CN109250054A - One kind can be changed wing difunctional deep-sea unmanned submariner device and its working method - Google Patents
One kind can be changed wing difunctional deep-sea unmanned submariner device and its working method Download PDFInfo
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- CN109250054A CN109250054A CN201811404679.5A CN201811404679A CN109250054A CN 109250054 A CN109250054 A CN 109250054A CN 201811404679 A CN201811404679 A CN 201811404679A CN 109250054 A CN109250054 A CN 109250054A
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- submariner device
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- 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
- B63G8/08—Propulsion
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- 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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- 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
- B63G8/24—Automatic depth adjustment; Safety equipment for increasing buoyancy, e.g. detachable ballast, floating bodies
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
- Earth Drilling (AREA)
Abstract
The invention discloses one kind can be changed wing difunctional deep-sea unmanned submariner device and its working method, is related to submarine navigation device field, and can be changed wing difunctional deep-sea unmanned submariner device includes adjustable wing system, retractable propulsion system, distributed pressurized system；Retractable propulsion system includes the retractable propeller positioned at the tail portion of submariner device；Distributed pressurized system includes pressure-resistant battery flat, main pressure-resistant electronic compartment, hydrodynamic force lightweight shell, end to end surplus buoyancy device；Adjustable wing system includes the main wing and the spoke wing that front and back is distributed, and main wing and the spoke wing are axially symmetrical along body, and main wing is using the shrinkable shape mechanism design of high aspect ratio；The movable rudder of packet in the spoke wing.It solves the problems, such as direct route resistance and dynamic instability, submariner device is glided on a large scale and is merged with high speed direct route double mode.
Description
Technical field
The present invention relates to submarine navigation device field, especially one kind can be changed wing difunctional deep-sea unmanned submariner device and its work
Make method.
Background technique
Low-power consumption, long boat in current autonomous underwater vehicle technology, when underwater glider is because of the gliding of low speed specific to it
Journey advantage is suitably executed a wide range of marine environment detection and monitoring results for a long time, but its special driving method leads to it
Can only water body carry out the low speed of a ship or plane "the" shape gliding.
Typically it increases propeller to make underwater glider that can either carry out gliding and the energy of "the" shape
It enough moves along a straight line, but this mode can be to gliding in the propeller be equipped with when the gliding of "the" shape
Biggish resistance is generated to influence the distance of the speed of a ship or plane of gliding and gliding, when being moved along a straight line for gliding
Hang gliding, which can generate biggish resistance to linear motion, will appear unstability simultaneously, in addition, will lead to due to increasing propeller
The design of submariner device is more too fat to move, can not there is carrying of enough spaces for other detection sensors.
Summary of the invention
The present invention regarding to the issue above and technical need, propose one kind can be changed wing difunctional deep-sea unmanned submariner device and
Its working method.
Technical scheme is as follows:
In a first aspect, one kind can be changed wing difunctional deep-sea unmanned submariner device, comprising: adjustable wing system, retractable propulsion
System, distributed pressurized system；
The retractable propulsion system includes the retractable propeller positioned at the tail portion of submariner device；The retractable propeller
It is withdrawn in cabin when submariner device carries out gliding by retractable mechanism；
The distribution pressurized system includes pressure-resistant battery flat, main pressure-resistant electronic compartment, hydrodynamic force lightweight shell, end to end residue
Buoyant device；The main pressure-resistant electronic compartment and the pressure-resistant battery flat are laterally in one line in submariner device, the hydrodynamic force lightweight
Shell wraps up submariner device pressure-resistant cabin, and the section of the hydrodynamic force lightweight shell is using nearly oval airflow design；It is described to remain end to end
Remaining buoyant device is arranged in the head and tail portion of the main pressure-resistant electronic compartment；
The adjustable wing system includes the main wing and the spoke wing that front and back is distributed, and the main wing and the spoke wing are axially right along body
Claim distribution, the main wing is located at the middle part of submariner device, and the hydrodynamic force lightweight is fixed in the tail portion that the spoke wing is located at submariner device
On shell；The main wing is located at submariner device in cross-sectional direction using the shrinkable shape mechanism design of high aspect ratio, the main wing
It is more than axis；The movable rudder of packet in the spoke wing.
