CN105539784B - A kind of web aerofoil profile wave energy underwater gliding measuring table and measuring method - Google Patents
A kind of web aerofoil profile wave energy underwater gliding measuring table and measuring method Download PDFInfo
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- CN105539784B CN105539784B CN201610013788.9A CN201610013788A CN105539784B CN 105539784 B CN105539784 B CN 105539784B CN 201610013788 A CN201610013788 A CN 201610013788A CN 105539784 B CN105539784 B CN 105539784B
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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 present invention discloses web aerofoil profile wave energy underwater gliding measuring table and measuring method in a kind of underwater robot engineering field, with two kinds of motor patterns of surface navigation and vertical gliding, automatic charging is realized by the solar electric power supply system of solar panels, batteries composition, to supplement the consumption of its electric energy；When measuring table is in surface navigation, wave energy can be converted into by its driving force advanced by the underwater gliding body equipped with the rubber web wing；When measuring table vertically glides, buoyancy adjustment can be carried out by the buoyancy regulating system of double-direction gearpump, magnetic valve, inside and outside leather bag and oil pipe composition, realize its snorkeling function；Attitude in attitude regulation system call interception its water being made up of linear module, motor simultaneously, and then itself and current are formed into certain angle of attack, obtain the driving force of its advance；Realize the functions such as the control and data communication of its direction of motion respectively by the steering gear system and GPS and iridium communication module of afterbody.
Description
Technical field
The invention belongs to underwater robot engineering field, specifically a kind of underwater gliding measuring table, available for sea
Foreign-water body has the monitoring of related parameter and the observation of maritime meteorology etc..
Background technology
Underwater robot is as a kind of important ocean operation in scientific research of seas, marine resources development, ocean
It is used widely in terms of atmospheric physics, marine ecology.But ocean is a wide waters, want to carry out the task of the above
It is not easy to, subject matter is due to the restriction of underwater robot own vol, determines that the energy of its band is very limited, it continues
Very big limitation of the boat ability by the energy.At present, the new-type energy such as solar energy, thermal gradient energy, wave energy robot under water
Field obtains certain application, and that has developed and utilized has the underwater glider and the wave cunning using wave energy of buoyancy-driven
Xiang machine, however, underwater glider uses cylinder and gliding wing structure, using single outer leather bag structure, sensor carries empty
Between it is very limited, and its driving principle determines its DATA REASONING for being only used for ocean vertical plane under water, limits in ocean
Engineering is further applied.And wave aerodone uses trimeric structure, it is made up of, ties floating body, heaving pile and underwater gliding body
Structure is more dispersed, is easily wound with remaining object in ocean, and it is only used for the DATA REASONING of the water surface.Therefore,
In view of the complexity of scientific research of seas, solve energy restriction problem in observation platform, develop it is a can be simultaneously
The problem of underwater robot measuring table of the progress water surface and underwater vertical section is this area urgent need to resolve.
The content of the invention
The invention aims to the measurement capability for solving existing underwater glider and wave aerodone it is single the problem of,
A kind of web aerofoil profile wave energy underwater gliding measuring table and measuring method are provided, water-filling is entered the need for being studied according to different oceans
Face and underwater vertical section marine monitoring, while can also have very big space to be installed for various sensors, carrying ability is stronger, should
With more extensive.
