CN108639283B - A kind of air-drop type underwater glider based on water erosion separation spademan - Google Patents
A kind of air-drop type underwater glider based on water erosion separation spademan Download PDFInfo
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- CN108639283B CN108639283B CN201810525682.6A CN201810525682A CN108639283B CN 108639283 B CN108639283 B CN 108639283B CN 201810525682 A CN201810525682 A CN 201810525682A CN 108639283 B CN108639283 B CN 108639283B
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- hang gliding
- shell
- water
- elastic component
- gliding
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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
-
- 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
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Earth Drilling (AREA)
Abstract
The invention discloses a kind of air-drop type underwater gliders based on water erosion separation spademan, including shell, signal device and setting are in the intracorporal buoyancy regulating device of shell, roll attitude regulating mechanism, pitch attitude regulating device and control device, it further include hang gliding extending apparatus, the hang gliding extending apparatus includes hang gliding, first elastic component, water-soluble fibre part and the retaining mechanism locked for the hang gliding to unfolded state, one end of the hang gliding is immobilized in the shell by shaft, the other end is fixed on hull outside by water-soluble fibre part, first elastic component is set between hang gliding and shell and hang gliding can be unfolded by elastic force.Present invention reduces the water-entry impulsive force of wing, the air-drop that is more suitable is applied, and wing is in collapsed state before air-drop, it takes up space smaller, aircraft of being more convenient for carries, and timeliness is stronger, the spademan mechanism is without providing additional power device simultaneously, and mechanism is simple, and feasibility is strong.
Description
Technical field
The present invention relates to a kind of underwater gliders, and in particular to a kind of air-drop type underwater gliding based on water erosion separation spademan
Machine.
Background technique
Underwater glider is a kind of novel hydrospace detection equipment, with realizing low energy consumption by net buoyancy and centroid adjustment
Gliding has the features such as high-efficient, cruising ability is strong, detection time is long, leads in scientific research of seas and military combat etc.
Domain is widely used demand.Existing underwater glider is generally laid by lash ship carrying, however, lash ship is arrived to finger
It is longer the time required to the domain of Dinghai, its application in emergency case is constrained, such as the black box search of wrecked aircraft, accidentally nature
Phenomenon detection etc..Therefore, the timeliness that underwater glider is laid is improved, arrives at single or multiple underwater gliders quickly specified
Sea area, it will expand application of the underwater glider in the emergency event of ocean, improve country in timely, the long-term detection in far-reaching sea
Ability.
It is laid compared to boat-carrying, it is stronger to carry out the timeliness that air-drop is laid by aircraft carrying underwater glider.It is existing
Underwater glider generally has biggish stretching, extension wing.Aerodone from when entering in water in the air under water, because stretching, extension wing is met
Flow area is larger, will bear biggish hydrodynamic impact, it is easy to damage in entering water slap；Moreover, stretching machine flyer lead causes
Underwater glider is taken up too much space, and the difficulty that aircraft carries arrangement is also increased.
Summary of the invention
The it is proposed of the present invention in view of the above problems, and a kind of air-drop type based on water erosion separation spademan of researching and designing is slided under water
Xiang machine.The technological means that the present invention uses is as follows:
A kind of air-drop type underwater glider based on water erosion separation spademan, including shell, signal device and setting are in shell
Intracorporal buoyancy regulating device, roll attitude regulating mechanism, pitch attitude regulating device and control device further include that hang gliding is stretched
Extending apparatus, the hang gliding extending apparatus include hang gliding, the first elastic component, water-soluble fibre part and for unfolded state
One end of the retaining mechanism that hang gliding is locked, the hang gliding is immobilized in the shell by shaft, and the other end passes through water-soluble
Property filamentary member be fixed on hull outside, first elastic component is set between hang gliding and shell and can will be glided by elastic force
The span is opened.
Further, the hang gliding is equipped with the arcuate structure around shaft, and the arcuate structure is equipped with card slot, institute
Stating retaining mechanism includes cylinder, locking pin and the second elastic component, and locking pin can slide axially in cylinder, and the locking pin is set
It is placed between the second elastic component and arcuate structure, when hang gliding is unfolded, locking pin part under the elastic force effect of the second elastic component
It is inserted into card slot, locks hang gliding.
