CN105539784A - Web wing type wave energy underwater gliding measurement platform and measurement method - Google Patents
Web wing type wave energy underwater gliding measurement platform and measurement method Download PDFInfo
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- CN105539784A CN105539784A CN201610013788.9A CN201610013788A CN105539784A CN 105539784 A CN105539784 A CN 105539784A CN 201610013788 A CN201610013788 A CN 201610013788A CN 105539784 A CN105539784 A CN 105539784A
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- 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
- B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
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Abstract
The invention discloses a web wing type wave energy underwater gliding measurement platform and measurement method in the field of underwater robot engineering. The measurement platform has two movement modes including water surface sailing and vertical gliding. Automatic charging is achieved through a solar power supply system composed of a solar panel and a storage battery pack to supplement electric energy consumption. When the measurement platform sails on the water surface, wave energy is converted into forwarding drive force through an underwater gliding body provided with rubber web wings. When the measurement platform is vertically glides, buoyancy adjustment can be conducted through a buoyancy adjustment system composed of a bilateral gear pump, an electromagnetic valve, an inner leather bag, an outer leather bag and an oil pipe, and the submerged floating function is achieved. The attitude of the platform in water is adjusted through a attitude adjustment system composed of a linear module and a drive motor, a certain attack angle is formed between the measurement platform and water flow, and the platform obtains advancing drive force. By means of a tail steering engine system, a GPS and an iridium satellite communication module, the movement direction of the platform is controlled, and the data communication function is achieved.
Description
Technical field
The invention belongs to under-water robot engineering field, specifically a kind of underwater gliding measuring table, can be used for the monitoring of ocean water body relevant parameters and the observation etc. of maritime meteorology.
Background technology
Under-water robot is used widely as a kind of important ocean operation in marine scientific research, marine resources development, marine atmosphere physics, marine ecology etc.But ocean is a wide waters, want carry out above task and be not easy, subject matter is the restriction due to under-water robot own vol, determine its with the energy very limited, its flying power is subject to the very big restriction of the energy.At present, the new-type energy such as solar power, thermal gradient energy, wave energy under water robot field obtain certain application, now developed and utilize have the underwater glider of buoyancy-driven and utilize the wave aerodone of wave energy, but, what underwater glider adopted is cylinder and hang gliding structure, adopt single outer leather bag structure, sensor mounting space is very limited, and its driving principle determines its DATA REASONING that can only be used for ocean vertical surface under water, limit the further application in ocean engineering.And the employing of wave aerodone is trimeric structure, be made up of buoyancy aid, heaving pile and underwater gliding body, structure comparison disperses, and all the other objects easily and in ocean are wound around, and it can only be used for the DATA REASONING of the water surface.Therefore, consider the complexity of marine scientific research, solve energy restriction problem in observation platform, developing a under-water robot measuring table that simultaneously can carry out the water surface and underwater vertical section is the problem that this area needs solution badly.
Summary of the invention
The object of the invention is the problem that measurement capability in order to solve existing underwater glider and wave aerodone is single, a kind of web aerofoil profile wave energy underwater gliding measuring table and method of measurement are provided, can according to different oceans research need carry out the water surface and the marine monitoring of underwater vertical section, very large space can also be had to install for various sensor simultaneously, lift-launch ability is stronger, applies more extensive.