To achieve the above object, the technical scheme that a kind of web aerofoil profile wave energy underwater gliding measuring table of the invention is used
It is：Including a housing, the housing is made up of the upper shell and lower house being tightly connected, the front and back immediately below lower house 4
A vertical connector is respectively connected, connector lower end connects the left plate and right plate of anterior-posterior horizontal arrangement, upper shell jointly
Solar panels, batteries of the solar panels connection positioned at enclosure interior are housed on upper surface；Afterbody outside housing is fixedly connected
Steering gear system, steering gear system afterbody is fixedly connected GPS and iridium communication module；Each side setting in one outside lower house
Outer leather bag of the portion filled with fluid；Enclosure interior provided with interior leather bag, double-direction gearpump, servomotor, control system, linear module and
Motor；Servomotor driving double-direction gearpump work, an internal interior leather bag filled with fluid is connected through interior leather bag oil pipe
Double-direction gearpump one end, the double-direction gearpump other end connects oil path distributor one end, the oil path distributor other end point through magnetic valve
An outer leather bag of homonymy is not connected respectively by left oil pipe and right wing oil pipe, two outer leather bags are connected by connection oil pipe；Under
Housing middle position sets linear module, and linear module to connect and be fixedly connected batteries, band below motor, linear module
Dynamic batteries are moved forward and backward；Left plate and the right plate vertical web wing axle of connection left and right horizontal arrangement, web wing axle it is left,
One rubber web wing of right section of upper each connection, the rubber web wing is bent up or down under wave action；The GPS and iridium satellite lead to
Believe that module is realized with work station on the bank to communicate, control system connects solar panels, motor, magnetic valve, servomotor respectively
And steering gear system.
The technical scheme that the measuring method of web aerofoil profile wave energy underwater gliding measuring table a kind of is used is：Including water
Face is navigated by water and two kinds of mode of operations of vertically gliding, during surface navigation, and work station gives control by GPS and iridium communication module on the bank
System sends instruction, and control system opens battery valve and controls servomotor to drive double-direction gearpump work, the intracapsular portion of endothelium
The crust that fluid respectively enters arranged on left and right sides is intracapsular so that the volume of outer leather bag becomes big, and buoyancy becomes big, whole measuring table drift
Bubble through the water column；The linear module work of the motor band of control system control simultaneously, moves forward and backward batteries, changes measurement
The center of gravity of platform, adjusts its attitude in water；During vertical gliding, work station gives control by GPS and iridium communication module on the bank
System transmission instruction, control system opens battery valve and simultaneously controls servomotor to drive outside double-direction gearpump work, arranged on left and right sides
Fluid in leather bag enters in interior leather bag, and the volume of measuring table diminishes, and buoyancy diminishes, measuring table dive；System is controlled simultaneously
The linear module work of system control motor band, moves forward and backward batteries, changes the center of gravity of measuring table, adjust its
Attitude in water.
The present invention has the water surface and vertically two kinds of motor patterns of gliding, can need to enter in real time according to different ocean research
Row switching, meanwhile, the utilization of the ocean such as wave energy, solar energy new energy make it that the platform has superpower endurance, completely solution
Certainly its energy resource supply problem, can realize large scale and long-term oceanographic data monitoring, and its major advantage is specifically with beneficial effect：
1st, the difference of underwater glider of the invention and traditional is mainly manifested in：1. the present invention uses flat housing knot
There is very big area structure, upper surface for the installation of solar panels, and housing is applied not only to store each functional part, and it is produced
Raw lift, makes platform be converted into driving force when gliding under water；2. the present invention is connected using the structure of double outer leather bags with an oil pipe
Composition linker structure is connect, increases the stability of system；3. pitch regulation system of the present invention uses linear module, reduces friction,
Increase it and adjust power consumption；4. the present invention is used for direction controlling using steering gear system.
2nd, the difference of wave aerodone of the invention and traditional is mainly manifested in：Platform Designing of the present invention into monomer structure,
Traditional wave aerodone carries out wave transformation of energy by the way of rigid wing plate is spun upside down under hydrodynamism, and
The present invention obtains driving force by the way of the rubber web wing using the natural resiliency deformation of the rubber web wing, and without web wing axle
Relative motion between underwater gliding body shell body, reduces friction, transformation efficiency is improved, in addition, traditional wave aerodone
Driving force can only be obtained using the vertical tremor of wave, and the present invention can comprehensively utilize the vertical of wave vertical tremor and platform
Incline motion, these generations of motion to its driving force are contributed, and add the utilization rate of wave energy.