Further, first elastic component is spring, and one end of first elastic component is immobilized in the shell, hang gliding
Front, the other end is fixed on the outside at the edge of hang gliding, shaft.
Further, the water-soluble fibre part sticks in the inward flange for tip extension of gliding on the outer wall of shell.
Compared with the prior art, the air-drop type underwater glider of the present invention based on water erosion separation spademan has following
Advantage:
1, the water-entry impulsive force for reducing wing, the air-drop that is more suitable are applied；
2, compared to the underwater glider with stretching, extension wing, present invention wing before air-drop is in collapsed state, shared
Space is smaller, aircraft carrying of being more convenient for；
3, it is arranged by air-drop mode, lays method compared to boat-carrying, be more suitable remote emergency task, timeliness
Property is stronger.
4, spademan mechanism is without providing additional power device, and mechanism is simple, and feasibility is strong.
Detailed description of the invention
Fig. 1 is the external structure schematic diagram of the embodiment of the present invention.
Fig. 2 is the external structure side view of the embodiment of the present invention.
Fig. 3 is the schematic diagram of internal structure (hang gliding unfolded state) of the embodiment of the present invention.
Fig. 4 is the schematic diagram of internal structure (hang gliding collapsed state) of the embodiment of the present invention.
Fig. 5 is the structural schematic diagram of retaining mechanism described in the embodiment of the present invention.
Specific embodiment
As shown in Figures 1 to 5, a kind of air-drop type underwater glider based on water erosion separation spademan, including shell 1, signal
Device 2 and the buoyancy regulating device 3 being arranged in shell 1, roll attitude regulating mechanism 4, pitch attitude regulating device 5 and control
Device 6 processed further includes hang gliding extending apparatus 7, and the hang gliding extending apparatus 7 includes hang gliding 71, the first elastic component 72, water
Soluble fiber part 73 and the retaining mechanism 74 locked for the hang gliding 71 to unfolded state are deployed into solid in hang gliding 71
After determining angle, play the role of locking, one end of the hang gliding 71 is fixed in shell 1 by shaft 75, the shaft 75 with
Deep groove ball bearing is equipped between hang gliding 71, under no restraint condition, hang gliding 71 75 can be freely rotated around the shaft.The other end is logical
It crosses water-soluble fibre part 73 to be fixed on outside shell 1, first elastic component 72 is set between hang gliding 71 and shell 1 and energy
Hang gliding 71 is unfolded by elastic force.
The hang gliding 71 is equipped with the arcuate structure 78 around shaft 75, and the arcuate structure is equipped with card slot 77, institute
Stating retaining mechanism 74 includes cylinder 741, locking pin 742 and the second elastic component 743, and locking pin 742 can be axial in cylinder 741
Sliding, the locking pin 742 are set between the second elastic component 743 and arcuate structure 78, when hang gliding 71 is unfolded, locking pin
742 the second elastic component 743 elastic force effect under partial insertion card slot 77, lock hang gliding 71.First elastic component 72 is
Spring, one end of first elastic component 72 is fixed in shell 1, the front of hang gliding 71, and the other end is fixed on hang gliding 71
Edge, shaft 75 outside.
When hang gliding 71 is in collapsed state, the first elastic component 72 is stretched deformation, and the water-soluble fibre part 73 will
The inward flange of 71 end of hang gliding sticks on the outer wall of shell 1, and the second elastic component 743 is compressed at this time.Water-soluble fibre part
73 enter water after dissolve, release to the fixed constraint of hang gliding 71, the pulling force effect that 72 deformation retract of the first elastic component generates is in cunning
The edge of a wing of the Xiang wing generates the rotating torque about shaft 75, hang gliding 71 is made to rotate, and realizes the stretching, extension of hang gliding 71.?
In 71 stretching process of hang gliding, locking pin 742 under compression act in an unreasonable way with respect to sliding by rain arcuate structure 78, when hang gliding 71 is opened up
After reaching fixed angle, 742 partial insertion card slot 77 of locking pin, aerofoil locking, then underwater glider starts normal/cruise.