For achieving the above object, the technical scheme that a kind of web aerofoil profile of the present invention wave energy underwater gliding measuring table adopts is: comprise a housing, this housing is made up of the upper shell be tightly connected and lower house, front and back immediately below lower house 4 respectively connect a vertical attaching parts, attaching parts lower end connects left side board and the right side board of anterior-posterior horizontal layout jointly, upper shell upper surface is equipped with solar panels, and solar panels connect the battery pack being positioned at enclosure interior; Afterbody outside housing is fixedly connected with steering gear system, and steering gear system afterbody is fixedly connected with GPS and iridium communication module; An inside of each side establishing of lower house outside is filled with the outer leather bag of fluid; Enclosure interior is provided with interior leather bag, double-direction gearpump, servomotor, control system, linear module and drive motor; Driven by servomotor double-direction gearpump works, the interior leather bag that inside is filled with fluid connects double-direction gearpump one end through interior leather bag oil pipe, the double-direction gearpump other end connects oil path distributor one end through electromagnetic valve, the oil path distributor other end is respectively connected an outer leather bag of homonymy respectively by left oil pipe and right wing oil pipe, and two outer leather bags are communicated with by being communicated with oil pipe; Arrange linear module at lower house middle position, linear module connects drive motor, is fixedly connected with battery pack below linear module, drives battery pack to move forward and backward; Left side board and right side board are all vertically connected the web wing axle that left and right horizontal is arranged, each connection rubber web wing on left and right section of web wing axle, and the rubber web wing bends under wave action up or down; Described GPS and iridium communication module and workstation on the bank realize communication, and control system connects solar panels, drive motor, electromagnetic valve, servomotor and steering gear system respectively.
The technical scheme that the method for measurement of described a kind of web aerofoil profile wave energy underwater gliding measuring table adopts is: comprise surface navigation and vertical glide two kinds of mode of operations, during surface navigation, workstation sends instruction by GPS and iridium communication module to control system on the bank, control system is opened battery valve and is controlled the work of driven by servomotor double-direction gearpump, the fluid of interior leather bag inside enters in the outer leather bag of arranged on left and right sides respectively, the volume of outer leather bag is made to become large, buoyancy becomes large, and whole measuring table floats on the water surface; Control system controls the work of drive motor leading linear module simultaneously, battery pack is moved forward and backward, changes the center of gravity of measuring table, adjust its attitude in water; During vertical glide, workstation sends instruction by GPS and iridium communication module to control system on the bank, control system is opened battery valve and is controlled the work of driven by servomotor double-direction gearpump, fluid in the outer leather bag of arranged on left and right sides enters in interior leather bag, the smaller volume of measuring table, buoyancy diminishes, measuring table dive; Control system controls the work of drive motor leading linear module simultaneously, battery pack is moved forward and backward, changes the center of gravity of measuring table, adjust its attitude in water.
The present invention has the water surface and vertical glide two kinds of mode of motioies, can need according to different ocean researchs to switch in real time, simultaneously, the utilization of the ocean such as wave energy, solar power new forms of energy makes this platform have superpower endurance, solve its energy resource supply problem completely, can realize large scale and long-term oceanographic data monitoring, its major advantage and beneficial effect specifically:
1, the difference of the present invention and traditional underwater glider is mainly manifested in: 1. the present invention adopts flat housing structure, upper surface has very large area for the installation of solar panels, housing is not only for storing each functional component, and it produces lift, is converted into propulsive effort when making platform glide under water; 2. the present invention adopts the structure of two outer leather bag, connects and composes permeator structure, increase the stability of system with an oil pipe; 3. pitch regulation system of the present invention adopts linear module, reduces friction, increases it and regulates power consumption; 4. the present invention adopts steering gear system to be used for direction controlling.
2, the present invention is mainly manifested in the difference of traditional wave aerodone: Platform Designing of the present invention becomes unitary construction, the mode that traditional wave aerodone adopts rigidity wing plate to spin upside down under hydrodynamism is to carry out wave transformation of energy, and the present invention adopts the mode of the rubber web wing, the natural resiliency distortion of the rubber web wing is utilized to obtain propulsive effort, and the relative motion not having between web wing axle and underwater gliding body housing, decrease friction, improve conversion efficiency, in addition, traditional wave aerodone can only utilize the vertical tremor of wave to obtain propulsive effort, and the present invention can the pitch movements of comprehensive application wave vertical tremor and platform, these motions all have contribution to the generation of its propulsive effort, add the degree of utilization of wave energy.