Its further technical solution are as follows: the main wing has two freedom degrees of rotation and linear movement；The main wing packet
It includes the first voltage-resistance motor, first shaft coupling, the first worm screw, the first worm gear, become the wing, the second voltage-resistance motor, second shaft coupling, second
Worm screw, the second worm gear, gear, rack gear；
First worm gear and the change wing are rigidly connected, and the first voltage-resistance motor rotation passes through first shaft coupling
Device drives the first worm screw rotation, to drive first worm gear to rotate, to drive the rotary motion for becoming the wing；
Second worm gear and the gear are rigidly connected, and the second voltage-resistance motor rotation passes through second shaft coupling
Device drives the second worm screw rotation, so that second worm gear is driven to rotate, to drive the gear to rotate, the gear rotation
It moves along a straight line on the rack gear after turning.
Its further technical solution are as follows: the retractable propulsion system includes retractable hydrodynamic force lightweight shell, promotes
Unit, shell open and close link mechanism, propeller pantograph linkage, watertight servo unit, guide bearing pedestal；When the propulsion
When in unit stretching or retraction cabin, the watertight servo unit rotation drives the propeller pantograph linkage to move, described
The other end of propeller pantograph linkage is connect by bearing with the propulsion unit, and the propulsion unit is in the guiding axis
It holds and is moved forward and backward under the guiding role of pedestal, one end of the shell folding link mechanism and the propulsion unit are connected by bearing
It connects, the other end connects the retractable hydrodynamic force lightweight shell and opened when the propulsion unit is moved forward and backward by the shell
Closing link mechanism drives pod to open or close.
Its further technical solution are as follows: the submariner device pressure-resistant cabin main body pressure-resistance structure is by carbon fiber winding at carbon fiber
Cylinder, in carbon fiber winding every preset space length be arranged metallic inner, carbon fiber barrel both ends be arranged metal end face, metalwork with
Carbon fiber barrel is attached using laciniation, and the both ends of the carbon fiber cylinder are sealed using arc end surface.
Second aspect, a kind of working method can be changed wing difunctional deep-sea unmanned submariner device are applied to first aspect institute
That states can be changed in wing difunctional deep-sea unmanned submariner device, and the working method includes:
Step 1, outside port is connected, the relevant motor pattern of submariner device, protection depth, guard time and correlation are set
Standby initialization is configured, and the submariner device set dispensing is lauched；
Step 2, main wing is unfolded in control submariner device, and the retractable propeller is withdrawn in cabin, starts latent job research
Mode controls the surplus buoyancy device oil return end to end, so that the submariner device dive；
Step 3, pass through the posture letter of submariner device described in attitude gyro and conductivity-temperature-depth system CTD real-time detection during dive
Breath and ambient parameter information change area of plane size in real time to compensate attitudes vibration caused by environmental factor；
Step 4, after reaching the first predetermined depth, the control surplus buoyancy device end to end is fuel-displaced, so that the submariner
Device rises, while changing area of plane size in real time and carrying out pose compensation；
Step 5, in step 4 and step 5 implementation procedure, the acoustic information of target is detected by hydrophone real-time monitoring,
Capture target acoustical signal；
Step 6, it after capturing target acoustical signal, controls the submariner device and floats, communication positioning is carried out, to bank station
Send the position coordinates in current goal sea area；
Step 7, it controls the submariner device to start accurately to sail through to detection mode, passes through the device oil return of surplus buoyancy end to end
So that the submariner device dive, after reaching the second predetermined depth, control the submariner device and withdraw main wing, retractable is pushed away described
It is released out of my cabin into device；
Step 8, it drives the submariner device to carry out power direct route using the retractable propeller, utilizes side scan sonar equipment
Target accurately detecting back and forth is carried out in target sea area；
Step 9, it after obtaining target image, controls the submariner device and emerges, send the target image to bank station.
The method have the benefit that:
By designing retractable propulsion system and adjustable wing system on submariner device, retractable propeller is carried out in submariner device
It is withdrawn in cabin when gliding by retractable mechanism, main wing is received using the shrinkable shape mechanism design of high aspect ratio by main wing
Contracting solves the problems, such as direct route resistance and dynamic instability, efficiency when solving gliding by becoming wing mobile technology, effectively
Submariner device is glided on a large scale with high speed direct route double mode merge.
Using can be changed wing and open-close type propeller technology, Shape Reconstruction can be carried out according to different personage's modes, low
Hang gliding is released when the gliding of fast "the" shape, propeller withdraws resistance when reducing gliding, the linear motion of the high speed of a ship or plane
When hang gliding withdraw, propeller release, high speed of a ship or plane ship resistance can be effectively reduced and improve navigation stability, have fast reserve
Ability, while being designed using distributed frame so that submariner device ontology has biggish volume to weight ratio.
