CN104401473A - Underwater acoustic glider - Google Patents
Underwater acoustic glider Download PDFInfo
- Publication number
- CN104401473A CN104401473A CN201410524249.2A CN201410524249A CN104401473A CN 104401473 A CN104401473 A CN 104401473A CN 201410524249 A CN201410524249 A CN 201410524249A CN 104401473 A CN104401473 A CN 104401473A
- Authority
- CN
- China
- Prior art keywords
- aerodone
- pivot shaft
- vector hydrophone
- oil
- oil sac
- 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.)
- Pending
Links
Landscapes
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
Abstract
The invention discloses an underwater acoustic glider which comprises a shell, a vector hydrophone, an attitude control device and a buoyancy driving device, wherein the shell is formed by a head flow guide hood, a middle section and a tail flow guide hood which are sequentially connected; the vector hydrophone is arranged at the inner cavity of the head flow guide hood; the attitude control device and the buoyancy driving device are arranged at the inner cavity of the middle section; the outer surface of the tail flow guide hood is provided with a tail wing; the vector hydrophone comprises a metal shell and a low-frequency column-shaped synchronous vibration type vector hydrophone; the low-frequency column-shaped synchronous vibration type vector hydrophone is connected with the inner cavity of the metal shell by a shock absorbing elastomer and is filled with silicone oil after the inner cavity of the metal shell is sealed by a cover plate. A vector acoustic sensor integrated application technology and a high-speed low-noise gliding technology are combined into an integrated design, and the underwater acoustic glider is compact in structure and reasonable in layout, and can be used for realizing ocean background sound field monitoring of a specific sea area.
Description
Technical field
The present invention relates to a kind of underwater sound aerodone.
Background technology
In prior art, common acoustics aerodone has following deficiency:
1) weight lays particular stress on, inner space is limited;
2) common acoustic sensor, to realize the measurement to Sounnd source direction, needs to form sensor array, needs larger space like this;
3) general aerodone realizes the rotation of self by the resistance that glide process wing centre section is subject to, operating difficulties and dumb.
Summary of the invention
The technical problem to be solved in the present invention is to provide a kind of underwater sound aerodone.
In order to solve the problems of the technologies described above, the technical solution used in the present invention is, a kind of underwater sound aerodone, comprises housing, vector hydrophone, attitude-control device, buoyancy-driven device; Housing is connected in sequence by head streamlined reefer housing, stage casing, afterbody streamlined reefer housing; Vector hydrophone is placed in the inner chamber of head streamlined reefer housing, and attitude-control device, buoyancy-driven device are placed in the inner chamber in stage casing, are provided with empennage outside afterbody streamlined reefer housing.
As preferably, vector hydrophone comprises metal shell and low frequency cylindricality synchronous vibration type vector hydrophone; Low frequency cylindricality synchronous vibration type vector hydrophone is connected with metal shell inner chamber by shock absorbing resilient body, and is filled with silicone oil after being closed by the inner chamber of metal shell with cover plate.
As preferably, shock absorbing resilient body is spring or elastic string.
As preferably, metal shell adopts brass to make.
As preferably, attitude-control device comprises power brick, battery bracket, pivot shaft, luffing control mechanism, roll motion control mechanism; Power brick is fixed on battery bracket and weight is partial to the side of pivot shaft, the center of battery bracket is on pivot shaft and battery bracket can make aerodone produce roll around pivot shaft rotation, and battery bracket also can make aerodone gravity motion along moving axially of pivot shaft;
Luffing control mechanism by controlling power brick moving axially along pivot shaft, with the center of gravity realizing aerodone centrally axle move, make the head of aerodone realize lifting or bending down athletic posture;
Roll motion control mechanism, by controlling power brick around the central axis of pivot shaft, deflects around center shaft with the center of gravity realizing aerodone, makes aerodone fuselage realize horizontal rolling movement attitude.
As preferably, luffing control mechanism comprises pitching control motor, pitching gear drive, linear gear rack; The outside of pitching control motor and battery bracket is affixed, and linear gear rack is fixed in the middle part of pivot shaft; Pitching control motor to be engaged with linear gear rack by pitching gear drive and drives battery bracket to move forward and backward along pivot shaft, thus power brick is moved forward and backward along pivot shaft, causes aerodone gravity motion thus changes aerodone and face upward attitude of bowing.
As preferably, roll motion control mechanism comprises control of sideward roll motor, roll gear drive; Control of sideward roll motor drives battery bracket to rotate around pivot shaft by roll gear drive, the motion of battery causes aerodone center of gravity and rotates along axle thus cause aerodone integral-rotation, because the synergy of buoyancy of water gravity and aerodone empennage makes aerodone turn.
