CN105905251A - Stealth single-hull small waterline area hydrofoil unmanned ship and sailing method - Google Patents
Stealth single-hull small waterline area hydrofoil unmanned ship and sailing method Download PDFInfo
- Publication number
- CN105905251A CN105905251A CN201610385414.XA CN201610385414A CN105905251A CN 105905251 A CN105905251 A CN 105905251A CN 201610385414 A CN201610385414 A CN 201610385414A CN 105905251 A CN105905251 A CN 105905251A
- Authority
- CN
- China
- Prior art keywords
- hydrofoil
- hull
- nacelle
- submerged body
- tail vane
- 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
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B1/00—Hydrodynamic or hydrostatic features of hulls or of hydrofoils
- B63B1/16—Hydrodynamic or hydrostatic features of hulls or of hydrofoils deriving additional lift from hydrodynamic forces
- B63B1/24—Hydrodynamic or hydrostatic features of hulls or of hydrofoils deriving additional lift from hydrodynamic forces of hydrofoil type
- B63B1/28—Hydrodynamic or hydrostatic features of hulls or of hydrofoils deriving additional lift from hydrodynamic forces of hydrofoil type with movable hydrofoils
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/14—Control of attitude or depth
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
- B63B2035/006—Unmanned surface vessels, e.g. remotely controlled
Abstract
The invention discloses a stealth single-hull small waterline area hydrofoil unmanned ship sailing on water and a sailing method. The upper portion of the stealth single-hull small waterline area hydrofoil unmanned ship is provided with a control cabin, the middle portion comprises posts, and the lower portion is a submerged body. The front section of the submerged body is a submerged body bow, the middle section of the submerged body is a submerged body middle part, and the rear section of the submerged body is a submerged body stern. Two water ballast spaces, two power supply cell boxes and a hydrofoil control mechanism are arranged inside the submerged body middle part of a hull. The two water ballast spaces are symmetrically arranged front and back; the two power supply cell boxes symmetrical front and back are arranged between the two water ballast spaces; and the hydrofoil control mechanism is arranged in the center of the space between the two power supply cell boxes. A pair of hydrofoils is symmetrically arranged on the left side and the right side outside the submerged body middle part of the hull. A main motor, a coupler, a main shaft and a tail vane control mechanism are arranged inside the submerged body stern of the hull. A pair of tail vanes is symmetrically arranged on the left side and the right side outside the submerged body stern of the hull. The stealth single-hull small waterline area hydrofoil unmanned ship has excellent seakeeping, speedability and resistance properties, and can achieve the three navigational statuses of body navigation, winging operation and submerge navigation.
Description
Technical field
The present invention relates to a kind of unmanned boat navigated by water on the water, unmanned boat can civil and military, civilian aspect includes marine environment exploration, sea situation record, hydrographic information, fishery survey etc.；Military aspect includes information gathering, monitors investigation, clearance, precision strike etc..
Background technology
Unmanned boat uses modularized design mostly, difference according to task, multiple different module can be used, the fight ship for civil use such as naval vessel or scientific investigation can be followed sail execution task, and can in deathtrap, sensitizing range or be not suitable for sending the independent execution in the region task on people naval vessel, expand marine scope on duty.
Monomer small waterline plane ship is to be combined with a kind of hybrid ship type produced by buoyancy and dynamic lift, uses a hull, arranges balance hydrofoil before and after hull, to improve the transverse stability of boats and ships；The main buoyancy aid of hull is immersed in the water, and the holding of its Water Plane is little and very thin, can obtain less wave making resistance and avoid high frictional resistance.
nullExisting small-waterplane-area unmanned boat mostly is unmanned surface vehicle or half latent unmanned boat，If Chinese Patent Application No. is 201210468309.4、The latent compound unmanned surface vehicle of entitled small-waterplane-area half，This unmanned boat installs aware platform on top，Aware platform is installed various monitoring device，Its defect is: equipment is exposed in air or water，It is vulnerable to the impact of stormy waves stream，Hidden protection and camouflage measure is not had during aware platform lifting，Easy exposure position during unmanned boat execution task，And，Its operational configuration is the most single，Generally partially surfaced condition or surface navigation，Can not freely carry out the multimode navigation of underwater surface，Can not completely escape in the case of high sea situation and stormy waves stream suddenly change and water saves hull from damage，In preferably sea situation region can not amplitude peak ground lifting hull to reduce drinking water.
Summary of the invention
The present invention is directed to the deficiency of above-mentioned existing unmanned boat, hydrofoil unmanned boat and the sailing method of this unmanned boat of a kind of stealthy monomer small-waterplane-area are provided, monomer small waterline plane ship is combined with hydrofoil, can either work at the water surface, it also is able to enter underwater operation, have many boat states and can stealthy feature, make up the defect that the boat state of existing unmanned boat under water and unmanned surface vehicle is single, have preferable resistance performance, rapidity and sea-keeping.
The hydrofoil unmanned boat of a kind of stealthy monomer small-waterplane-area of the present invention the technical scheme is that upper part is control cabinet, mid portion is pillar, lower part is diving body, control cabinet bottom centre is fixing connects pillar upper end, lower rod end is fixing connects diving body, the leading portion of diving body is submerged body bow, interlude is in the middle part of submerged body, back segment is submerged body stern, it is that bow controls cabin inside the hull of submerged body bow, two ballast tanks it are provided with inside hull in the middle part of submerged body, two supplying cell casees and a hydrofoil controlling organization, it is arranged symmetrically with before and after two ballast tanks, supplying cell case symmetrical before and after arranging two between two ballast tanks, centre position between two supplying cell casees is hydrofoil controlling organization；The arranged on left and right sides outside hull in the middle part of submerged body is symmetrical arranged a pair hydrofoil, and hydrofoil is controlled to rotate by hydrofoil controlling organization；Being provided with mair motor, shaft coupling, main shaft and tail vane controlling organization inside the hull of submerged body stern, the rear end tails of submerged body stern is screw, and rotor shaft is connected with mair motor by shaft coupling；Tail vane controlling organization is located at the rear of mair motor, and the arranged on left and right sides outside the hull of submerged body stern is symmetrical arranged a pair tail vane, and tail vane is controlled to rotate by tail vane controlling organization；Control cabinet indoor are provided with controller, and controller controls ballast tank, hydrofoil controlling organization and tail vane controlling organization respectively by control line and works.