3rd, endurance of the present invention is strong：The present invention is driven in surface navigation using wave energy, and underwater gliding is then profit
Its dive or floating are realized with by changing buoyancy, and then obtains the driving force advanced.Meanwhile, its electric energy by solar panels in a steady stream
Constantly provide or supplement, energy acquisition modes there occurs basic change compared with traditional underwater robot, so its endurance
It is also that traditional underwater robot is incomparable.
4th, the present invention is simple to operate：The present invention, without propeller, is sent out it as observation platform by communication system
Send instruction and receive data, realize AUTONOMOUS TASK, oceanographic observation data can be obtained regularly on the coast, it is not necessary to human intervention.
5th, the present invention is safe and reliable：The present invention can be realized the ocean water surface or hung down according to oceanographic observation task with AUTONOMOUS TASK
The monitoring of parameter is faced directly, when there is severe sea situation（Such as typhoon）During appearance, underwater gliding motor pattern can be switched to, substantially
On will not suffer from this, it is ensured that the stabilization and safety of platform.
6. low cost of the present invention：The present invention is compared with Conventional marine observation instrument research vessel, buoy etc., it is not necessary to lash ship
And manual intervention, substantial amounts of cost, such as human cost, lash ship fuel cost are especially saved in the oceanographic observation of large scale
Deng.
Brief description of the drawings
The invention will be further described with reference to the accompanying drawings and detailed description.
Fig. 1 is a kind of front view of web aerofoil profile wave energy underwater gliding measuring table of the invention；
Fig. 2 is Fig. 1 top view；
Fig. 3 removes the Standard figure after the parts such as upper shell, solar panels, underwater gliding body for Fig. 2；
Fig. 4 is the structure chart of underwater gliding body in Fig. 2；
Fig. 5 is the left view installation diagram of the rubber web wing and axle in Fig. 4；
Fig. 6 is a kind of control block diagram of web aerofoil profile wave energy underwater gliding measuring table of the invention.
In figure：1.GPS and iridium communication module, 2. steering gear systems, 3. upper shells, 4. lower houses, 5. wing plates, 6. connections
Part, 7. left plates, 8. web wing axles, 9. solar panels, 10. rubber seal, 11. control systems, 12. module compressing tablets, 13. connections
Oil pipe, 14. linear modules, 15. batteries, 16. outer leather bags, 17. left oil pipes, 18. right wing oil pipes, 19. modules driving electricity
Machine, 20. oil path distributors, 21. magnetic valves, 22. double-direction gearpumps, 23. servomotors, leather bag oil pipe in 24., leather bag in 25.,
26. the rubber web wing, 27. web wing compressing tablets, 28. right plates.
Embodiment
As shown in Figure 1, Figure 2 and Figure 3, web aerofoil profile wave energy underwater gliding measuring table of the present invention includes a housing, should
Housing is snapped together about 4 by upper shell 3 and lower house and constituted, and upper shell 3 and lower house 4 are connected by screw, the two it
Between sealed with rubber seal 10.The coincidence facial contour of upper shell 3 and lower house 4 is trapezoidal similar to mirror image, cross section and rip cutting
Face is shaped as curvature change curve between 0.15 to 3.Present invention additionally comprises solar electric power supply system, steering gear system 2, GPS
With iridium communication module 1, buoyancy regulating system, attitude regulation system and underwater gliding body.In the left and right sides of hull outside
One wing plate 5 is respectively installed.A vertical connector 6, the connection of the upper end of connector 6 are respectively connected in the front and back of the underface of housing
In the bottom of lower house 4, the lower end of connector 6 connects left plate 7 and right plate 28 jointly, and left plate 7 and right plate 28 are located at respectively
Left and right side, anterior-posterior horizontal arrangement.When measuring table does not work, left plate 7 and right plate 28 are the horizontal of front and rear arrangement
State, it is perpendicular with connector 6.