As preferably, buoyancy-driven device comprises oil pump, pump motor, electromagnetic valve, oil circuit, interior oil sac and outer oil sac; Interior oil sac is contained in the inner chamber in aerodone housing stage casing, and outer oil sac is installed and is exposed to the outside of aerodone housing; Oil pump is connected with interior oil sac and outer oil sac respectively by oil circuit, and pump motor drives oil pump that the oil storage of interior oil sac is extracted into outer oil sac; Also be provided with between interior oil sac and outer oil sac to be communicated with oil circuit and to be provided with solenoid control connection the logical of oil circuit and close.
As preferably, interior oil sac and outer oil sac are made by government rubber.
As preferably, oil pump is plunger pump; Pump motor is servomotor.
The invention has the beneficial effects as follows:
Vector acoustic sensor Integrated predict model technology and high speed low noise glide technology are integrated as integrated design, compact conformation, and rationally distributed, the marine background sound field that can realize specified sea areas is monitored.
Accompanying drawing explanation
Below in conjunction with the drawings and specific embodiments, the present invention is further detailed explanation.
Fig. 1 is the structural representation of underwater sound aerodone embodiment of the present invention.
In figure, 1-housing, 2-vector hydrophone, 3-attitude-control device, 4-buoyancy-driven device.
Detailed description of the invention
Fig. 1 is a kind of underwater sound aerodone, is made up of housing 1, vector hydrophone 2, attitude-control device 3, buoyancy-driven device 4; Its middle shell 1 is connected in sequence by head streamlined reefer housing, stage casing, afterbody streamlined reefer housing.Vector hydrophone 2 is placed in the inner chamber of head streamlined reefer housing, and attitude-control device 3, buoyancy-driven device 4 are placed in the inner chamber in stage casing, are provided with empennage outside afterbody streamlined reefer housing.
The integrated design scheme being provided as vector hydrophone and aerodone carrying platform of above all parts, vector hydrophone is made one independently acoustic detection cabin section be arranged in the head streamlined reefer housing of aerodone, because buoyancy-driven device is equipped with oil sac and oil pump, noise is larger, therefore buoyancy-driven device is arranged on aerodone stage casing, and make inside and outside oil sac and oil pump near aerodone afterbody, make both apart from each other, to reduce the impact of flow noise.
According to Simulation results, adopt and there is metal case and oil-filled vector hydrophone pressure-resistance structure.During design, deep water vector hydrophone structure is adopted internal vibration sensor and oil-filled pressure shell integrated design.
Airtight oil-filled cavity design goal is two aspects: one is can effectively detect to transmit hydraulic pressure outside housing and vibration velocity signal, and two is reduce current that aerodone motion produces to the impact of vector hydrophone.
In order to reduce the impact of aerodone Platform Vibration on vector hydrophone, need between vector hydrophone pressure shell and vector hydrophone diversion shell, fill visoelasticity vibration isolation damping material.Damping material can carry out actv. suppression to the vibration noise of below 10kHz and flow noise.The present embodiment selects silicone oil as visoelasticity vibration isolation damping material.
Vector hydrophone makes and pressure shell making is distinct, and both make respectively and then assemble-be suspended on by vector hydrophone spring (or elastic string) in metal oil filled enclosure.
The making of vector hydrophone divides two parts: one is make metal pressure shell; Two is inner vector hydrophones installed.Its inner vector hydrophone installed adopts low frequency cylindricality synchronous vibration type vector hydrophone finished product.After metal pressure shell completes, support is fixed on upper cover plate, then vector hydrophone is suspended on support, has welded wire, then by upper and lower cover plates good seal, inject silicone oil from cable head position, finally that cable pack-off is good.Sealing place uses O type circle, and designs in strict accordance with standard, ensures sealing effectiveness.
Hydrophone is when deep-sea works, and its housing outer surface is subject to the effect of sea pressure, and its main failure forms is flexing unstability, and therefore the design of the design middle shell structure of deep water vector hydrophone is a key link.