The sailing method of the hydrofoil unmanned boat of a kind of stealthy monomer small-waterplane-area of the present invention employed technical scheme comprise that and comprises the following steps,
A, two ballast tank zero loads of control, enter body boat state, and controller controls the work of hydrofoil controlling organization, makes hydrofoil be maintained at horizontal level；
B, when entering into foil-borne from body boat state, controller controls hydrofoil and controls motor work, and hydrofoil turns clockwise, and forward adjusts the angle of hydrofoil, and hydrofoil produces lift upwards, and Water Plane, near pillar, enters foil-borne；
C, when from body boat state enter submariner state time, controller control two ballast tanks draw water simultaneously, simultaneously control hydrofoil controlling organization work, hydrofoil rotates counterclockwise, and reversely to the angle of adjustment hydrofoil, hydrofoil produces downward lift, it is fully submerged under water, enters submariner state.
The present invention has the beneficial effect that after using technique scheme
1, the hydrofoil ship type of monomer small-waterplane-area is applied on unmanned boat by the present invention so that unmanned boat has excellent sea-keeping, rapidity and the resistance performance of monomer hydrofoil samll-waterplane-area ship；It is capable of body boat, wing boat and three kinds of operational configurations of submariner simultaneously, under body boat state, the drinking water of this unmanned boat is bigger, above water is minimum, the very thin control cabinet in front and rear part has preferable wave making resistance performance, under foil-borne, this unmanned boat waterline is near pillar, wave making resistance performance is more excellent, has more preferable rapidity, under submariner state, this unmanned boat is fully submerged under water by ballast tank, hidden functional, produce positive negative lift also by hydrofoil simultaneously, adjust unmanned boat submerged depth.
2, the hydrofoil unmanned boat of a kind of stealthy monomer small-waterplane-area of the present invention, the middle front part at hull is mounted with hydrofoil, can improve the stability of hull；Possesses the multiple operational configuration that other conventional unmanned boats do not possess, adjust boat state neatly and can preferably complete each task, ship is when normal/cruise, and noise and the special shape of control cabinet that bigger drinking water, electric propulsion are less all make this ship have preferable stealth capabilities.
3, the hydrofoil unmanned boat of a kind of stealthy monomer small-waterplane-area of the present invention maintains the advantage that small waterline plane ship waterline is very thin, wave making resistance is little, its single hull structure reduces the wetted surface area of about 50% than double hull structure simultaneously, thus reduce frictional resistance, and single hull structure radius of gyration during navigation is less, and hull is more flexible.
Accompanying drawing explanation
Fig. 1 is the structural front view of the hydrofoil unmanned boat of a kind of stealthy monomer small-waterplane-area of the present invention；
Fig. 2 is the structure top view of diving body 3 in Fig. 1；
Fig. 3 is the perspective view of hydrofoil controlling organization 324 in Fig. 1 and Fig. 2；
Fig. 4 is the perspective view of tail vane controlling organization 334 in Fig. 1 and Fig. 2；
In figure: 1. control cabinet；11. hermetically sealed control cabinets；Nacelle on 12.；13. times nacelle；14. The Cloud Terraces；15. Beidou antennas；16. communication antennas；
2. pillar；21. flanges；
3. diving body；
31. submerged body bows；311. bow control cabinets；312 sonar units；
In the middle part of 32. submerged bodies；321. ballast tank；322. tops consolidate truss；323. battery flat；324. hydrofoil controlling organizations；325. rail brackets；
33. submerged body sterns；331. mair motor cabins；332. shaft coupling；333 rotor shaft；334 tail vane controlling organizations；
41. hydrofoil motors；42. motor support bases；43. worm screws；44. slide blocks；45. feed screw nuts；46. shaft stools；47. connecting rods；48. crank connecting shafts；49. cranks；410. hydrofoil wing axles；411. hydrofoil；
51. tail vane motors；52. motor support bases；53 feed screw nuts；54. slide blocks；55. shaft stools；56. worm screws；57. connecting rods；58. crank connecting shafts；59. cranks；510. tail vane rudderposts；511. tail vane；
The most horizontal fixed-wing；
7. screw.
Detailed description of the invention
See Fig. 1 and Fig. 2, the upper part of the hydrofoil unmanned boat of a kind of stealthy monomer small-waterplane-area of the present invention be control cabinet 1, mid portion be pillar 2, lower part is diving body 3.Control cabinet 1 and diving body 3 are horizontally disposed, and pillar 2 is arranged vertically.Connecting pillar 2 upper end by a flange 21 is fixing at control cabinet 1 bottom centre, pillar 2 lower end, by another flange 21 fixing connection diving body 3, is fixed by underwater electrical connector and screw and nut during connection, is installed waterproof washer in junction.The center of gravity of control cabinet 1, pillar 2 and diving body 3 is on same vertical line.