3, endurance of the present invention is strong: the present invention utilizes wave energy to drive when surface navigation, and underwater gliding is then utilize to realize its dive or floating by changing buoyancy, and then obtains the propulsive effort advanced.Meanwhile, its electric energy is provided endlessly by solar panels or supplements, and energy obtain manner there occurs fundamental change compared with traditional under-water robot, so its endurance is also that traditional under-water robot is incomparable.
4, the present invention is simple to operate: the present invention, as observation platform, does not have propelling unit, and send instruction and reception data by communication system to it, realize AUTONOMOUS TASK, ocean observation data can regularly obtain on the coast, do not need human intervention.
5, the present invention is safe and reliable: the present invention can AUTONOMOUS TASK according to ocean observation task, realize the monitoring of the ocean water surface or vertical surface parameter, when there being severe sea situation (as typhoon etc.) to occur, underwater gliding mode of motion can be switched to, substantially can not affect by this, ensure that the stable of platform and safety.
6. cost of the present invention is low: the present invention does not need lash ship and manual intervention, in the ocean observation of large scale, especially saves a large amount of costs compared with observing instrument research vessel, buoy etc. with Conventional marine, as human cost, and lash ship fuel cost etc.
Accompanying drawing explanation
Below in conjunction with the drawings and specific embodiments, the invention will be further described.
Fig. 1 is the front view of a kind of web aerofoil profile of the present invention wave energy underwater gliding measuring table;
Fig. 2 is the birds-eye view of Fig. 1;
Fig. 3 is the Standard figure after Fig. 2 removes the parts such as upper shell, solar panels, underwater gliding body;
Fig. 4 is the constructional drawing of underwater gliding body in Fig. 2;
Fig. 5 is that assembly drowing is looked on a left side for the rubber web wing and axle in Fig. 4;
Fig. 6 is the control block diagram of a kind of web aerofoil profile of the present invention wave energy underwater gliding measuring table.
In figure: 1.GPS and iridium communication module, 2. steering gear system, 3. upper shell, 4. lower house, 5. wing plate, 6. attaching parts, 7. left side board, 8. web wing axle, 9. solar panels, 10. rubber seal, 11. control system, 12. module compressing tablets, 13. are communicated with oil pipe, 14. linear modules, 15. battery packs, 16. outer leather bags, 17. left oil pipes, 18. right wing oil pipes, 19. module drive motor, 20. oil path distributors, 21. electromagnetic valves, 22. double-direction gearpumps, 23. servomotors, leather bag oil pipe in 24., leather bag in 25., the 26. rubber web wings, 27. web wing compressing tablets, 28. right side boards.
Detailed description of the invention
As shown in Figure 1, Figure 2 and Figure 3, web aerofoil profile wave energy underwater gliding measuring table of the present invention comprises a housing, this housing is snapped together by upper shell 3 and lower house about 4 and forms, and upper shell 3 and lower house 4 are connected by screw, and seal therebetween by rubber seal 10.It is trapezoidal that the coincidence facial contour of upper shell 3 and lower house 4 is similar to mirror image, and cross-sectional plane and vertical section shape are curvature change curve between 0.15 to 3.The present invention also comprises solar electric power supply system, steering gear system 2, GPS and iridium communication module 1, buoyancy regulating system, attitude regulation system and underwater gliding body.At each side installation wing plate 5 of outside.Front and back immediately below housing respectively connect a vertical attaching parts 6, attaching parts 6 upper end is connected to bottom lower house 4, attaching parts 6 lower end connects left side board 7 and right side board 28 jointly, and left side board 7 and right side board 28 lay respectively at left and right side, and anterior-posterior horizontal is arranged.When measuring table does not work, the horizontality that left side board 7 and right side board 28 are arranged for front and back, perpendicular with attaching parts 6.
Solar electric power supply system is made up of solar panels 9 and battery pack 15, and solar panels 9 are arranged on the upper surface of upper shell 3.Solar panels 9 are put into groove so that fixing, and are connected by screw with upper shell 3 by recessing on upper shell 3 upper surface during installation.Battery pack 15 is positioned at enclosure interior, is connected by electric wire with solar panels 9, and solar panels 9 gather solar power and to be stored in battery pack 15 after being converted into electric energy inner.