Solar electric power supply system is made up of solar panels 9 and batteries 15, and solar panels 9 are arranged on the upper of upper shell 3
On surface.Solar panels 9 are put into groove to fix by the recessing on the upper surface of upper shell 3 during installation, and with upper shell 3
It is connected by screw.Batteries 15 are located at enclosure interior, are connected with solar panels 9 by electric wire, the collection sun of solar panels 9
It and can be converted into after electric energy and be stored in inside batteries 15.
Steering gear system 2 is installed on housing afterbody, and steering gear system 2 includes steering engine controller, steering gear electric-machine and rudder blade, housing tail
Portion is fixedly connected the shell of steering gear system 2, in the shell of steering gear system 2 built with steering engine controller and steering gear electric-machine, in steering gear system 2
Housing exterior is equipped with rudder blade, and steering engine controller is connected into steering gear electric-machine and controls steering gear electric-machine to rotate, steering gear electric-machine connection rudder blade,
Driving rudder blade rotates to an angle.
GPS and iridium communication module 1 are located at the most afterbody of measuring table, are fixedly connected the afterbody of steering gear system 2, pass through screw
On the shell afterbody of steering gear system 2.
As shown in figure 3, buoyancy regulating system includes outer leather bag 16, oil path distributor 20, magnetic valve 21, double-direction gearpump
22nd, servomotor 23, interior leather bag 25.Outer leather bag 16 has two, is respectively positioned on the left and right sides of lower house 4, outside lower house 4
Left and right side respectively sets one, a die cavity is each side provided with outside lower house 4, outer leather bag 16 is placed on the die cavity
In, through hole is provided with die cavity so as to outer leather bag 16 and outside body of water contact.Filled with fluid inside outer leather bag 16, two outer leather bags
Connected between 16 by a connection oil pipe 13.The remaining part of buoyancy regulating system is all sealed in outside outer leather bag 16
The enclosure interior that upper shell 3 and lower house 4 are constituted.The interior leather bag 25 of enclosure interior is in the forward position of lower house 4, interior leather bag 25
Only one of which, inside is also filled with fluid, and connects the one end of double-direction gearpump 22 by interior leather bag oil pipe 24, and double-direction gearpump 22 is another
One end is directly connected to magnetic valve 21, controls fluid to flow to passage by magnetic valve 21.The other end of double-direction gearpump 22 is through magnetic valve 21
Connect the one end of oil path distributor 20.The other end oil circuit of oil path distributor 20 is divided into two, and this two oil circuits pass through left respectively
Oil pipe 17 and right wing oil pipe 18 connect the outer leather bag 16 on the left of the outer leather bag 16 of both sides, the connection of left oil pipe 17, right wing oil pipe 18
Outer leather bag 16 on the right side of connection.The two outer leather bags 16 are connected by connection oil pipe 13 again, and internal pressure can be maintained to balance.Two-way
The side of gear pump 22 installs servomotor 23, and the connection servomotor 23 of double-direction gearpump 22 drives work by servomotor 23.
Servomotor 23 and the equal live wire of magnetic valve 21 are connected with control system 11, and by the control of control system 11；Servomotor
23 power supply electric wires are connected with battery 15.Control system 11 is arranged on the rear positions in housing.Control system 11, two-way gear
Pump 22, servomotor 23, magnetic valve 21, batteries 15 etc. are 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, its
In in leather bag oil pipe 24 deeply in after leather bag 25, there is one section to be bent to the bottom direction of lower house 4.