The lower section of control cabinet 1 is lower nacelle 13, and the top of lower nacelle 13 is docked with upper nacelle 12 sealed bottom, forms a cabin sealed.Fixedly mounting hermetically sealed control cabinet 11 in the middle of the cabin interior of this sealing, the position of centre of gravity of hermetically sealed control cabinet 11 is at control cabinet 1 bottom centre position.Can be according to demand at hermetically sealed control cabinet 11 internally installed various control equipment and operational module, the most each equipment and the output line cable of operational module, power cable etc. of controlling is connected with the external world by underwater electrical connector.The upper-lower height of lower nacelle 13 is greater than the upper-lower height of nacelle 12, and the outer surface of upper nacelle 12 and lower nacelle 13 is the arc surface with certain angle of inclination, upper nacelle 12 is inclined upwardly, lower nacelle 13 is downward-sloping, seals the largest outside diameter of the outer surface of joint in upper nacelle 12 and lower nacelle 13.The angle of inclination of the outer surface of upper nacelle 12 is less than the angle of inclination of the outer surface of lower nacelle 13.So, control cabinet 1 is enable effectively to reduce frictional resistance when navigation.
The profile of upper nacelle 12 and lower nacelle 13 can also be designed to asymmetric polyhedron, and the Outside Dimensions sealing joint in upper nacelle 12 and lower nacelle 13 is maximum, and upper nacelle 12 is inclined upwardly, and its angle of inclination is 35 °～40 °, and optimized angle takes 36 °.Lower nacelle 13 is downward-sloping, and its angle of inclination is 50 °～55 °, and optimized angle takes 52 °.The overall length of asymmetric polyhedral upper nacelle 12: beam overall: highly=3.39:1:0.49, the overall length of lower nacelle 13: beam overall: highly=3.39:1:0.81.Can show that control cabinet 1 has more preferable wave making resistance performance when navigating by water in water by Calculation of Hydrodynamic Software Numerical Simulation, be conducive to reducing upper body structure radar area, reduce redundant space according to internal control system yardstick simultaneously, thus reduce overall volume, being conducive to reducing overall goals size, function stealthy to unmanned boat is favourable.
At the The Cloud Terrace installed above 14 outside control cabinet 1, Beidou antenna 15 and communication antenna 16, the lower end of The Cloud Terrace 14, Beidou antenna 15 and communication antenna 16 is all fixedly connected in nacelle 12.The Cloud Terrace 14 is used for detecting sea situation around, Beidou antenna 15 and communication antenna 16 and is used for accepting signal and launching signal.Upper nacelle 12 internally installed millimetre-wave radar device 17 at control cabinet 1.
The horizontal cross-section of pillar 2 is oval, and oval major axis is direction before and after hull, and short axle is the left and right directions of hull.Preferably can also select airfoil as one, concrete aerofoil profile selects NACA0010, in the range of the upper-lower height of pillar 2 is the body of diving body 3 is wide 1/2～3/4, specifically can determine according to mission requirements when designing the height of pillar 2.
The leading portion of diving body 3 is that submerged body bow 31, interlude are, back segment is submerged body stern 33 in the middle part of submerged body 32.Being provided with internal thread at submerged body bow 31 and submerged body stern 33, in the middle part of submerged body, 32 rear and front ends are provided with external screw thread, and three parts are connected by screw thread rotation.In the middle part of submerged body, 32 junctions being connected with submerged body bow 31, submerged body stern 33 respectively are provided with waterproof bulkhead, are connected with the underwater electrical connector of 32 in the middle part of submerged body respectively by underwater electrical connector.
Submerged body bow 31 is in semielliptical shape, and in the middle part of submerged body, 32 is cylinder design, and submerged body stern 33 is round table-like, and slim appearance, and the rear portion tail end diameter of submerged body stern 33 is gradually reduced, to reduce the impact that screw 7 is advanced by diving body 3.
The hull inner space of submerged body bow 31 is that bow controls cabin 311, and bow controls inside, cabin 311 can install task module according to demand.At submerged body bow 31, sonar unit 312 is installed foremost, in order to sound navigation and range finding.
It is provided with ballast tank 321, supplying cell case 323, rail brackets 325, hydrofoil controlling organization 324 and top in the middle part of submerged body inside the hull of 32 and consolidates truss 322.Wherein, ballast tank 321 has two, symmetrical front and back, lays respectively in the middle part of submerged body the forefront in 32 and aftermost position.Ballast tank 321 is by underwater electrical connector and external connection, and the surface of ballast tank 321 has air admission hole, underface to have osculum, be can be the most commercial matured product.Supplying cell case 323 symmetrical before and after arranging two between two ballast tanks 321, supplying cell case 323 is supported on rail brackets 325 by screw and nut, and rail brackets 325 is fixed on hull diapire.Connecting a top between the top of two supplying cell casees 323 and consolidate truss 322, top consolidates truss 322 and is fixedly welded on the roof of hull, top consolidate truss 322 and fixed further by two supplying cell casees 323.Rail brackets 325 and top consolidate the weight of truss 322 itself and also provide fixed ballast weight for unmanned boat.Centre position between two supplying cell casees 323 is hydrofoil controlling organization 324.Direct-flow storage battery is installed in supplying cell case 323, provides motion-promotion force for unmanned boat and drive each motor rotation.In the middle part of submerged body, the arranged on left and right sides outside the hull of 32 is symmetrical arranged a pair hydrofoil 411, and hydrofoil 411 is controlled to rotate by hydrofoil controlling organization 324.
Mair motor 331, shaft coupling 332, main shaft 333 and tail vane controlling organization 334 it is provided with inside the hull of submerged body stern 33.The tail end of submerged body stern 33 is screw 7, and whole unmanned boat is advanced by screw 7.Rotor shaft 333 is connected with mair motor 331 by shaft coupling 332.The operating that direct-flow storage battery in supplying cell case 323 is mair motor 331 provides electric power.Tail vane controlling organization 334 is arranged on the rear of mair motor 331, is arranged side by side with shaft coupling about 332.Arranged on left and right sides outside the hull of submerged body stern 33 is symmetrical arranged a pair tail vane 511 and horizontal fixed-wing 6, and tail vane 511 is controlled to rotate by tail vane controlling organization 334.Size shape and the upper and lower installation site of horizontal fixed-wing 6 are identical with tail vane 511, and horizontal fixed-wing 6 is connected with hull by welding manner.