Steering gear system 2 is installed on housing afterbody, steering gear system 2 comprises steering engine controller, steering gear electric-machine and rudder blade, housing afterbody is fixedly connected with steering gear system 2 shell, at steering gear system 2 shell built with steering engine controller and steering gear electric-machine, in steering gear system 2 housing exterior, rudder blade is housed, steering engine controller is connected steering gear electric-machine and controls steering gear electric-machine and rotate, steering gear electric-machine connects rudder blade, drives rudder blade to rotate to an angle.
GPS and iridium communication module 1 are positioned at the most afterbody of measuring table, are fixedly connected with steering gear system 2 afterbody, are arranged on steering gear system 2 shell afterbody by screw.
As shown in Figure 3, buoyancy regulating system comprises outer leather bag 16, oil path distributor 20, electromagnetic valve 21, double-direction gearpump 22, servomotor 23, interior leather bag 25.Outer leather bag 16 has two, all be positioned at the left and right sides of lower house 4, respectively arrange one in the side, left and right of lower house 4 outside, each side have a die cavity in lower house 4 outside, outer leather bag 16 is placed in this die cavity, die cavity has through hole so that outer leather bag 16 contacts with outside body of water.Leather bag 16 inside is filled with fluid outside, is communicated with oil pipe 13 connects between two outer leather bags 16 by one.Outside leather bag 16, the remaining part of buoyancy regulating system is all sealed in the enclosure interior of upper shell 3 and lower house 4 composition except for the outer.The interior leather bag 25 of enclosure interior is in lower house 4 forward position, interior leather bag 25 only has one, and inside is also filled with fluid, and connects double-direction gearpump 22 one end by interior leather bag oil pipe 24, the direct connected electromagnetic valve 21 of double-direction gearpump 22 other end, controls fluid by electromagnetic valve 21 and flows to passage.Double-direction gearpump 22 other end connects oil path distributor 20 one end through electromagnetic valve 21.The other end oil circuit of oil path distributor 20 is divided into two, and these two oil circuits are connected the outer leather bag 16 of both sides with right wing oil pipe 18 respectively by left oil pipe 17, and left oil pipe 17 connects the outer leather bag 16 in left side, and right wing oil pipe 18 connects the outer leather bag 16 on right side.These two outer leather bags 16 are communicated with by connection oil pipe 13 again, can maintain internal pressure balance.Install servomotor 23 at the side of double-direction gearpump 22, double-direction gearpump 22 connects servomotor 23, drives work by servomotor 23.Servomotor 23 and electromagnetic valve 21 all live wire are connected with control system 11, and are controlled the control of system 11; Servomotor 23 electric wire of powering is connected with storage battery 15.Control system 11 is arranged on the rear positions in housing.Control system 11, double-direction gearpump 22, servomotor 23, electromagnetic valve 21, battery pack 15 etc. are all sealed in enclosure interior.
Interior leather bag oil pipe 24, left oil pipe 17, right wing oil pipe 18 and connection oil pipe 13 are high pressure resistant metal oil conduit, after leather bag oil pipe 24 gos deep into interior leather bag 25 wherein, have one section to bend to lower house 4 bottom direction.