Detailed description of the invention
Fig. 1 is the structure chart provided by one embodiment of the present invention that can be changed wing difunctional deep-sea unmanned submariner device.
Fig. 2 is the structural section figure provided by one embodiment of the present invention that can be changed wing difunctional deep-sea unmanned submariner device.
Fig. 3 is the main view of main wing provided by one embodiment of the present invention.
Fig. 4 is the side view of main wing provided by one embodiment of the present invention.
Fig. 5 is the schematic diagram of main wing rotation provided by one embodiment of the present invention.
Fig. 6 is the schematic diagram of main wing linear movement provided by one embodiment of the present invention.
Fig. 7 is the structural schematic diagram of retractable propulsion system provided by one embodiment of the present invention.
Fig. 8 is the schematic diagram of retractable propulsion system provided by one embodiment of the present invention.
Fig. 9 is the folding schematic diagram of retractable propulsion system provided by one embodiment of the present invention.
Figure 10 is the schematic diagram of submariner device pressure-resistant cabin provided by one embodiment of the present invention.
Figure 11 is a kind of work side that can be changed wing difunctional deep-sea unmanned submariner device provided by one embodiment of the present invention
The flow chart of method.
Figure 12 is a kind of work side that can be changed wing difunctional deep-sea unmanned submariner device provided by one embodiment of the present invention
The schematic diagram of method.
Specific embodiment
The following further describes the specific embodiments of the present invention with reference to the drawings.
Fig. 1 is the structure chart provided by one embodiment of the present invention that can be changed wing difunctional deep-sea unmanned submariner device, such as Fig. 1
Shown, it includes: adjustable wing system, retractable propulsion system, distributed pressure resistance that this, which can be changed wing difunctional deep-sea unmanned submariner device,
System.
Retractable propulsion system includes the retractable propeller 9 positioned at the tail portion of submariner device；Retractable propeller 9 is in submariner
Device withdrawn in cabin when gliding by retractable mechanism, to reduce resistance.Retractable propulsion system may include: that can open
Close tail portion water conservancy diversion cabin, the efficient watertight propulsion unit of big depth and folding mobile mechanism.Retractable tail portion water conservancy diversion cabin is installed on latent
It navigates device tail portion, is smoothly connected with submariner device hydrodynamic force shell using opening door rotating mechanism, it can be according to needing to open or close cabin
Door.The big efficient watertight propulsion unit of depth is made of big depth pressure resistance servo motor and high efficiency propeller blade, is submariner device
Direct route promotes source.Opening and closing mobile mechanism is the operating unit based on rack-and-pinion and multi link mobile mechanism, can be promoted
Unit is freely released or is taken in retractable tail portion water conservancy diversion cabin.
Distributed pressurized system belongs to the body portion of submariner device, in order to improve space utilization rate to solve function fusion and set
Meter bring bloatedness problem and the big depth pressure resistance performance for taking into account submariner device, are set using distributed pressure-resistance structure
Meter.Distributed pressurized system includes pressure-resistant battery flat, main pressure-resistant electronic compartment 5, hydrodynamic force lightweight shell 6, surplus buoyancy fills end to end
It sets.Illustratively, two pressure-resistant battery flats 3,4 are shown in figure, are located at the two sides of main pressure-resistant electronic compartment 5, are in addition shown
Surplus buoyancy device 7 positioned at head and the surplus buoyancy device 8 positioned at tail portion.Main pressure resistance electronic compartment 5 and resistance to piezoelectric battery
Cabin 3,4 using watertight be designed can direct pressure-bearing, be mainly used for install submariner device some requirements cannot be soaked electronics
Element and power battery etc..The use ABS material progress fabrication design of hydrodynamic force lightweight shell 6, intermediate permeable, not direct pressure-bearing,
Only it is used as streamlined reduction resistance.Three pressure-resistant cabins are wrapped in pressure-resistant cabin using lateral "-" type layout, hydrodynamic force lightweight shell 6
Outside.Optionally, submariner device pressure-resistant cabin is wrapped up using nearly oval airflow design in 6 section of hydrodynamic force lightweight shell.
Main pressure resistance electronic compartment 5 and pressure-resistant battery flat 3,4 are laterally in one line in submariner device, and hydrodynamic force lightweight shell 6 wraps up
Submariner device pressure-resistant cabin, the section of hydrodynamic force lightweight shell 6 is using nearly oval airflow design.