The structure of hydrofoil controlling organization 324 shown in Figure 3, hydrofoil controlling organization 324 includes that hydrofoil controls motor 41, motor support base 42, worm screw 43, screw slider 44, slide block connection ring 45, bearing block 46, connecting rod 47, crank connecting shaft 48, crank 49 and hydrofoil wing axle 410.Hydrofoil controls motor 41 and is arranged on motor support base 42, and motor support base 42 is fixed on the bottom of hull.Hydrofoil controls output shaft coaxially connected worm screw 43 front end of motor 41, and the rear end of worm screw 43 connects ring 45 by slide block and connects screw slider 44 front end, and the rear end of screw slider 44 is arranged on bearing block 46 by bearing, and bearing block 46 is fixed on the bottom of hull.It is provided above a connecting rod 47 at screw slider 44, connecting rod 47 one end connects screw slider 44, the centre of connecting rod 47 other end pivot bush unit crank connecting shaft 48, crank connecting shaft 48 left and right horizontal is arranged, the each crank 49 that is connected in the two ends, left and right of crank connecting shaft 48, crank about 49 is arranged, the upper end of crank 49 is connected crank connecting shaft 48, the hydrofoil wing axle 410 of piece left and right horizontal in lower end of crank 49 connects hydrofoil 411, hydrofoil 411 is fixing with hydrofoil wing axle 410 one end to be connected, and hydrofoil wing axle 410 other end is fixed together with crank 49.
In the middle part of submerged body, the left and right sides in the hull centre position of 32 has the screwed hole of two levels of symmetry, left and right two hydrofoil wing axle 410 inside of 32 in the middle part of submerged body are protruding, connect after the screwed hole of the level being each passed through correspondence and be positioned at the hydrofoil 411 outside hull, hydrofoil wing axle 410 is provided with waterproof washer in junction together with being threaded connection with hull.
Hydrofoil 411 section selects NACA0010 aerofoil profile, and hull length and lift coefficient according to unmanned boat, to be calculated the projected area of hydrofoil 411, finally give each scale parameter of hydrofoil 411.
Hydrofoil controls motor 41 is provided electric power by the direct-flow storage battery in supplying cell case 323, hydrofoil controls motor 41 and rotates, worm screw 43 is driven to rotate, the rotational band of worm screw 43 moves before and after moving screw slider 44, fixed by crank 49, before and after screw slider 44, the mobile upper end then making connecting rod 47 drives crank connecting shaft 48 to move, thus crank connecting shaft 48 drives hydrofoil wing axle 410 to rotate through crank 49, it is achieved that the rotation of hydrofoil 411.
Outside hull two hydrofoils 411 be symmetrically installed in the hull left and right sides, the angular pivotal range of hydrofoil 411 is-15 °～15 °.The buoyancy difference caused according to unmanned boat drinking water change, adjusts the angle of hydrofoil 411, produces power up or down.The work rotating through control motor 41 of hydrofoil 411 once completes, and after hydrofoil 411 stops operating, the auto-lock function carried by worm screw 43 realizes the locking of hydrofoil 411.
The structure of tail vane controlling organization 334 shown in Figure 4, tail vane controlling organization 334 includes that tail vane controls motor 51, motor support base 52, connecting rod 57, feed screw nut 53, slide block 54, bearing block 55, worm screw 56, crank connecting shaft 58, crank 59 and tail vane rudderpost 510.Wherein, tail vane controls motor 51 and is fixed on motor support base 52, and tail vane controls the electric power of motor 51 is provided electric power by the direct-flow storage battery in supplying cell case 323, and motor support base 52 is fixedly connected on bottom hull.
Tail vane controls output shaft coaxially connected worm screw 56 front end of motor 51, and worm screw 56 rear end is supported on bearing block 55 through bearing, and bearing block 55 is fixedly connected on bottom hull.Worm screw 56 coordinates and is mounted with feed screw nut 53, feed screw nut 53 fixes connection sliding block 54 one end, slide block 54 other end is socketed the centre of crank connecting shaft 58 through connecting rod 57, crank connecting shaft 58 left and right horizontal is arranged, the two ends of crank connecting shaft 58 are respectively through a crank 59 one tail vane rudderpost 510 of fixing connection.Tail vane rudderpost 510 be each passed through on hull correspondence level screwed hole after connect be positioned at the tail vane 511 hull outside, outside hull two tail vanes 511 be symmetrically installed in the hull left and right sides, tail vane 511 by tail vane controlling organization 334 control realization rotation and self-locking.
The operation principle of tail vane controlling organization 334 is identical with the operation principle of hydrofoil controlling organization 324, tail vane controls motor 51 and rotates, in turn drive worm screw 56, feed screw nut 53, slide block 54, connecting rod 57, crank connecting shaft 58, crank 59 action, make tail vane rudderpost 510 rotate thus drive tail vane 511 to rotate.The rotational angle range of tail vane 511 is-25 °～25 °.The position of tail vane 511 is to try one's best the most rearward, to improve the efficiency of tail vane 511 on the premise of not affecting mounting process and screw 7.
Being provided with controller in controlling cabin 1, controller connects ballast tank 321, hydrofoil controlling organization 324 and tail vane controlling organization 334 respectively by control line, controller control its work.