Attitude regulation system is made up of module compressing tablet 12, linear module 14 and drive motor 19.Wherein, linear module 14 is positioned at lower house central interior position, and the front and back end of linear module 14 is connected by bearing with the stay bearing plate of two on lower house 4 respectively, and the front and back end of linear module 14 is fixed by screws on stay bearing plate by module compressing tablet 12.Side in linear module 14 front end installs drive motor 19, and drive motor 19 is arranged on the stay bearing plate of lower house 4 by screw; The front end of linear module 14 is connected drive motor 19, and drive motor 19 is by control line connection control system 11, and the control of controlled system 11, drive motor 19 is connected with battery pack 15 by electric wire simultaneously, is powered by battery pack 15.The centre of linear module 14 is fixedly connected with battery pack 15 by screw, makes battery pack 15 be fixed on below linear module 14, like this when drive motor 19 leading linear module 14 works, when linear module 14 drives battery pack 15 to move forward and backward.Battery pack 15 is connected with solar panels 9, accepts charging, and battery pack 15 is connected by electric wire with control system 11 simultaneously, powers to control system 11.Battery pack 15, linear module 14, drive motor 19, module compressing tablet 12 etc. are all sealed in enclosure interior.
As shown in Figure 4, Figure 5, underwater gliding body is made up of left side board 7, right side board 28, the rubber web wing 26, web wing compressing tablet 27 and web wing axle 8.Web wing axle 8 left and right horizontal arrange, the left side board 7 arranged with anterior-posterior horizontal and right side board 28 perpendicular.There is the rectangular block of individual variation in thickness at the middle part of web wing axle 8, contacts with the rectangular opening of left side board 7 with right side board 28, and rectangular block is in the middle of two rectangular openings on left side board 7 and right side board 28, is added fasten by the screw thread on right side board 28.Have six web wing axles 8, before and after the front-end and back-end of left side board 7 and right side board 28 respectively each layout three web wing axles 8, three web wing axles 8 equidistantly, be parallel to each other layout.Each connection rubber web wing 26 on left and right section of each web wing axle 8, totally six rubber web wings 26, two rubber web wings 26 on each web wing axle 8 are symmetrical relative to the center of housing, and the rubber web wing 26 can occur to bend up or down under wave action.Each rubber web wing 26 is all placed with web wing compressing tablet 27, web wing compressing tablet 27 is placed along the axis of web wing axle 8, successively web wing compressing tablet 27, the rubber web wing 26 and web wing axle 8 are compressed from top to bottom finally by screw, prevent it from coming off during elastic deformation under hydrodynamism.
As shown in Figure 6, GPS and iridium communication module 1, by communication and workstation communication on the bank, carry out information transmission, and control system 11 controls the work by control according to the information that GPS and iridium communication module 1 transmit.Control system 11 connects solar panels 9, drive motor 19, electromagnetic valve 21, servomotor 23 and steering gear system 23 respectively.Solar panels 9 connect battery pack 15 by electric wire.Drive motor 19 drives linear module 14 to work, the opening and closing of control system 11 Controlling solenoid valve 21, servomotor 23 drives double-direction gearpump 22 to work, when electromagnetic valve 21 is opened, fluid in interior leather bag 25 enters oil path distributor 20, thus to enter between two outer leather bags, 16, two outer leather bags 16 through left and right oil pipe 17,18 and connect by being communicated with oil pipe 13 again.Control system 11 also can control the controller in steering gear system 2, drives steering gear electric-machine work, drives rudder blade to rotate.
During web aerofoil profile wave energy underwater gliding measuring table work of the present invention, there are surface navigation and vertical glide two kinds of mode of motioies.The solar electric power supply system consisted of solar panels 9, battery pack 15 realizes automatic charging, to supplement the consumption of its electric energy; When measuring table is at surface navigation, by the underwater gliding body that the rubber web wing 26 is housed, wave energy is converted into its propulsive effort advanced; When measuring table vertically glides, the buoyancy regulating system by double-direction gearpump 22, electromagnetic valve 21, inside and outside leather bag 25,16 and oil pipe composition carries out buoyancy adjustment, realizes its snorkeling function; Simultaneously by attitude in its water of attitude regulation system call interception of linear module 14, drive motor 19 composition, and then itself and current are formed certain angle of attack, obtain the propulsive effort that it advances; The function such as control and data communication of its sense of motion is realized respectively by the steering gear system 2 of afterbody and GPS and iridium communication module 1.Specific as follows:
First, check the electricity of battery pack 15, obtain the power consumption basic condition information of measuring table, when battery pack 15 power consumption lower than total electric flux 60% time, the charge switch that control system 12 controls solar panels 9 is opened, and charges to battery pack 15.Realized communicating with iridium communication module 1 and measuring table by GPS by workstation on the bank, when battery pack 15 electric energy is abundant, just can perform surface navigation or dive task.
