；The two ends of fixing horizontal main wing 2 are respectively arranged with the first side plate 16, to increase fixing horizontal main wing
2 effective aspect ratio, improves the lift effect of hydrofoil.By arranging fixed vertical empennage 5, it is under water in straight line drag operation
Latent device direction stably provides safeguard；By controlling magnetic valve, so that current is sprayed from main cavity afterbody side, underwater hiding-machine is produced
One tail surveys thrust, thus producing the induction moment on horizontal plane to underwater hiding-machine, makes underwater hiding-machine produce lateral deflection, vertical
In the presence of formula direction rudder profile main cavity 6, can be easier to resist the pulling force of towing cable, realize horizontal movement.Keeping, attitude is steady
On the premise of fixed, with less control action, realize underwater hiding-machine is carried out on a large scale, multivariant manipulation.
Pull-type of the present invention with cable remote control underwater hiding-machine be a kind of by towing cable by pull working mother boat towing move
Power is delivered to underwater hiding-machine makes it can implement under water to observe a kind of pull-type undersea detection device of operation, underwater hiding-machine master
Temperature, salt, pressure, nutritive salt and other marine element detection sensor can be carried according to different purposes in cavity, these detect and pass
The job specification of sensor usually requires that underwater hiding-machine, while having reasonable towing shipping-direction stability, possesses comparison high
Effect, sensitive towing attitude maneuvering capability, to meet the requirement that these detection sensors obtain high-quality detecting parameter.The present invention
Underwater hiding-machine is carried out underwater hiding-machine using tail steering force control mode and turn bow, swaying and heave movement in operation process
Manipulation.The bow that turns of wherein underwater hiding-machine pushes away water spray with swaying motion by controlling caudal to push away sparge pipe system middle left and right caudal
The water spraying direction of pipe, induction has vertical direction rudder profile and the latent device main cavity generation of function turns bow action, and then produces water
Side force needed for diving device transverse movement is realizing latent device is turned with the manipulation of bow and swaying motion.And the heave fortune of underwater hiding-machine
Dynamic then by adjusting the corner of controlled angle of attack tailplane, the change of the fixing horizontal main wing hydrodynamic force angle of attack of induction, right to produce
Underwater hiding-machine carries out the heavy power of compeling required for severity control, and then reaches the purpose of the heave movement of control underwater hiding-machine.This
Bright described this regulation by the induction of tail steering force, with this is had the latent device main cavity of vertical direction rudder profile and fixes level
The hydrodynamic force angle of attack change of main wing carries effectively come the control mode to produce to the cross force required for underwater hiding-machine and urgent heavy power
Rise operator to the manipulation ability with cable remote control underwater hiding-machine track and attitude for the pull-type.
The induction force manipulating underwater hiding-machine attitude is produced mechanism by the present invention, and (left and right caudal pushes away sparge pipe and the controlled angle of attack
Tailplane) it is arranged on the latent device main cavity afterbody with vertical direction rudder profile and function, produced using in main cavity afterbody
Raw steering force arm of force between towpoint is longer, thus can produce larger control moment with less steering force, enter
And realized with the more efficient control mode of one kind to pull-type band cable remote control underwater hiding-machine implement flexibly turn bow, swaying with
The manipulation of heave movement.Existing pull-type band cable remote-controlled water dive is overcome using a kind of such controlling organization and maneuverability pattern
Device gesture stability is inefficient, the inflexible defect of control action.
Present invention utilizes the potential energy of main cavity front end current, accelerate to increase by main cavity afterbody side in conjunction with immersible pump
The water velocity spraying, creates the effective lateral control power to underwater hiding-machine.The mode that this side pushes away steering force generation reduces
The towrope resistance of underwater hiding-machine and towing unstability, improve the driving efficiency of underwater hiding-machine, it also avoid conventional channels
Formula Side Thrusters not good weakness of side pushing effect under the conditions of having the speed of a ship or plane.
The overall structure form that present invention employs the latent device main cavity of double torpedo buoyancy aid+vertical direction rudder profiles makes this
Class underwater hiding-machine possesses good course and attitude stability is good, and passes through tail steering force and induce the latent of vertical direction rudder profile
Device main cavity and the horizontal main wing angle of attack of fixation deflect and to implement to the manipulation with cable remote control underwater hiding-machine track and attitude for the pull-type
Then possesses maneuverable feature.The present invention is provided simultaneously with stability number and manipulates flexible feature.