Can be to realize three kinds of navigation modes during the present invention a kind of stealthy monomer small-waterplane-area hydrofoil unmanned boat work: be body boat regimes, foil-borne navigation and submariner regimes respectively.Specifically:
Under unmanned boat after water, control two ballast tanks 321 the most unloaded, enter body boat state.Under this state, unmanned boat has bigger drinking water, and Water Plane is positioned at lower nacelle 13.After unmanned boat starts, the hydrofoil control motor 41 controlled in the control hydrofoil controlling organization 324 of the controller in cabin 1 works, and makes hydrofoil 411 be maintained at horizontal level, and unmanned boat is advanced by screw 7, and above water is the least, has good disguise good.
When unmanned boat needs to be entered into foil-borne by body boat state, the controller controlled in cabin 1 sends signal to hydrofoil controlling organization 324, and hydrofoil controls motor 41 and works, and hydrofoil 411 turns clockwise, forward adjusts the angle of hydrofoil 411, hydrofoil 411 produces lift upwards, and the lift that hydrofoil 411 produces counteracts the buoyancy of lower nacelle 13, and the angle that hydrofoil 411 rotates is the biggest, the lift produced is the biggest, hull lifting, drinking water reduces, and unmanned boat enters foil-borne.Now Water Plane is near the pillar 2 of hull, has less Water Plane, favourable wave making resistance, has good rapidity.
When unmanned boat needs to enter submariner state from body boat state, control the control of the controller in cabin 1 two ballast tanks 321 within hull to draw water simultaneously, open steam vent and the osculum of two ballast tanks 321, start to intake in ballast tank 321, increase the deadweight of unmanned boat, unmanned boat starts to sink, until after unmanned boat arrives desired depth, closing osculum.Meanwhile, the controller controlled in cabin 1 sends signal to hydrofoil controlling organization 324, and hydrofoil controls motor 41 and works, and controls hydrofoil 411 and rotates counterclockwise, and reversely to the angle of adjustment hydrofoil 411, hydrofoil 411 produces downward lift, makes unmanned boat dive.When unmanned boat is fully submerged under water, i.e. enter submariner state.Unmanned boat without free surface, will not be affected by wave making resistance under submariner state, and only by frictional resistance and viscous pressure resistance etc., resistance performance is good, and now unmanned boat submerges in water completely, has good disguise.Under water, unmanned boat can rotate hydrofoil 411 by hydrofoil controlling organization 324 and produce lift upwardly or downwardly, by the size of lift to change unmanned boat submerged depth.Unmanned boat can also control the change of self gravitation and buoyancy by the number of the pump drainage water yield of ballast tank 321, to change its submerged depth.
Claims (9)
- null1. the hydrofoil unmanned boat of a stealthy monomer small-waterplane-area，Upper part is control cabinet (1)、Mid portion is pillar (2)，Lower part is diving body (3)，Control cabinet (1) bottom centre is fixing connects pillar (2) upper end，Pillar (2) lower end is fixing connects diving body (3)，It is characterized in that: the leading portion of diving body (3) is submerged body bow (31)、Interlude is (32) in the middle part of submerged body、Back segment is submerged body stern (33)，It is that bow controls cabin 311 inside the hull of submerged body bow (31)，Two ballast tanks 321 it are provided with inside the hull of 32 in the middle part of submerged body、Two supplying cell casees (323) and a hydrofoil controlling organization (324)，It is arranged symmetrically with before and after two ballast tanks (321)，Supplying cell case (323) symmetrical before and after arranging two between two ballast tanks (321)，Centre position between two supplying cell casees (323) is hydrofoil controlling organization (324)；In the middle part of submerged body, the arranged on left and right sides outside the hull of (32) is symmetrical arranged a pair hydrofoil (411), and hydrofoil (411) is controlled to rotate by hydrofoil controlling organization (324)；Mair motor (331), shaft coupling (332), main shaft (333) and tail vane controlling organization (334) it is provided with inside the hull of submerged body stern (33), the rear end tails of submerged body stern (33) is screw (7), rotor shaft (333) is connected with mair motor (331) by shaft coupling (332), and tail vane controlling organization (334) is located at the rear of mair motor (331)；Arranged on left and right sides outside the hull of submerged body stern (33) is symmetrical arranged a pair tail vane (511), and tail vane (511) is controlled to rotate by tail vane controlling organization (334)；Being provided with controller in controlling cabin (1), controller controls ballast tank (321), hydrofoil controlling organization (324) and tail vane controlling organization (334) respectively by control line and works.
- The hydrofoil unmanned boat of a kind of stealthy monomer small-waterplane-area, is characterized in that: hydrofoil controlling organization (324) includes that hydrofoil controls motor (41), worm screw (43), screw slider (44), slide block connection ring (45), connecting rod (47), crank connecting shaft (48), crank (49) and hydrofoil wing axle (410)；Hydrofoil controls motor (41) output shaft coaxially connected worm screw (43) front end, worm screw (43) rear end connects ring (45) by slide block and connects screw slider (44) front end, it is provided above a connecting rod (47) at screw slider (44), connecting rod (47) one end connects screw slider (44), the centre of connecting rod (47) other end pivot bush unit crank connecting shaft (48), crank connecting shaft (48) left and right horizontal is arranged and each crank (49) upper end that is connected, two ends, left and right, crank (49) lower end connects hydrofoil (411) through hydrofoil wing axle (410) of left and right horizontal, hydrofoil wing axle (410) is each passed through on hull the horizontal threaded bore of correspondence.
- The hydrofoil unmanned boat of a kind of stealthy monomer small-waterplane-area, is characterized in that: tail vane controlling organization (334) includes that tail vane controls motor (51), connecting rod (57), feed screw nut (53), slide block (54), worm screw (56), crank connecting shaft (58), crank (59) and tail vane rudderpost (510)；Tail vane controls motor (51) output shaft coaxially connected worm screw (56) front end, the upper cooperation of worm screw (56) is provided with feed screw nut (53), feed screw nut (53) fixes connection sliding block (54) one end, slide block (54) other end is through the centre of connecting rod (57) socket crank connecting shaft (58), crank connecting shaft (58) left and right horizontal is arranged and two ends are respectively through a crank (59) one tail vane rudderpost (510) of fixing connection, and tail vane rudderpost (510) connects tail vane (511) after being each passed through on hull corresponding horizontal threaded bore.