Attitude regulation system is made up of module compressing tablet 12, linear module 14 and motor 19.Wherein, linear module 14
In lower house central interior position, the front and back end of linear module 14 is connected with two supporting plates on lower house 4 by bearing respectively
Connect, the front and back end of linear module 14 is fixed by screws in supporting plate by module compressing tablet 12.Side in the linear front end of module 14
Motor 19 is installed in side, and motor 19 is arranged on by screw in the supporting plate of lower house 4；The front end of linear module 14 is connected
Motor 19 is connect, motor 19 connects control system 11, the control of controlled system 11, motor 19 by control line
It is connected, is powered by batteries 15 with batteries 15 by electric wire simultaneously.The centre of linear module 14 is fixed by screw to be connected
Batteries 15 are connect, batteries 15 is fixed on the linear lower section of module 14, so when motor 19 is with linear module 14
During work, when the linear drive of module 14 batteries 15 are moved forward and backward.Batteries 15 are connected with solar panels 9, receive to fill
Electricity, while batteries 15 and control system 11 are connected by electric wire, powers to control system 11.Batteries 15, linear mould
Group 14, motor 19, module compressing tablet 12 etc. are sealed in enclosure interior.
As shown in Figure 4, Figure 5, underwater gliding body is by left plate 7, right plate 28, the rubber web wing 26, web wing compressing tablet 27 and web
Wing axle 8 is constituted.The left and right horizontal of web wing axle 8 arranges that the left plate 7 and right plate 28 arranged with anterior-posterior horizontal are perpendicular.Web wing axle 8
Middle part have the rectangular block of individual thickness change, contacted with the rectangular opening of left plate 7 and right plate 28, rectangular block is in left plate 7
In the middle of two rectangular openings on right plate 28, step up to fix by the screw thread on right plate 28.There are six web wing axles 8, on a left side
Equidistantly, mutually put down before and after front-end and back-end difference three web wing axles 8 of each arrangement of side plate 7 and right plate 28, three web wing axles 8
Row arrangement.A rubber web wing 26 is respectively connected on left and right section of each web wing axle 8, totally six rubber web wings 26, each web wing
Two rubber web wings 26 on axle 8 are symmetrical relative to the center of housing, and the rubber web wing 26 can occur under wave action
Bend up or down.Web wing compressing tablet 27, axial direction of the web wing compressing tablet 27 along web wing axle 8 are placed with each rubber web wing 26
Place, web wing compressing tablet 27, the rubber web wing 26 and web wing axle 8 are compressed successively from top to bottom finally by screw, prevent it in water
Come off under dynamic action during elastic deformation.
As shown in fig. 6, GPS and iridium communication module 1 are communicated by communication with work station on the bank, enter row information
Transmission, the information control that control system 11 is transmitted according to GPS and iridium communication module 1 is worked by control.11 points of control system
Lian Jie not solar panels 9, motor 19, magnetic valve 21, servomotor 23 and steering gear system 23.Solar panels 9 pass through electric wire
Connect batteries 15.Motor 19 drives linear module 14 to work, and control system 11 controls the opening and closing of magnetic valve 21, servo
The driving double-direction gearpump 22 of motor 23 works, when magnetic valve 21 is opened, and the fluid in interior leather bag 25 enters oil path distributor 20,
So as to enter two outer leather bags 16 through left and right oil pipe 17,18,connected between two outer leather bags 16 further through connection oil pipe 13. Control
System 11 processed also can control the controller in steering gear system 2, and driving steering gear electric-machine work drives rudder blade rotation.
During web aerofoil profile wave energy underwater gliding measuring table work of the present invention, with two kinds of fortune of surface navigation and vertical gliding
Dynamic model formula.Automatic charging is realized by the solar electric power supply system of solar panels 9, the composition of batteries 15, to supplement its electricity
The consumption of energy；When measuring table is in surface navigation, wave energy can be converted by the underwater gliding body equipped with the rubber web wing 26
For the driving force of its advance；When measuring table vertically glides, double-direction gearpump 22, magnetic valve 21, inside and outside leather bag can be passed through
25th, 16 and the buoyancy regulating system of oil pipe composition carry out buoyancy adjustment, realize its snorkeling function；Pass through linear module simultaneously
14th, attitude in its water of the attitude regulation system call interception of the composition of motor 19, and then itself and current are formed into certain angle of attack, is obtained
Obtain its driving force advanced；Its direction of motion is realized by the steering gear system 2 and GPS and iridium communication module 1 of afterbody respectively
The function such as control and data communication.It is specific as follows：
First, the electricity of batteries 15 is checked, the power consumption basic condition information of measuring table is obtained, works as battery
When 15 power consumptions of group are less than the 60% of total electric flux, the charge switch of the control solar panels 9 of control system 12 is opened, to electric power storage
Pond group 15 is charged.Realized and communicated with measuring table by GPS and iridium communication module 1 by work station on the bank, work as battery
15 electric energy of group are abundant, it is possible to perform surface navigation or dive task.