Surplus buoyancy device 7,8 is arranged in the head and tail portion of main pressure-resistant electronic compartment 5 end to end.Surplus buoyancy device is
Driving source of the submariner device when carrying out gliding, is arranged in electronic compartment, generallys use a surplus buoyancy device and carries out
Design, but will appear biggish Angle of Trim, the embodiment of the present invention when carrying out gliding when device is larger into oil drain quantity
It is middle respectively to arrange a surplus buoyancy device end to end in electronic compartment in such a way that head and the tail are laid out.
Adjustable wing system includes the main wing and the spoke wing that front and back is distributed, and illustratively, in Fig. 1 shows two main wings, respectively
For main wing 1 and main wing 2, two spoke wings 10 are also shown.Main wing 1,2 and the spoke wing 10 are axially symmetrical along body.
Main wing 1,2 is located at the middle part or middle and back of submariner device, and main wing 1,2 is designed using the shrinkable shape mechanism of high aspect ratio,
Main wing 1,2 can carry out the movement of two freedom degrees, be to move and longitudinal translational motion along the cross-direction shrinkage of body respectively, pass through
Cross-direction shrinkage movement can collapse into wing under submariner device high speed direct route mode to reduce the resistance of motion in submariner body, improve
Kinetic stability can longitudinally translate machine along body by longitudinal translational motion, can change the pitching of body in this way
Torque and change submariner device Angle of Trim, so as to adjust gliding efficiency of the body in gliding.In conjunction with reference Fig. 2, main wing 1,2
More than the axis that cross-sectional direction is located at submariner device, on pressure-resistant battery flat 3,4.
The tail portion that the spoke wing 10 is located at submariner device is fixed on hydrodynamic force lightweight shell 6；The spoke wing 10 designs cloth using rigid wings
It is placed in the tail portion of submariner device, the movable rudder of packet in the spoke wing 10；Stability of the submariner device in direct route motion process is mainly served for ensuring,
Guarantee that submariner device carries out depth-keeping navigation during direct route by the adjustment of movable rudder.
Optionally, main wing 1,2 has two freedom degrees of rotation and linear movement, and in conjunction with reference Fig. 3 and Fig. 4, main wing 1,2 is wrapped
It includes the first voltage-resistance motor 21, first shaft coupling 23, the first worm screw 24, the first worm gear 25, become the wing 22, the second voltage-resistance motor 30, the
Two shaft couplings 29, the second worm screw 28, the second worm gear 26, gear 27, rack gear 31.
First worm gear 25 is rigidly connected with the wing 22 is become, the rotation of the first voltage-resistance motor 21, drives the by first shaft coupling 23
One worm screw 24 rotation, to drive the rotation of the first worm gear 25, to drive the rotary motion for becoming the wing 22.As shown in figure 5, it illustrates
The diagram that deformable main wing 1,2 is rotated, under the driving of worm gear mechanism, main wing 1,2 is rotated.
Second worm gear 26 is rigidly connected with gear 27, the rotation of the second voltage-resistance motor 30, drives the by second shaft coupling 29
Two worm screws 28 rotation, so that driving the second worm gear 26 rotation, is rotated, gear 27 is enterprising in rack gear 31 after rotating with band moving gear 27
Row linear motion.As shown in fig. 6, it illustrates the diagrams that deformable main wing 1,2 is longitudinally moved forward and backward along body, in gear teeth
Under the driving of mechanism, the main wing 1,2 of submariner device carries out the movement of front and back according to preset task mode along rack gear.
Optionally, in conjunction with reference Fig. 7 and Fig. 8, retractable propulsion system includes retractable hydrodynamic force lightweight shell 16, promotes
Unit 19, shell open and close link mechanism 20, propeller pantograph linkage 18, watertight servo unit 17, guide bearing pedestal 15.
When in the stretching of propulsion unit 19 or retraction cabin, watertight servo unit 17 rotates, and driving propeller pantograph linkage 18 moves,
The other end of propeller pantograph linkage 18 is connect by bearing with propulsion unit 19, and propulsion unit 19 is in guide bearing pedestal
It is moved forward and backward under 15 guiding role, one end of shell folding link mechanism 20 is connect with propulsion unit 19 by bearing, another
End connects retractable hydrodynamic force lightweight shell 16, when propulsion unit 19 moves forward and backward, opens and closes 20 band of link mechanism by shell
Dynamic pod opens or closes, and when pod is opened, propeller can unobstructedly stretch out out of my cabin.Fig. 9 is schematically illustrated
The folding condition of retractable propulsion system, under the action of driving motor and link mechanism, propeller can be according to default mould
The needs of formula independently open and close.