- The hydrofoil unmanned boat of a kind of stealthy monomer small-waterplane-area, is characterized in that: the angular pivotal range of hydrofoil (411) is-15 °～15 °, and the angular pivotal range of tail vane (511) is-25 °～25 °.
- A kind of hydrofoil unmanned boat of stealthy monomer small-waterplane-area, it is characterized in that: the lower section of control cabinet (1) is lower nacelle (13), the top of lower nacelle (13) is docked with upper nacelle (12) sealed bottom, the upper-lower height of lower nacelle (13) is more than the upper-lower height of upper nacelle (12), the outer surface of upper nacelle (12) and lower nacelle (13) is the arc surface with angle of inclination, the largest outside diameter of the outer surface of joint is sealed in upper nacelle (12) and lower nacelle (13), the angle of inclination of the outer surface of upper nacelle (12) is less than the angle of inclination of the outer surface of lower nacelle (13).
- A kind of hydrofoil unmanned boat of stealthy monomer small-waterplane-area, it is characterized in that: the profile of upper nacelle (12) and lower nacelle (13) is asymmetric polyhedron, the Outside Dimensions sealing joint in upper nacelle (12) and lower nacelle (13) is maximum, the angle of inclination of upper nacelle (12) is 35 °～40 °, the angle of inclination of lower nacelle (13) is 50 °～55 °, the overall length of upper nacelle (12): beam overall: highly=3.39:1:0.49 The overall length of lower nacelle (13): beam overall: highly=3.39:1:0.81.
- A kind of hydrofoil unmanned boat of stealthy monomer small-waterplane-area, it is characterized in that: what control cabinet (1) was outside is arranged over The Cloud Terrace (14), Beidou antenna (15) and communication antenna (16), the upper nacelle (12) of connection is all fixed in the lower end of The Cloud Terrace (14), Beidou antenna (15) and communication antenna (16)；Upper nacelle (12) at control cabinet (1) is provided with millimetre-wave radar device (17).
- 8. a sailing method for the hydrofoil unmanned boat of stealthy monomer small-waterplane-area as claimed in claim 1, is characterized in that comprising the following steps,A, two ballast tanks (321) zero loads of control, enter body boat state, and controller controls hydrofoil controlling organization (324) and works, makes hydrofoil (411) be maintained at horizontal level；B, when from body boat state enter into foil-borne time, controller control hydrofoil control motor (41) work, hydrofoil (411) turns clockwise, forward adjusts the angle of hydrofoil (411), hydrofoil (411) produces lift upwards, and Water Plane, near pillar (2), enters foil-borne；C, when from body boat state enter submariner state time, controller controls two ballast tanks (321) and draws water simultaneously, control hydrofoil controlling organization (324) work simultaneously, hydrofoil (411) rotates counterclockwise, reversely to the angle adjusting hydrofoil (411), hydrofoil (411) produces downward lift, is fully submerged under water, enters submariner state.
- Sailing method the most according to claim 8, is characterized in that: in step C, produces lift size up or down change submerged depth by controlling hydrofoil (411), by control the pump drainage water yield of ballast tank (321) number change submerged depth.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610385414.XA CN105905251A (en) | 2016-06-03 | 2016-06-03 | Stealth single-hull small waterline area hydrofoil unmanned ship and sailing method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610385414.XA CN105905251A (en) | 2016-06-03 | 2016-06-03 | Stealth single-hull small waterline area hydrofoil unmanned ship and sailing method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105905251A true CN105905251A (en) | 2016-08-31 |
Family
ID=56743149
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610385414.XA Pending CN105905251A (en) | 2016-06-03 | 2016-06-03 | Stealth single-hull small waterline area hydrofoil unmanned ship and sailing method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105905251A (en) |
Cited By (22)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106352858A (en) * | 2016-11-21 | 2017-01-25 | 中国科学院大气物理研究所 | Atmospheric sea observation platform, system and method |
| CN106428421A (en) * | 2016-09-19 | 2017-02-22 | 哈尔滨工程大学 | Multi-navigation-state in-water aircraft |
| CN106628076A (en) * | 2016-10-20 | 2017-05-10 | 中国船舶科学研究中心（中国船舶重工集团公司第七0二研究所） | Revolving-ring underwater glider |
| CN107010169A (en) * | 2017-05-14 | 2017-08-04 | 上海海洋大学 | A kind of semi-submersible type binary unmanned boat |
| CN107351971A (en) * | 2017-06-27 | 2017-11-17 | 贺健元 | Submarine drag reduction tip cap, triangle water knockout drum |
| CN107745786A (en) * | 2017-11-16 | 2018-03-02 | 广州航海学院 | It is a kind of towards the micro-unmanned ship electricity pushing-type steering gear system of the underwater topography measurement of islands and reefs |
| CN108238225A (en) * | 2018-02-07 | 2018-07-03 | 上海海洋大学 | A kind of semi-submersible type unmanned boat |