In the present embodiment, buoyancy adjustment cabin 11 and hang gliding control cabinet 12, the buoyancy adjustment cabin are equipped in the shell 1
11 and hang gliding control cabinet 12 be non-tight structure, the buoyancy adjustment cabin 11 is equipped with water inlet 111, and seawater can pass through
Water inlet 111 enters buoyancy adjustment cabin 11, and the hang gliding 71 is fixed in hang gliding control cabinet 12 and is stretched out by shaft 78
Outside hang gliding control cabinet 12.The signal device 2 includes signal lever 21 and telecommunication system 22, and the tail portion of the shell 1 is pre-
String holes is stayed, for signal lever 21 to be fixedly mounted, the telecommunication system 22 is mounted on the tail portion of signal lever 21.
The buoyancy regulating device 3 is mounted on body leading portion, including outer oil sac 31, motor 32, shaft coupling 33, two-way gear
Pump 34, internal oil cylinder 35 and electromagnet cut off valve 36, outer oil sac 31 is arranged in buoyancy adjustment cabin 11, with contact with sea water, outer oil sac
31 volumes increase or reduce so that entire aerodone drain volume increases or reduces, and then adjusts to buoyancy suffered by aerodone
Section.Motor 32, double-direction gearpump 34, internal oil cylinder 35 are located in the first sealed compartment 13, motor 32 pass through shaft coupling 33 with it is two-way
The input shaft of gear pump 34 is reliably connected, and double-direction gearpump 34 is connect with outer oil sac 31 and internal oil cylinder 35 respectively by oil pipe,
The oil liquid of designated volume can be aspirated between outer oil sac 31 and internal oil cylinder 35 and be converted.Oil pipe passes through the first sealed compartment 13
The opening of first sealing partition 14 carries out watertight processing.The electromagnet cut off valve 36 of normally closed mode is used to prevent external seawater pressure will
Oil liquid in outer oil sac 31 is pressed back into internal oil cylinder 35, when motor 32 and the work of double-direction gearpump 34, at electromagnet cut off valve 36
In on-state.Hydraulic gage 61 is located in the control device 6 of shell middle and back, and test hydraulic pressure result can control by controller
The operating status of motor 32 and electromagnet cut off valve 36.
Roll attitude regulating mechanism 4 is fixedly mounted on leading portion in body, including the first stepper motor 41, the first deep-groove ball axis
Hold 42, roll axis 43, first shaft coupling 44, roll battery pack 45 etc..It is close that first stepper motor 41 by screw is fixed on second
Plate 15 is insulated, third seals partition 16 and installs the first deep groove ball bearing 42 in position corresponding with the first stepper motor 41.Roll
43 one end of axis is connected by first shaft coupling 44 with the axis of the first stepper motor 41, and the other end is by the first deep groove ball bearing 42
Support.Roll battery pack 45 is fixed on roll axis 43, solid around the rotation of aerodone main shaft under the driving of the first stepper motor 41
Fixed angle, so that aerodone is whole to generate fixed roll angle around main shaft.
Control device 6 is mounted on body sealing pressure hull posterior segment, including controller, storage card, GPS positioning mould
Block 62, hydraulic gage 61 etc..Controller can receive the data of each sensor and telecommunication, handle data, and according to
Processing result is issued to buoyancy regulating device, roll attitude regulating mechanism, hang gliding extending apparatus, pitch attitude regulating device etc.
Command signal, to control the working condition of aerodone.Storage card can be by the collected data of each observation instrument of aerodone and gliding
Machine navigation track data carries out storage record.GPS positioning module can both calibrate aerodone navigation side for positioning and navigating
To, and can be convenient the recycling of aerodone.Hydraulic gage 61 can feed back hydraulic pressure in sealing pressure hull, it is contemplated that the boat of aerodone
Speed is lower, and test hydraulic pressure result is substantially able to reflect keel depth, which can control buoyancy tune after controller is handled
Regulating device 3, roll attitude regulating mechanism 4, pitch attitude regulating device 5 operating status, and then adjust aerodone movement appearance
State.
Pitch attitude regulating device 5 is installed on body sealing pressure hull back segment, including second stepper motor 51, second is deeply
Ditch ball bearing 52, ball-screw 53, second shaft coupling 54, pitching battery pack 55 etc..Second stepper motor 51 is fixed by screw
Partition 17 is sealed in the 6th, the 7th mounting plate 18 installs the second deep groove ball bearing in position corresponding with second stepper motor 51
52,53 one end of ball-screw is connected by second shaft coupling 54 with the axis of second stepper motor 51, and the other end is by the second deep-groove ball
Bearing 52 supports.Pitching battery pack 55 is fixed together with mobile nut serves as attitude regulation weight, and ball-screw 53 drives
Attitude regulation weight axially moves along guide rail, adjusts distribution of the center of gravity in main shaft direction of entire aerodone system, realizes
The adjusting at aerodone pitch attitude angle.