When measuring table needs to charge or during surface navigation, as shown in Fig. 1, Fig. 3, Fig. 6, on the bank work station by GPS and
Iridium communication module 1 sends instruction to control system 11, and control system 11 opens battery valve 21 and control to watch after instruction is received
Motor 23 is taken, drives double-direction gearpump 22 to work by servomotor 23, now, the fluid inside interior leather bag 25 passes through two-way gear
Respectively enterd after pump 22, battery valve 21 in the outer leather bag 16 in left side and the outer leather bag 16 on right side so that the body of two outer leather bags 16
Product becomes big, and so whole measuring table buoyancy becomes big, and whole platform will float on the water surface；Meanwhile, controlled by control system 11
Module motor 19 in form regulation system, is worked with linear module 14 by module motor 19, makes batteries
15 move forward and backward, by adjusting batteries 15 inside the measuring table before and after position, to change the center of gravity of measuring table
Reach the purpose for adjusting its attitude in water.Rested in when under driving of the batteries 15 in linear module 14 in linear module 14
The a certain position in portion so that the solar panels 9 on attitude almost horizontal of the measuring table in water, such upper shell 3 will be in water
Under the sunlight in face, measuring table is charged.
When measuring table electric energy is abundant, it is possible to perform dive task, when it performs dive task, work on the bank first
Stand and send instruction, the control servomotor 23 of control system 11, servo electricity to control system 11 by GPS and iridium communication module 1
The driving double-direction gearpump 22 of machine 23 works and opens battery valve 21, and now, the fluid in the outer leather bag 16 on left side and right side passes through
Double-direction gearpump 22, battery valve 21 enter in interior leather bag 25 so that the volume of measuring table diminishes, and so whole measuring table is floated
Power diminishes, and when its buoyancy is less than its gravity, whole measuring table will dive；Meanwhile, the control module of control system 11 drives
Dynamic motor 19 works, by attitude in the water of the movable adjustment measuring table of batteries 15.When 15 groups of battery is linear
Moved forward under the driving of module 14, because the change of center of gravity causes attitude head of the measuring table in water downwards, afterbody is upward, this
The speed of sample measuring table motion and it itself will form certain angle of attack, current are from bottom shock measurement platform obliquely
Bottom, measuring table in water by water to its lift and drag effect, the two cooperatively forms a driving force forward.
When measuring table dive to certain depth, certain time interval is set with reference to the depth of water, after to certain time, by servo electricity
The driving double-direction gearpump 22 of machine 23 works, and the fluid in interior leather bag 25 is respectively enterd by double-direction gearpump 22, battery valve 21
Outside left side and right side in leather bag 16 so that measuring table volume becomes big, so whole measuring table buoyancy becomes big, until its buoyancy
During more than its gravity, whole measuring table will float；Meanwhile, linear module 14, batteries 15 are adjusted, it is flat to adjust measurement
Platform attitude in water, battery 15 is rear under the driving of linear module 14 to be moved, because the change of its center of gravity make it that measuring table exists
Attitude head in water is upward, tail down；The speed of so measuring table motion is similarly formed certain angle of attack with itself,
Current are from the top of top shock measurement platform obliquely, and measuring table is in water by water to its lift and drag effect, two
Person cooperatively forms a driving force forward.