When measuring table needs charging or surface navigation, as Fig. 1, Fig. 3, shown in Fig. 6, workstation sends instruction to control system 11 by GPS and iridium communication module 1 on the bank, control system 11 is after receiving instruction, open battery valve 21 and control servomotor 23, double-direction gearpump 22 is driven to work by servomotor 23, now, the fluid of interior leather bag 25 inside is by double-direction gearpump 22, enter in the outer leather bag 16 in left side and the outer leather bag 16 on right side after battery valve 21 respectively, the volume of two outer leather bags 16 is made to become large, whole like this measuring table buoyancy becomes large, whole platform will float on the water surface, simultaneously, the module drive motor 19 in form regulation system is controlled by control system 11, worked by module drive motor 19 leading linear module 14, battery pack 15 is moved forward and backward, by adjustment battery pack 15 in the position of the front and back of measuring table inside, reach the object of its attitude in water of adjustment with the center of gravity changing measuring table.When battery pack 15 rests in a certain position in the middle part of linear module 14 under the driving of linear module 14, make the attitude almost horizontal of measuring table in water, the solar panels 9 on such upper shell 3 under the sunlight of the water surface, will charge to measuring table.
When measuring table electric energy is abundant, just can perform dive task, when it performs dive task, first on the bank workstation sends instruction to control system 11 by GPS and iridium communication module 1, control system 11 controls servomotor 23, servomotor 23 drives double-direction gearpump 22 to work and opens battery valve 21, now, fluid in the outer leather bag 16 on left side and right side is by double-direction gearpump 22, battery valve 21 enters in interior leather bag 25, make the smaller volume of measuring table, whole like this measuring table buoyancy diminishes, until when its buoyancy is less than its gravity, whole measuring table will dive, meanwhile, control system 11 controls module drive motor 19 and works, by attitude in the water of the movable adjustment measuring table of battery pack 15.When storage battery 15 groups moves forward under the driving of linear module 14, change due to center of gravity makes the attitude head of measuring table in water downward, afterbody upwards, the speed of such measuring table motion and itself will form certain angle of attack, the bottom of current shock measurement platform obliquely from bottom, measuring table is subject to water to its lift and drag effect in water, and the two combined action forms a propulsive effort forward.When measuring table dive is to certain degree of depth, in conjunction with depth of water setting certain time interval, when after certain hour, double-direction gearpump 22 is driven to work by servomotor 23, fluid in interior leather bag 25 is entered outside left side and right side in leather bag 16 respectively by double-direction gearpump 22, battery valve 21, and make measuring table volume become large, whole like this measuring table buoyancy becomes large, until when its buoyancy is greater than its gravity, whole measuring table will float; Meanwhile, adjust linear module 14, battery pack 15, to adjust measuring table attitude in water, storage battery 15 under the driving of linear module 14 after move, the change due to its center of gravity makes the attitude head of measuring table in water upwards, tail down; The speed of such measuring table motion is same with itself forms certain angle of attack, and the top of current shock measurement platform obliquely from top, measuring table is subject to water to its lift and drag effect in water, and the two combined action forms a propulsive effort forward.