Signal lever 21 is fixedly mounted on the ellipsoid tail portion of sealing pressure hull back segment, is protruded into water by reserved string holes,
Reserved line has done watertight processing.Telecommunication system 22 is mounted on 21 tail end of signal lever, and aerodone slave computer can pass through
Telecommunication system 22 sends information data to host computer and receives control instruction, and the data obtained result is by cable transmission to storage
Card and controller make further storage and processing.
Embodiment described above only describe the preferred embodiments of the invention, not to model of the invention
It encloses and is defined, without departing from the spirit of the design of the present invention, those of ordinary skill in the art are to technical side of the invention
The various changes and improvements that case is made should all be fallen into the protection scope that claims of the present invention determines.
Claims (4)
1. a kind of air-drop type underwater glider based on water erosion separation spademan, including shell, signal device and setting are in shell
Interior buoyancy regulating device, roll attitude regulating mechanism, pitch attitude regulating device and control device, it is characterised in that: also wrap
Include hang gliding extending apparatus, the hang gliding extending apparatus include hang gliding, the first elastic component, water-soluble fibre part and for pair
One end of the retaining mechanism that the hang gliding of unfolded state is locked, the hang gliding is immobilized in the shell by shaft, another
End is fixed on hull outside by water-soluble fibre part, and first elastic component is set between hang gliding and shell and can pass through
Hang gliding is unfolded elastic force.
2. the air-drop type underwater glider according to claim 1 based on water erosion separation spademan, it is characterised in that: the cunning
The Xiang wing is equipped with the arcuate structure around shaft, and the arcuate structure is equipped with card slot, and the retaining mechanism includes cylinder, locking
Pin and the second elastic component, and locking pin can slide axially in cylinder, the locking pin is set to the second elastic component and arc knot
Between structure, when hang gliding is unfolded, locking pin partial insertion card slot under the elastic force effect of the second elastic component locks hang gliding.
3. the air-drop type underwater glider according to claim 1 based on water erosion separation spademan, it is characterised in that: described the
One elastic component is spring, and one end of first elastic component is immobilized in the shell, the front of hang gliding, and the other end is fixed on gliding
The outside at the edge of the wing, shaft.
4. the air-drop type underwater glider as claimed in any of claims 1 to 3 based on water erosion separation spademan, special
Sign is: the water-soluble fibre part sticks in the inward flange for tip extension of gliding on the outer wall of shell.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810525682.6A CN108639283B (en) | 2018-05-28 | 2018-05-28 | A kind of air-drop type underwater glider based on water erosion separation spademan |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810525682.6A CN108639283B (en) | 2018-05-28 | 2018-05-28 | A kind of air-drop type underwater glider based on water erosion separation spademan |
Publications (2)
| Publication Number | Publication Date |
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| CN108639283A CN108639283A (en) | 2018-10-12 |
| CN108639283B true CN108639283B (en) | 2019-10-11 |
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| CN110040214B (en) * | 2019-04-30 | 2021-09-07 | 大连海事大学 | Wing capable of ensuring continuity of air-drop type underwater glider main body |
| CN110697010B (en) * | 2019-08-27 | 2021-09-24 | 中国人民解放军海军工程大学 | Multifunctional long-range deep submersible vehicle with extremely-low and ultrahigh navigational speed |
| CN110992765B (en) * | 2019-12-25 | 2022-08-05 | 深圳金信诺高新技术股份有限公司 | Air-drop self-propelled target simulator |
| CN110979602B (en) * | 2019-12-26 | 2024-10-01 | 广西科技大学 | Ship body of underwater vehicle, underwater vehicle and dynamic positioning and suspending method of underwater vehicle |
| CN114148490A (en) * | 2021-11-29 | 2022-03-08 | 海鹰企业集团有限责任公司 | Flexible wing towed body with foldable function |
| CN114852314A (en) * | 2022-05-20 | 2022-08-05 | 大连海事大学 | Air-drop underwater glider capable of reducing impact load of folding wings |
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| CN108639283A (en) | 2018-10-12 |
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