When measuring table is needed in surface navigation, it is adjusted first and is floated to charged state, i.e. buoyancy regulating system
Power is transferred to maximum, and attitude regulation system is substantially at horizontality.The meeting under the excitation of wave of the floating body of measuring table
Shake up and down, when the crest of wave comes interim, connector 6 is by underwater gliding body pull-up, on the rubber web wing 26 of underwater gliding body
Surface is bent downwardly by the effect of current, and such current will form certain attack with the upper surface of the rubber web wing 26
Angle, the hydrodynamic lift and the collective effect of resistance that the rubber web wing 26 is subject to can produce a driving force forward, pull measurement flat
Platform advances；When wave trough comes interim, whole measuring table falls under self gravitation effect, the rubber web wing of underwater gliding body
26 lower surfaces are bent upwards in the effect of current, and such current will form certain with the lower surface of the rubber web wing 26
The angle of attack, the hydrodynamic lift and the collective effect of resistance that the rubber web wing 26 is subject to can produce a driving force forward, pull measurement
Platform advances；So, no matter crest or trough, underwater gliding body can produce a driving force forward, reach wave energy
The purpose for converting and utilizing.In addition, different from wave aerodone, measuring table pitch movements can also produce the driving force of advance,
Plane wave transformation of energy efficiency can so be increased.
Claims (7)
1. a kind of web aerofoil profile wave energy underwater gliding measuring table, including a housing, the housing is by the upper shell that is tightly connected
（3）And lower house（4）Composition, in lower house（4）The front and back of underface respectively connect a vertical connector（6）, connector
（6）Lower end connects the left plate of anterior-posterior horizontal arrangement jointly（7）And right plate（28）, it is characterized in that：Upper shell（3）On upper surface
Equipped with solar panels（9）, solar panels（9）Batteries of the connection positioned at enclosure interior（15）；Afterbody outside housing, which is fixed, to be connected
Connect steering gear system（2）, steering gear system（2）Afterbody is fixedly connected GPS and iridium communication module（1）；Lower house（4）Outside left and right
Both sides respectively set outer leather bag of the inside filled with fluid（16）；Enclosure interior is provided with interior leather bag（25）, double-direction gearpump（22）, watch
Take motor（23）, control system（11）, linear module（14）And motor（19）；Servomotor（23）Drive double-direction gearpump
（22）Work, an internal interior leather bag filled with fluid（25）Through interior leather bag oil pipe（24）Connect double-direction gearpump（22）One end,
Double-direction gearpump（22）The other end is through magnetic valve（21）Connect oil path distributor（20）One end, oil path distributor（20）The other end point
Do not pass through left oil pipe（17）With right wing oil pipe（18）One outer leather bag of each connection homonymy（16）, two outer leather bags（16）By even
Oil pipe（13）Connection；In lower house（4）Middle position sets linear module（14）, linear module（14）Connect motor
（19）, linear module（14）Lower section is fixedly connected batteries（15）, drive batteries（15）It is movable；Left plate（7）
And right plate（28）The web wing axle of vertical connection left and right horizontal arrangement（8）, in web wing axle（8）Left and right section of upper each connection one
The individual rubber web wing（26）, the rubber web wing（26）Bend up or down under wave action；GPS and the iridium communication module
（1）Realize and communicate with work station on the bank, control system（11）Solar panels are connected respectively（9）, motor（19）, magnetic valve
（21）, servomotor（23）And steering gear system（2）；The steering gear system（2）Including steering engine controller, steering gear electric-machine and rudder blade,
Steering gear system（2）Shell built with steering engine controller and steering gear electric-machine, steering gear system（2）Housing exterior be equipped with rudder blade, rudder
Machine controller connects steering gear electric-machine and controls steering gear electric-machine to rotate, and steering gear electric-machine connection rudder blade simultaneously drives rudder blade to rotate；In left side
Plate（7）And right plate（28）Front-end and back-end difference it is each arrangement three web wing axles（8）, three web wing axles（8）It is front and rear equidistantly,
It is arranged parallel to, in each web wing axle（8）One rubber web wing of left and right section of upper each connection（26）, each web wing axle（8）On
Two rubber web wings（26）Center relative to housing is symmetrical.