Vector hydrophone metal pressure shell adopts brass material, and housing body is of a size of:
thickness of shell is 2mm, and housing floor is spaced apart 25mm, and upper and lower cover plates shape is the cylinder table having cymbals shape projection.The finished product vector hydrophone that enclosure interior hangs, is embedded in finished product vector hydrophone and makes in shock absorbing resilient body with spring or elastic string.Shock absorbing resilient body is connected with streamlined reefer housing, streamlined reefer housing size:
Attitude-control device is made up of power brick, battery bracket, pivot shaft, luffing control mechanism, roll motion control mechanism.Power brick is fixed on battery bracket and weight is partial to the side of pivot shaft, the center of battery bracket is on pivot shaft and battery bracket can make aerodone produce roll around pivot shaft rotation, and battery bracket also can make aerodone gravity motion along moving axially of pivot shaft.
Luffing control mechanism by controlling power brick moving axially along pivot shaft, with the center of gravity realizing aerodone centrally axle move, make the head of aerodone realize lifting or bending down athletic posture.
Luffing control mechanism is made up of pitching control motor, pitching gear drive, linear gear rack.The outside of pitching control motor and battery bracket is affixed, and linear gear rack is fixed in the middle part of pivot shaft.Pitching control motor to be engaged with linear gear rack by pitching gear drive and drives battery bracket to move forward and backward along pivot shaft, thus power brick is moved forward and backward along pivot shaft, causes aerodone gravity motion thus changes aerodone and face upward attitude of bowing.
Roll motion control mechanism, by controlling power brick around the central axis of pivot shaft, deflects around center shaft with the center of gravity realizing aerodone, makes aerodone fuselage realize horizontal rolling movement attitude.Roll motion control mechanism is made up of control of sideward roll motor, roll gear drive.Control of sideward roll motor drives battery bracket to rotate around pivot shaft by roll gear drive, the motion of battery causes aerodone center of gravity and rotates along axle thus cause aerodone integral-rotation, because the synergy of buoyancy of water gravity and aerodone empennage makes aerodone turn.
Buoyancy-driven device is made up of oil pump, pump motor, electromagnetic valve, oil circuit, interior oil sac and outer oil sac.Interior oil sac is contained in the inner chamber in aerodone housing stage casing, and outer oil sac is installed and is exposed to the outside of aerodone housing.Oil pump is connected with interior oil sac and outer oil sac respectively by oil circuit, and pump motor drives oil pump that the oil storage of interior oil sac is extracted into outer oil sac.Also be provided with between interior oil sac and outer oil sac to be communicated with oil circuit and to be provided with solenoid control connection the logical of oil circuit and close.
Interior oil sac and outer oil sac are made by government rubber.
Oil pump is plunger pump, and pump motor is servomotor.
Above-described embodiment of the present invention, does not form limiting the scope of the present invention.Any amendment done within the spirit and principles in the present invention, equivalent replacement and improvement etc., all should be included within claims of the present invention.
Claims (10)
1. a underwater sound aerodone, is characterized in that: comprise housing, vector hydrophone, attitude-control device, buoyancy-driven device; Described housing is connected in sequence by head streamlined reefer housing, stage casing, afterbody streamlined reefer housing; Described vector hydrophone is placed in the inner chamber of head streamlined reefer housing, and described attitude-control device, buoyancy-driven device are placed in the inner chamber in stage casing, is provided with empennage outside described afterbody streamlined reefer housing.
2. underwater sound aerodone according to claim 1, is characterized in that: described vector hydrophone comprises metal shell and low frequency cylindricality synchronous vibration type vector hydrophone; Described low frequency cylindricality synchronous vibration type vector hydrophone is connected with metal shell inner chamber by shock absorbing resilient body, and is filled with silicone oil after being closed by the inner chamber of metal shell with cover plate.
3. underwater sound aerodone according to claim 2, is characterized in that: described shock absorbing resilient body is spring or elastic string.
4. underwater sound aerodone according to claim 2, is characterized in that: described metal shell adopts brass to make.
5. underwater sound aerodone according to claim 1, is characterized in that: described attitude-control device comprises power brick, battery bracket, pivot shaft, luffing control mechanism, roll motion control mechanism; Described power brick is fixed on battery bracket and weight is partial to the side of pivot shaft, the center of described battery bracket is on pivot shaft and battery bracket can make aerodone produce roll around pivot shaft rotation, and battery bracket also can make aerodone gravity motion along moving axially of pivot shaft;
Described luffing control mechanism by controlling power brick moving axially along pivot shaft, with the center of gravity realizing aerodone centrally axle move, make the head of aerodone realize lifting or bending down athletic posture;
Described roll motion control mechanism, by controlling power brick around the central axis of pivot shaft, deflects around center shaft with the center of gravity realizing aerodone, makes aerodone fuselage realize horizontal rolling movement attitude.