| CN108382526A (en) * | 2018-03-27 | 2018-08-10 | 华南理工大学 | A kind of band torpedo submerged body multiple renewable energy sources driving binary unmanned boat |
| CN108408010A (en) * | 2018-03-26 | 2018-08-17 | 中国海洋大学 | A kind of underwater glider wing and its control and working method |
| CN108622350A (en) * | 2018-05-10 | 2018-10-09 | 中船黄埔文冲船舶有限公司 | Single submerged body unmanned vehicles |
| CN108674615A (en) * | 2018-05-10 | 2018-10-19 | 中船黄埔文冲船舶有限公司 | Double submerged body unmanned vehicles |
| CN108725114A (en) * | 2018-07-20 | 2018-11-02 | 中船重工（海南）飞船发展有限公司 | A kind of submerged body deployable and collapsible small-waterplane-area amphibious craft |
| WO2019000855A1 (en) * | 2017-04-14 | 2019-01-03 | 江苏科技大学 | Integrated control system of semi-submersible small unmanned surface vehicle |
| CN109703691A (en) * | 2018-12-26 | 2019-05-03 | 哈尔滨工程大学 | It is a kind of that nobody wears unrestrained aircraft |
| CN109795610A (en) * | 2019-01-08 | 2019-05-24 | 宁波靖海智航科技有限公司 | A kind of Water wing type water life-saving equipment |
| CN110027689A (en) * | 2019-04-19 | 2019-07-19 | 盐城骏拔汽车零部件有限公司 | Based on Gravity changer semi-submersible type cruise unmanned boat and method partly latent |
| CN111114724A (en) * | 2019-12-25 | 2020-05-08 | 中国船舶重工集团有限公司第七一0研究所 | Small semi-submersible navigation body |
| CN113247222A (en) * | 2021-06-21 | 2021-08-13 | 江苏科技大学 | Investigation and beating integrated underwater unmanned underwater vehicle |
| CN113401275A (en) * | 2021-07-30 | 2021-09-17 | 四川摩比斯新能源水翼船有限责任公司 | Method and device for stepless control of hydrofoil inclination angle |
| CN113581361A (en) * | 2021-08-18 | 2021-11-02 | 中国船舶科学研究中心 | Pressure-resistant composite structure for long-term operation in deep sea and manufacturing method thereof |
| CN114620211A (en) * | 2022-01-21 | 2022-06-14 | 北京航天发射技术研究所 | Bionic unmanned underwater vehicle with enhanced stability and application |
| US20230009310A1 (en) * | 2021-07-06 | 2023-01-12 | Terry Lee Hagen | Steerable hydrofoil watercraft |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5373800A (en) * | 1989-12-01 | 1994-12-20 | Steinberg; Amiram | Sea vessel |
| CN102407981A (en) * | 2011-07-22 | 2012-04-11 | 贵州山水物流有限公司 | Container |
| CN102923262A (en) * | 2012-11-20 | 2013-02-13 | 江苏科技大学 | Small water plane and semi-submersible composite unmanned surface vehicle |
| CN103640444A (en) * | 2013-12-18 | 2014-03-19 | 江苏科技大学 | Amphibious unmanned surface boat provided with double bodies on inclined sides |
| CN103661818A (en) * | 2013-12-20 | 2014-03-26 | 王化明 | Unmanned intelligent surveying vessel |
| CN205632940U (en) * | 2016-06-03 | 2016-10-12 | 江苏科技大学 | Unmanned ship of hydrofoil of little water plane of stealthy monomer |
-
2016
- 2016-06-03 CN CN201610385414.XA patent/CN105905251A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5373800A (en) * | 1989-12-01 | 1994-12-20 | Steinberg; Amiram | Sea vessel |
| CN102407981A (en) * | 2011-07-22 | 2012-04-11 | 贵州山水物流有限公司 | Container |
| CN102923262A (en) * | 2012-11-20 | 2013-02-13 | 江苏科技大学 | Small water plane and semi-submersible composite unmanned surface vehicle |
| CN103640444A (en) * | 2013-12-18 | 2014-03-19 | 江苏科技大学 | Amphibious unmanned surface boat provided with double bodies on inclined sides |
| CN103661818A (en) * | 2013-12-20 | 2014-03-26 | 王化明 | Unmanned intelligent surveying vessel |
| CN205632940U (en) * | 2016-06-03 | 2016-10-12 | 江苏科技大学 | Unmanned ship of hydrofoil of little water plane of stealthy monomer |
Non-Patent Citations (1)
| Title |
|---|
| 步林鑫: "单体小水线面无人艇总体设计及水动力分析", 《中国优秀硕士论文全文数据库》 * |
Cited By (31)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106428421A (en) * | 2016-09-19 | 2017-02-22 | 哈尔滨工程大学 | Multi-navigation-state in-water aircraft |
| CN106428421B (en) * | 2016-09-19 | 2019-06-14 | 哈尔滨工程大学 | The more boat states of one kind navigate by water device |
| CN106628076A (en) * | 2016-10-20 | 2017-05-10 | 中国船舶科学研究中心（中国船舶重工集团公司第七0二研究所） | Revolving-ring underwater glider |
| CN106352858A (en) * | 2016-11-21 | 2017-01-25 | 中国科学院大气物理研究所 | Atmospheric sea observation platform, system and method |
| WO2019000855A1 (en) * | 2017-04-14 | 2019-01-03 | 江苏科技大学 | Integrated control system of semi-submersible small unmanned surface vehicle |
| CN107010169A (en) * | 2017-05-14 | 2017-08-04 | 上海海洋大学 | A kind of semi-submersible type binary unmanned boat |
| CN107351971A (en) * | 2017-06-27 | 2017-11-17 | 贺健元 | Submarine drag reduction tip cap, triangle water knockout drum |
| CN107745786A (en) * | 2017-11-16 | 2018-03-02 | 广州航海学院 | It is a kind of towards the micro-unmanned ship electricity pushing-type steering gear system of the underwater topography measurement of islands and reefs |
| CN108238225A (en) * | 2018-02-07 | 2018-07-03 | 上海海洋大学 | A kind of semi-submersible type unmanned boat |
| CN108238225B (en) * | 2018-02-07 | 2023-10-10 | 上海海洋大学 | Semi-submersible unmanned ship |
| CN108408010A (en) * | 2018-03-26 | 2018-08-17 | 中国海洋大学 | A kind of underwater glider wing and its control and working method |