When measuring table needs at surface navigation, first adjust it to charge condition, namely its buoyancy is transferred to maximum by buoyancy regulating system, and attitude regulation system makes it be in horizontality substantially.The buoyancy aid of measuring table can shake up and down under the excitation of wave, when the crest of wave comes interim, attaching parts 6 is by the pull-up of underwater gliding body, the rubber web wing 26 upper surface of underwater gliding body is subject to the effect of current and is bent downwardly, such current will form certain angle of attack with the upper surface of the rubber web wing 26, the combined action of the hydrodynamic lift that the rubber web wing 26 is subject to and resistance can produce a propulsive effort forward, pulls measuring table to advance; When wave trough comes interim, whole measuring table is at self gravitation falls downward, the rubber web wing 26 lower surface of underwater gliding body current effect and there is K/UP, such current will form certain angle of attack with the lower surface of the rubber web wing 26, the combined action of the hydrodynamic lift that the rubber web wing 26 is subject to and resistance can produce a propulsive effort forward, pulls measuring table to advance; So regardless of crest or trough, underwater gliding body can produce a propulsive effort forward, reach the object that wave energy transforms and utilizes.In addition, different from wave aerodone, measuring table pitch movements also can produce the propulsive effort of advance, can increase plane wave transformation of energy efficiency like this.
Claims (9)
1. a web aerofoil profile wave energy underwater gliding measuring table, comprise a housing, this housing is made up of the upper shell be tightly connected (3) and lower house (4), front and back immediately below lower house (4) respectively connect a vertical attaching parts (6), attaching parts (6) lower end connects left side board (7) and the right side board (28) of anterior-posterior horizontal layout jointly, it is characterized in that: upper shell (3) upper surface is equipped with solar panels (9), solar panels (9) connect the battery pack (15) being positioned at enclosure interior; Afterbody outside housing is fixedly connected with steering gear system (2), and steering gear system (2) afterbody is fixedly connected with GPS and iridium communication module (1); An inside of each side establishing of lower house (4) outside is filled with the outer leather bag (16) of fluid; Enclosure interior is provided with interior leather bag (25), double-direction gearpump (22), servomotor (23), control system (11), linear module (14) and drive motor (19); Servomotor (23) drives double-direction gearpump (22) work, the interior leather bag (25) that inside is filled with fluid connects double-direction gearpump (22) one end through interior leather bag oil pipe (24), double-direction gearpump (22) other end connects oil path distributor (20) one end through electromagnetic valve (21), oil path distributor (20) other end is respectively connected an outer leather bag (16) of homonymy respectively by left oil pipe (17) and right wing oil pipe (18), and two outer leather bags (16) are communicated with by connection oil pipe (13); Arrange linear module (14) at lower house (4) middle position, linear module (14) connects drive motor (19), and linear module (14) below is fixedly connected with battery pack (15), drives battery pack (15) to move forward and backward; Left side board (7) and right side board (28) are all vertically connected the web wing axle (8) that left and right horizontal is arranged, left and right section of upper each connection rubber web wing (26) of web wing axle (8), the rubber web wing (26) bends under wave action up or down; Described GPS and iridium communication module (1) and workstation on the bank realize communication, and control system (11) connects solar panels (9), drive motor (19), electromagnetic valve (21), servomotor (23) and steering gear system (2) respectively.
2. a kind of web aerofoil profile wave energy underwater gliding measuring table according to claim 1, it is characterized in that: described steering gear system (2) comprises steering engine controller, steering gear electric-machine and rudder blade, the shell of steering gear system (2) is built with steering engine controller and steering gear electric-machine, the housing exterior of steering gear system (2) is equipped with rudder blade, steering engine controller connects steering gear electric-machine and controls steering gear electric-machine rotation, and steering gear electric-machine connects rudder blade and also drives rudder blade to rotate.
3. a kind of web aerofoil profile wave energy underwater gliding measuring table according to claim 1, it is characterized in that: distinguish each layout three web wing axles (8) in the front-end and back-end of left side board (7) and right side board (28), three web wing axles (8) front and back are equidistant, be parallel to each other layout, left and right section of upper each connection rubber web wing (26) of each web wing axle (8), two rubber web wings (26) on each web wing axle (8) are symmetrical relative to the center of housing.
4. a kind of web aerofoil profile wave energy underwater gliding measuring table according to claim 1, it is characterized in that: what lower house (4) was outside each side has a die cavity, place an outer leather bag (16) in a die cavity, die cavity has through hole, and outer leather bag (16) contacts with outside body of water.