6. underwater sound aerodone according to claim 5, is characterized in that: described luffing control mechanism comprises pitching control motor, pitching gear drive, linear gear rack; The outside of described pitching control motor and battery bracket is affixed, and described linear gear rack is fixed in the middle part of pivot shaft; Described pitching control motor to be engaged with linear gear rack by pitching gear drive and drives battery bracket to move forward and backward along pivot shaft, thus power brick is moved forward and backward along pivot shaft, causes aerodone gravity motion thus changes aerodone and face upward attitude of bowing.
7. underwater sound aerodone according to claim 5, is characterized in that: described roll motion control mechanism comprises control of sideward roll motor, roll gear drive; Described control of sideward roll motor drives battery bracket to rotate around pivot shaft by roll gear drive, the motion of battery causes aerodone center of gravity and rotates along axle thus cause aerodone integral-rotation, because the synergy of buoyancy of water gravity and aerodone empennage makes aerodone turn.
8. underwater sound aerodone according to claim 1, is characterized in that: described buoyancy-driven device comprises oil pump, pump motor, electromagnetic valve, oil circuit, interior oil sac and outer oil sac; Described interior oil sac is contained in the inner chamber in aerodone housing stage casing, and described outer oil sac is installed and is exposed to the outside of aerodone housing; Described oil pump is connected with interior oil sac and outer oil sac respectively by oil circuit, and described pump motor drives oil pump that the oil storage of interior oil sac is extracted into outer oil sac; Also be provided with between described interior oil sac and outer oil sac to be communicated with oil circuit and to be provided with solenoid control connection the logical of oil circuit and close.
9. underwater sound aerodone according to claim 8, is characterized in that: described interior oil sac and outer oil sac are made by government rubber.
10. underwater sound aerodone according to claim 8, is characterized in that: described oil pump is plunger pump; Described pump motor is servomotor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410524249.2A CN104401473A (en) | 2014-09-18 | 2014-09-18 | Underwater acoustic glider |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410524249.2A CN104401473A (en) | 2014-09-18 | 2014-09-18 | Underwater acoustic glider |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN104401473A true CN104401473A (en) | 2015-03-11 |
Family
ID=52639166
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410524249.2A Pending CN104401473A (en) | 2014-09-18 | 2014-09-18 | Underwater acoustic glider |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104401473A (en) |
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105947154A (en) * | 2016-06-12 | 2016-09-21 | 中国舰船研究设计中心 | Unmanned underwater carrier for radiation noise and magnetic signal detection for ship |
| CN106585931A (en) * | 2016-12-22 | 2017-04-26 | 中船重工西安东仪科工集团有限公司 | Underwater vehicle with autonomous navigation and attitude control capabilities and control method of underwater vehicle |
| CN108438183A (en) * | 2018-04-28 | 2018-08-24 | 上海交通大学 | Oceanographic observation submersible |
| CN108680949A (en) * | 2018-08-02 | 2018-10-19 | 国家海洋局第二海洋研究所 | A kind of hydrophone is in the quick connection of Kev drawstring and anticollision device, collision-prevention device |
| CN109733574A (en) * | 2019-01-25 | 2019-05-10 | 哈尔滨工程大学 | A kind of self-tolerant acoustic information detection system based on underwater glider |
| CN109747801A (en) * | 2019-01-25 | 2019-05-14 | 哈尔滨工程大学 | A kind of quaternary cross battle array acoustic testing system for underwater glider |
| CN111071423A (en) * | 2019-12-04 | 2020-04-28 | 天津大学 | Acoustic observation type underwater vehicle |
| CN113148073A (en) * | 2021-03-25 | 2021-07-23 | 天津大学 | Acoustic observation autonomous underwater vehicle |
| CN113353219A (en) * | 2021-06-10 | 2021-09-07 | 青岛海洋科学与技术国家实验室发展中心 | Self-adaptive variable-area tail vane and underwater glider |
| CN113720434A (en) * | 2020-05-26 | 2021-11-30 | 中国科学院声学研究所 | Single-channel hydrophone based on deepwater underwater glider and operation method |