Optionally, referring to Figure 10, submariner device pressure-resistant cabin main body pressure-resistance structure, at carbon fiber cylinder 13, is risen by carbon fiber winding
Main pressure resistance effect；In order to increase the compressive resistance of carbon fiber, improve the rigidity of structure, in carbon fiber winding on barrel every
Metallic inner 14 is arranged in preset space length, carries out effective support of barrel；In order to overcome carbon fiber barrel not can be carried out secondary drilling
Metal end face 12 is arranged in the drawback processed and can not be connected with other structures part, carbon fiber barrel both ends, to facilitate progress secondary
Drilling processing；In order to improve the intensity that carbon fiber is connect with metalwork, metalwork and carbon fiber barrel using laciniation into
The both ends of row connection, carbon fiber cylinder are sealed using arc end surface 11.In order to guarantee the pressure-resistant performance of battery, electronic compartment, drop
Its low weight guarantees the flexibility of assembly and disassembly, while the advantages of the high-intensitive light weight of utilization carbon fiber, being added using metalwork
The characteristic of work, by the way of carbon fiber and the dual winding processing of metal rib cage, the main pressure-resistant outer wall of pressure-resistant cabin is twined using carbon fiber
The support reinforcing type aluminium alloy rib cage inside production, carbon fiber, the both ends of pressure-resistant cabin are by carbon fiber winding in Al-alloy metal part
On, then relevant threaded hole of transferring on metalwork, it is attached with pressure-resistant end face.
The embodiment of the invention also provides a kind of working methods that can be changed wing difunctional deep-sea unmanned submariner device, are applied to
As shown in Figures 1 to 10 can be changed in wing difunctional deep-sea unmanned submariner device, and as shown in figure 11, which includes:
Step 1, outside port is connected, the relevant motor pattern of submariner device, protection depth, guard time and correlation are set
Standby initialization is configured, and the submariner device set dispensing is lauched.
Step 2, main wing is unfolded in control submariner device, and retractable propeller is withdrawn in cabin, starts latent job research mode,
Surplus buoyancy device oil return end to end is controlled, so that submariner device dive.
Step 3, during dive by the posture information of attitude gyro and conductivity-temperature-depth system CTD real-time detection submariner device and
Ambient parameter information changes area of plane size in real time to compensate attitudes vibration caused by environmental factor.
Posture information includes Angle of Trim, and ambient parameter information includes ambient ocean environment water temperature, conductivity etc..
Step 4, after reaching the first predetermined depth, surplus buoyancy device is fuel-displaced end to end for control, so that submariner device rises, together
When change in real time area of plane size carry out pose compensation.
Step 5, in step 4 and step 5 implementation procedure, the acoustic information of target is detected by hydrophone real-time monitoring,
Capture target acoustical signal.
Step 6, after capturing target acoustical signal, control submariner device floats, and carries out communication positioning, sends to bank station
The position coordinates in current goal sea area.
Optionally, communication positioning can be carried out by big-dipper satellite.
Step 7, control submariner device starts accurately to sail through to detection mode, makes submariner by surplus buoyancy device oil return end to end
Device dive, after reaching the second predetermined depth, control submariner device withdraws main wing, and retractable propeller is released out of my cabin.
Step 8, submariner device is driven to carry out power direct route using retractable propeller, using side scan sonar equipment in target sea
Domain carries out target accurately detecting back and forth.
Step 9, after obtaining target image, control submariner device emerges, and sends target image to bank station.
In practical applications, after sending target image, the work such as subsequent salvaging search and rescue can be waited.