| CN108408010B (en) * | 2018-03-26 | 2023-08-15 | 中国海洋大学 | Underwater glider wing and control and working method thereof |
| CN108382526A (en) * | 2018-03-27 | 2018-08-10 | 华南理工大学 | A kind of band torpedo submerged body multiple renewable energy sources driving binary unmanned boat |
| CN108622350A (en) * | 2018-05-10 | 2018-10-09 | 中船黄埔文冲船舶有限公司 | Single submerged body unmanned vehicles |
| CN108674615A (en) * | 2018-05-10 | 2018-10-19 | 中船黄埔文冲船舶有限公司 | Double submerged body unmanned vehicles |
| CN108725114A (en) * | 2018-07-20 | 2018-11-02 | 中船重工（海南）飞船发展有限公司 | A kind of submerged body deployable and collapsible small-waterplane-area amphibious craft |
| CN109703691A (en) * | 2018-12-26 | 2019-05-03 | 哈尔滨工程大学 | It is a kind of that nobody wears unrestrained aircraft |
| CN109795610A (en) * | 2019-01-08 | 2019-05-24 | 宁波靖海智航科技有限公司 | A kind of Water wing type water life-saving equipment |
| CN109795610B (en) * | 2019-01-08 | 2020-11-20 | 宁波靖海智航科技有限公司 | Hydrofoil type water rescue equipment |
| CN110027689A (en) * | 2019-04-19 | 2019-07-19 | 盐城骏拔汽车零部件有限公司 | Based on Gravity changer semi-submersible type cruise unmanned boat and method partly latent |
| CN111114724A (en) * | 2019-12-25 | 2020-05-08 | 中国船舶重工集团有限公司第七一0研究所 | Small semi-submersible navigation body |
| CN111114724B (en) * | 2019-12-25 | 2021-09-24 | 中国船舶重工集团有限公司第七一0研究所 | Small semi-submersible navigation body |
| CN113247222B (en) * | 2021-06-21 | 2022-04-26 | 江苏科技大学 | Investigation and beating integrated underwater unmanned underwater vehicle |
| CN113247222A (en) * | 2021-06-21 | 2021-08-13 | 江苏科技大学 | Investigation and beating integrated underwater unmanned underwater vehicle |
| US20230009310A1 (en) * | 2021-07-06 | 2023-01-12 | Terry Lee Hagen | Steerable hydrofoil watercraft |
| US11731741B2 (en) * | 2021-07-06 | 2023-08-22 | Terry Lee Hagen | Steerable hydrofoil watercraft |
| CN113401275A (en) * | 2021-07-30 | 2021-09-17 | 四川摩比斯新能源水翼船有限责任公司 | Method and device for stepless control of hydrofoil inclination angle |
| CN113581361A (en) * | 2021-08-18 | 2021-11-02 | 中国船舶科学研究中心 | Pressure-resistant composite structure for long-term operation in deep sea and manufacturing method thereof |
| CN113581361B (en) * | 2021-08-18 | 2022-05-27 | 中国船舶科学研究中心 | Pressure-resistant composite structure for long-term operation in deep sea and manufacturing method thereof |
| CN114620211A (en) * | 2022-01-21 | 2022-06-14 | 北京航天发射技术研究所 | Bionic unmanned underwater vehicle with enhanced stability and application |
| CN114620211B (en) * | 2022-01-21 | 2024-03-08 | 北京航天发射技术研究所 | Stability-enhanced bionic unmanned submarine and application thereof |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105905251A (en) | Stealth single-hull small waterline area hydrofoil unmanned ship and sailing method | |
| CN109703705B (en) | Semi-submersible unmanned platform | |
| CN207510668U (en) | A kind of solar energy unmanned boat of closed hull space long-distance remote control seawater sampling | |
| JP5139571B2 (en) | Ship vibration reduction and levitation equipment | |
| CN107878670B (en) | Solar energy double-body unmanned ship for remote seawater sampling of small-radius box-type connecting bridge | |
| CN111661234B (en) | Underwater variable-structure multi-state aircraft | |
| CN107215429B (en) | A kind of nobody half submarine of novel small-waterplane-area monomer | |
| CN105836079B (en) | Triangular-section power increases latent ballast-free partly latent and transports ship | |
| CN205632940U (en) | Unmanned ship of hydrofoil of little water plane of stealthy monomer | |
| WO2021248268A1 (en) | Variable-configuration, dual-navigation-state, long-voyage unmanned marine vehicle driven by natural environment fluid | |
| CN109649590A (en) | A kind of wave energy and solar energy composite generate electricity four body unmanned boats | |
| CN106428421B (en) | The more boat states of one kind navigate by water device | |
| CN108016573B (en) | Remote control seawater sampling solar unmanned ship with steerable wing-shaped stable side body | |
| CN208007217U (en) | A kind of three body unmanned boat of solar energy of long-distance remote control seawater sampling | |
| CN207510644U (en) | A kind of solar energy binary unmanned boat of long-distance remote control seawater sampling | |
| CN102935874A (en) | Double submerged body small water plane composite water surface unmanned surface vehicle | |
| CN113320655B (en) | Buoyancy tank at bottom of semi-submersible platform and design method thereof | |
| CN116872661B (en) | Ocean aircraft | |
| CN114435044A (en) | Variable cross-medium aircraft | |
| US20120132124A1 (en) | SPAR Based Maritime Access Vehicle | |
| CN111762306A (en) | Hybrid-drive underwater glider with ring wings | |
| CN108891550B (en) | Anti-rolling mechanism and double-floating-body semi-submersible ship using same | |
| CN205801452U (en) | A kind of offshore platform supply vessel | |
| CN214165267U (en) | Novel unmanned navigation ware can dive | |
| CN1376616A (en) | Submersible ship with super mobility |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20160831 |