2. a kind of web aerofoil profile wave energy underwater gliding measuring table according to claim 1, it is characterized in that：Lower house（4）Outside
Portion is each side provided with one outer leather bag of placement in a die cavity, a die cavity（16）, through hole, outer leather bag are provided with die cavity
（16）There is contact with outside body of water.
3. 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）Place
In lower house（4）Forward position, control system（11）Rear positions in housing.
4. a kind of web aerofoil profile wave energy underwater gliding measuring table according to claim 1, it is characterized in that：Linear module（14）
Front and back end respectively with lower house（4）Connected by bearing, linear module（14）The side dress motor of front end（19）, linearly
Module（14）Front end connection motor（19）.
5. a kind of measuring method of web aerofoil profile wave energy underwater gliding measuring table as claimed in claim 1, it is characterized in that：Including
Surface navigation and vertically two kinds of mode of operations of gliding,
During surface navigation, work station passes through GPS and iridium communication module on the bank（1）To control system（11）Send instruction, control
System（11）Open battery valve（21）And control servomotor（23）Drive double-direction gearpump（22）Work, interior leather bag（25）It is internal
Fluid respectively enter the outer leather bag of arranged on left and right sides（16）It is interior so that outer leather bag（16）Volume become big, buoyancy becomes big, entirely
Measuring table floats on the water surface；While control system（11）Control motor（19）With linear module（14）Work, makes storage
Battery pack（15）It is movable, change the center of gravity of measuring table, adjust its attitude in water；
During vertical gliding, work station passes through GPS and iridium communication module on the bank（1）To control system（11）Send instruction, control
System（11）Open magnetic valve（21）And control servomotor（23）Drive double-direction gearpump（22）Outside work, arranged on left and right sides
Leather bag（16）In fluid enter interior leather bag（25）In, the volume of measuring table diminishes, and buoyancy diminishes, measuring table dive；Together
When control system（11）Control motor（19）With linear module（14）Work, makes batteries（15）It is movable, change
Become the center of gravity of measuring table, adjust its attitude in water.
6. the measuring method of web aerofoil profile wave energy underwater gliding measuring table according to claim 5, it is characterized in that：The water surface navigates
During row, when the crest of wave carrys out interim, the rubber web wing（26）Upper surface is bent downwardly by the effect of current, current and rubber web
The wing（26）Upper surface form certain angle of attack, the rubber web wing（26）Produce a driving force forward；When the trough of wave comes
Temporarily, the rubber web wing（26）Lower surface is bent upwards in the effect of current, current and the rubber web wing（26）Lower surface formation one
The fixed angle of attack, the rubber web wing（26）Produce driving force forward.
7. the measuring method of web aerofoil profile wave energy underwater gliding measuring table according to claim 5, it is characterized in that：Battery
Group（15）When electric energy is less than the 60% of gross energy, control system（12）Control solar panels（9）To batteries（15）Filled
Electricity, batteries（15）Electric energy be higher than gross energy 60% when just can surface navigation or dive.
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| CN107792322A (en) * | 2017-10-24 | 2018-03-13 | 深圳乐智机器人有限公司 | Magnetic coupling bionic coatings device and underwater robot |
| 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 |
| CN116625633B (en) * | 2023-07-26 | 2023-10-13 | 青岛海舟科技有限公司 | Wave power conversion efficiency testing device of sailing type wave glider |
| CN117902025B (en) * | 2024-03-20 | 2024-05-31 | 中国海洋大学 | Wave double-drive glider |
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