Claims (10)
1. a kind of tail steering force Induction Control pull-type band cable remote control underwater hiding-machine it is characterised in that: include torpedo buoyancy aid, solid
The oblique airfoil support of constant inclination, fixing horizontal main wing, controlled angle of attack tailplane, fixed vertical empennage, caudal push away sparge pipe system and
Main cavity；Main chamber body is the shell structure of vertical direction rudder profile, and its top cover front end is provided with the towing as towpoint
Hole, middle part is provided with operation suspension ring, and front end also has cable hole, and communication power cable stretches out from cable hole；Main cavity lower front part
It is provided with water inlet, is provided with horizontally disposed caudal in main chamber body and pushes away sparge pipe system, caudal pushes away the supervisor edge of sparge pipe system
Arrange in the middle part of main cavity, in supervisor, be provided with immersible pump, the right caudal that the connection of supervisor end is located at main cavity upper rear pushes away water spray
Pipe and left caudal push away sparge pipe, and right caudal pushes away sparge pipe and left caudal pushes away sparge pipe and stretches out main chamber body sidewall, right tail from delivery port
Side pushes away and is provided with the first electromagnetic valve switch on sparge pipe, and left caudal pushes away and is provided with the second electromagnetic valve switch on sparge pipe, for controlling
Caudal processed pushes away the water spraying direction of sparge pipe；
Two torpedo buoyancy aids are arranged in both sides above main cavity vertical symmetry plane, and fixing horizontal main wing is symmetrical airfoil, in level
Direction connects two torpedo buoyancy aids by fixing axle, and fixing axle passes through fixing horizontal main wing rear portion, and two ends are fixed on two torpedos
On buoyancy aid；The horizontal main wing of fixation is anterior to be provided with two pieces of support short slabs and main cavity between；One piece supports short slab and fixing horizontal tail
Lower surface front end is affixed, and another piece supports short slab to be fixed on main cavity；Short slab is supported to be all circular arc, with fixing horizontal tail weldering
Connect supports short slab with the axle center in fixing axle as the center of circle, supports and has multiple circular holes on short slab, and two support short slab to be flexibly connected；
Constant tilt airfoil support is arranged between torpedo buoyancy aid and main cavity, using symmetrical airfoil, its one end and torpedo buoyancy aid
Connect, the other end is connected with main cavity top；
Described controlled angle of attack tailplane and fixed vertical empennage are arranged on main cavity rear portion, all using symmetrical airfoil；Controlled attack
Angle tailplane is arranged above a pair of fixed vertical empennage, and fixed vertical empennage top is provided with circular arc bearing with holes, controlled
Angle of attack tailplane lower surface afterbody is again provided with circular arc bearing with holes, and two groups of bearings are hinged by a stay bolt；Controlled
Angle of attack tailplane can be around tailplane axis of rotation, and tailplane corner drive mechanism includes watertight linear electric motors, push rod, hinge
Joint, short axle and chute；Watertight linear electric motors are arranged vertically in main chamber body, and push rod one end is connected with the axle of watertight linear electric motors
Connect, the other end is connected with articulated joint, the joint other end is hinged with chute by short axle, and chute is arranged at the horizontal tail of the controlled angle of attack
Wing lower surface front end.
2. according to claim 1 tail steering force Induction Control pull-type band cable remote control underwater hiding-machine it is characterised in that: described
Setting quantity in towing hole is 4～7, a diameter of 8～10mm, spacing 15～20mm, and a diameter of 30～40mm of described cable hole is main
Inside cavity is provided with instrument room and multiple separation, is provided with seawater and imports and exports conduit below main cavity.
3. according to claim 1 tail steering force Induction Control pull-type band cable remote control underwater hiding-machine it is characterised in that: caudal
Push away a diameter of 40～50mm of piping of sparge pipe system.
4. according to claim 1 tail steering force Induction Control pull-type band cable remote control underwater hiding-machine it is characterised in that: described
Main cavity height is 400～450mm, and width is 200～220mm, and length is 1200～1300mm.
5. according to claim 1 tail steering force Induction Control pull-type band cable remote control underwater hiding-machine it is characterised in that: described
The distance between two torpedo buoyancy aids are 600mm～700mm, and torpedo buoyancy aid is 250 with the vertical range of main cavity upper surface
～300mm, a diameter of 180～200mm of two torpedo buoyancy aids, length is 600～750mm.
6. according to claim 1 tail steering force Induction Control pull-type band cable remote control underwater hiding-machine it is characterised in that: described
Fixing horizontal main wing two ends are respectively provided with the first side plate, the length of the first side plate than fixing horizontal main wing chord length greatly 50～
60mm, the big 40～60mm of maximum gauge of the fixing horizontal main wing of aspect ratio, the thickness of the first side plate is 3～4mm.
7. according to claim 1 tail steering force Induction Control pull-type band cable remote control underwater hiding-machine it is characterised in that: described
The chord length of fixing horizontal main wing is 200～250mm, and maximum gauge is 20～25mm.
8. according to claim 1 tail steering force Induction Control pull-type band cable remote control underwater hiding-machine it is characterised in that: described
The chord length of constant tilt airfoil support is 200～250mm, and maximum gauge is 35～50mm.
9. according to claim 1 tail steering force Induction Control pull-type band cable remote control underwater hiding-machine it is characterised in that: described
Controlled angle of attack tailplane adopts sweepback form, and two ends are provided with the second side plate, the second side plate length horizontal tail than the controlled angle of attack
Cautiously the end big 50～60mm of chord length, the big 40～50mm of aspect ratio controlled angle of attack tailplane wing tip maximum gauge, second side plate is thick
Spend for 3～4mm.
10. according to claim 1 tail steering force Induction Control pull-type band cable remote control underwater hiding-machine it is characterised in that: institute
The maximum chord length stating controlled angle of attack tailplane is 200～250mm, wing tip chord length 90～100mm, and the span is 450～500mm,
Maximum gauge is 12～18mm, and fixed vertical empennage height is 220～250mm, and maximum gauge is 12～18mm.
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