| CN114228900A (en) * | 2021-11-26 | 2022-03-25 | 青岛海安航行设备有限公司 | Small unmanned underwater vehicle easy to maintain |
-
2014
- 2014-09-18 CN CN201410524249.2A patent/CN104401473A/en active Pending
Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105947154A (en) * | 2016-06-12 | 2016-09-21 | 中国舰船研究设计中心 | Unmanned underwater carrier for radiation noise and magnetic signal detection for ship |
| CN106585931A (en) * | 2016-12-22 | 2017-04-26 | 中船重工西安东仪科工集团有限公司 | Underwater vehicle with autonomous navigation and attitude control capabilities and control method of underwater vehicle |
| CN106585931B (en) * | 2016-12-22 | 2018-02-06 | 中船重工西安东仪科工集团有限公司 | ROV and control method with autonomous navigation and gesture stability ability |
| CN108438183A (en) * | 2018-04-28 | 2018-08-24 | 上海交通大学 | Oceanographic observation submersible |
| CN108680949A (en) * | 2018-08-02 | 2018-10-19 | 国家海洋局第二海洋研究所 | A kind of hydrophone is in the quick connection of Kev drawstring and anticollision device, collision-prevention device |
| CN108680949B (en) * | 2018-08-02 | 2024-01-26 | 自然资源部第二海洋研究所 | Quick connection and anti-collision device of hydrophone on Kevlar pull rope |
| CN109733574A (en) * | 2019-01-25 | 2019-05-10 | 哈尔滨工程大学 | A kind of self-tolerant acoustic information detection system based on underwater glider |
| CN109747801A (en) * | 2019-01-25 | 2019-05-14 | 哈尔滨工程大学 | A kind of quaternary cross battle array acoustic testing system for underwater glider |
| CN111071423A (en) * | 2019-12-04 | 2020-04-28 | 天津大学 | Acoustic observation type underwater vehicle |
| CN113720434A (en) * | 2020-05-26 | 2021-11-30 | 中国科学院声学研究所 | Single-channel hydrophone based on deepwater underwater glider and operation method |
| CN113148073A (en) * | 2021-03-25 | 2021-07-23 | 天津大学 | Acoustic observation autonomous underwater vehicle |
| WO2022198705A1 (en) * | 2021-03-25 | 2022-09-29 | 天津大学 | Autonomous underwater vehicle for acoustic observation |
| CN113353219B (en) * | 2021-06-10 | 2022-08-19 | 青岛海洋科学与技术国家实验室发展中心 | Self-adaptive variable-area tail vane and underwater glider |
| CN113353219A (en) * | 2021-06-10 | 2021-09-07 | 青岛海洋科学与技术国家实验室发展中心 | Self-adaptive variable-area tail vane and underwater glider |
| CN114228900A (en) * | 2021-11-26 | 2022-03-25 | 青岛海安航行设备有限公司 | Small unmanned underwater vehicle easy to maintain |
| CN114228900B (en) * | 2021-11-26 | 2024-05-17 | 青岛海安航行设备有限公司 | Small unmanned underwater vehicle easy to maintain |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104401473A (en) | Underwater acoustic glider | |
| JP6484387B2 (en) | Rollover floating multihabitat diving device with built-in drive | |
| CN106428484B (en) | A kind of adaptive polypody underwater robot of marine petroleum development | |
| CN200951828Y (en) | Floatage control apparatus of underwater glider | |
| CN102079371B (en) | Bionic robofish propelled by vibration of lateral fins | |
| CN108408007A (en) | Hybrid power underwater robot | |
| CN106828848A (en) | A kind of skeleton many strings affect underwater fish | |
| CN104724269B (en) | A kind of space maneuver tail swing propulsion plant | |
| CN114506428B (en) | Underwater tortoise-like robot and control method thereof | |
| CN103213665A (en) | Biomimetic long-fin undulatory propulsion robotic fish | |
| CN110963010A (en) | Bionic jellyfish robot | |
| CN102887216B (en) | Underwater variant glider | |
| CN1923614A (en) | Underwater glider floatage control device | |
| CN101767642A (en) | Underwater biomimetic robotic fish | |
| CN103466063A (en) | Under-actuated spherical underwater robot with flexible movement | |
| CN106741774A (en) | A kind of bionic machine fish | |
| CN104443278B (en) | Virtual anchoring profile buoy | |
| CN109760811A (en) | One kind being based on the bionical squid of aquarium ornamental type | |
| CN103950526A (en) | Light-weight and small-sized mangneto swinging bionic robot fish | |
| CN105292409A (en) | Multifunctional underwater moving device | |
| CN105041559A (en) | Self-suction gravity wave pump | |
| CN110282102A (en) | The unmanned underwater gliding probe microphone of cake type | |
| CN105059505A (en) | Disc-shaped underwater glider | |
| CN113148073A (en) | Acoustic observation autonomous underwater vehicle | |
| CN103895834B (en) | Magnetic-adsorption fender |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20150311 |