5. a kind of web aerofoil profile wave energy underwater gliding measuring table according to claim 1, it is characterized in that: interior leather bag (25) is in lower house (4) forward position, control system (11) is positioned at the rear positions of housing.
6. a kind of web aerofoil profile wave energy underwater gliding measuring table according to claim 1, it is characterized in that: the front and back end of linear module (14) is connected by bearing with lower house (4) respectively, side dress drive motor (19) of linear module (14) front end, the front end of linear module (14) connects drive motor (19).
7. a method of measurement for web aerofoil profile wave energy underwater gliding measuring table as claimed in claim 1, is characterized in that: comprise surface navigation and vertical glide two kinds of mode of operations,
During surface navigation, workstation sends instruction by GPS and iridium communication module (1) to control system (11) on the bank, control system (11) is opened battery valve (21) and is controlled servomotor (23) and drives double-direction gearpump (22) work, the fluid of interior leather bag (25) inside enters in the outer leather bag (16) of arranged on left and right sides respectively, the volume of outer leather bag (16) is made to become large, buoyancy becomes large, and whole measuring table floats on the water surface; Control system (11) controls drive motor (19) leading linear module (14) work simultaneously, battery pack (15) is moved forward and backward, changes the center of gravity of measuring table, adjust its attitude in water;
During vertical glide, by GPS and iridium communication module (1), to control system, (110 send instructions to workstation on the bank, control system (11) is opened battery valve (21) and is controlled servomotor (23) and drives double-direction gearpump (22) work, fluid in the outer leather bag (16) of arranged on left and right sides enters in interior leather bag (25), the smaller volume of measuring table, buoyancy diminishes, measuring table dive; Control system (11) controls drive motor (19) leading linear module (14) work simultaneously, battery pack (15) is moved forward and backward, changes the center of gravity of measuring table, adjust its attitude in water.
8. the method for measurement of web aerofoil profile wave energy underwater gliding measuring table according to claim 7, it is characterized in that: during surface navigation, when the crest of wave comes interim, the effect that the rubber web wing (26) upper surface is subject to current is bent downwardly, the upper surface of current and the rubber web wing (26) forms certain angle of attack, and the rubber web wing (26) produces a propulsive effort forward; When the trough of wave comes interim, the rubber web wing (26) lower surface is at the effect K/UP of current, and the lower surface of current and the rubber web wing (26) forms certain angle of attack, and the rubber web wing (26) produces propulsive effort forward.
9. the method for measurement of web aerofoil profile wave energy underwater gliding measuring table according to claim 7, it is characterized in that: battery pack (15) electric energy lower than gross energy 60% time, control system (12) control solar panels (9) battery pack (15) is charged, battery pack (15) electric energy higher than gross energy 60% time just can surface navigation or dive.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610013788.9A CN105539784B (en) | 2016-01-11 | 2016-01-11 | A kind of web aerofoil profile wave energy underwater gliding measuring table and measuring method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201610013788.9A CN105539784B (en) | 2016-01-11 | 2016-01-11 | A kind of web aerofoil profile wave energy underwater gliding measuring table and measuring method |
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| CN109387352A (en) * | 2018-11-12 | 2019-02-26 | 江苏科技大学 | A kind of experiment porch for wave driving unmanned water surface robot |
| CN111102969A (en) * | 2019-12-27 | 2020-05-05 | 自然资源部第三海洋研究所 | Synchronous adjacent recording device for ocean noise source |
| CN111516838A (en) * | 2020-04-24 | 2020-08-11 | 天津大学 | Seal-imitating underwater glider |
| CN116625633A (en) * | 2023-07-26 | 2023-08-22 | 青岛海舟科技有限公司 | Wave power conversion efficiency testing device of sailing type wave glider |
| CN117902025A (en) * | 2024-03-20 | 2024-04-19 | 中国海洋大学 | Wave double-drive glider |
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