The realization process of above-mentioned working method may refer to Figure 12, and submariner device passes through upper electrical switch before being lauched on the coast first
It is powered on to submariner device whole system；Init state is entered after system electrification, and submariner device is arranged by the outside port of connection
Relevant information, such as motor pattern, protection depth, guard time are launched submariner device later and are lauched；In surface condition submariner device exhibition
Hang gliding is opened, starts snorkeling job research mode after propeller is withdrawn in cabin, surplus buoyancy device starts oil return, and submariner device is in
Existing negative buoyancy force state starts dive.Variation in lower abeyance due to environmental factors such as densities of sea water will lead to the gliding appearance of submariner device
State generates variation, and so as to cause gliding deterioration of efficiency, submariner device passes through the sensors real-time detections such as attitude gyro and CTD at this time
The ambient parameter informations such as the posture informations such as the Angle of Trim of submariner device and ambient ocean environment water temperature, conductivity, change the wing in real time
Size, attitudes vibration caused by real-time compensation environmental factor；Surplus buoyancy device after submariner device reaches predetermined depth
Start fuel-displaced, submariner device floating, wing area also can real-time change progress pose compensation in floating-upward process.Submariner during snorkeling
Device needs to detect the acoustic information of target by hydrophone real-time monitoring, and after capturing target acoustical signal, submariner device floats
Communication positioning is carried out using big-dipper satellite to communications status, sends the position coordinates such as the GPS in current goal sea area to bank station；Later
Submariner device starts accurate kinetic direct route detection mode, and surplus buoyancy device starts oil return, and submariner device starts dive, sets when reaching
After depth, submariner device withdraws hang gliding, while releasing propeller to out of my cabin；Submariner device carries out power direct route, benefit using propeller
Target accurately detecting back and forth is carried out in target sea area with equipment such as side scan sonars；The submariner device emersion water after obtaining target image
Face sends target image to bank station, waits and salvage the work such as search and rescue.
Above-described is only preferred embodiments of the invention, and present invention is not limited to the above embodiments.It is appreciated that this
The other improvements and change that field technical staff directly exports or associates without departing from the spirit and concept in the present invention
Change, is considered as being included within protection scope of the present invention.
Claims (5)
1. one kind can be changed wing difunctional deep-sea unmanned submariner device characterized by comprising adjustable wing system, retractable propulsion
System, distributed pressurized system；
The retractable propulsion system includes the retractable propeller positioned at the tail portion of submariner device；The retractable propeller is latent
The device that navigates withdrawn in cabin when gliding by retractable mechanism；
The distribution pressurized system includes pressure-resistant battery flat, main pressure-resistant electronic compartment, hydrodynamic force lightweight shell, end to end surplus buoyancy
Device；The main pressure-resistant electronic compartment and the pressure-resistant battery flat are laterally in one line in submariner device, the hydrodynamic force lightweight shell
Submariner device pressure-resistant cabin is wrapped up, the section of the hydrodynamic force lightweight shell is using nearly oval airflow design；It is described remaining floating end to end
Power device is arranged in the head and tail portion of the main pressure-resistant electronic compartment；
The adjustable wing system includes the main wing and the spoke wing that front and back is distributed, and the main wing and the spoke wing axially and symmetrically divide along body
Cloth, the main wing are located at the middle part of submariner device, and the hydrodynamic force lightweight shell is fixed in the tail portion that the spoke wing is located at submariner device
On；The main wing is located at the axis of submariner device in cross-sectional direction using the shrinkable shape mechanism design of high aspect ratio, the main wing
More than；The movable rudder of packet in the spoke wing.
2. according to claim 1 can be changed wing difunctional deep-sea unmanned submariner device, which is characterized in that the main wing has
Two freedom degrees of rotation and linear movement；The main wing includes the first voltage-resistance motor, first shaft coupling, the first worm screw, the first snail
Wheel becomes the wing, the second voltage-resistance motor, second shaft coupling, the second worm screw, the second worm gear, gear, rack gear；
First worm gear and the change wing are rigidly connected, and the first voltage-resistance motor rotation passes through the first shaft coupling band
The first worm screw rotation is moved, to drive first worm gear to rotate, to drive the rotary motion for becoming the wing；
Second worm gear and the gear are rigidly connected, and the second voltage-resistance motor rotation passes through the second shaft coupling band
The second worm screw rotation is moved, to drive second worm gear to rotate, to drive the gear to rotate, after the gear rotation
It moves along a straight line on the rack gear.
3. according to claim 1 can be changed wing difunctional deep-sea unmanned submariner device, which is characterized in that described retractable to push away
Into system include retractable hydrodynamic force lightweight shell, propulsion unit, shell folding link mechanism, propeller pantograph linkage,
Watertight servo unit, guide bearing pedestal；When in propulsion unit stretching or retraction cabin, the watertight servo unit rotation
Turn, the propeller pantograph linkage is driven to move, the other end of the propeller pantograph linkage relies on bearing and institute
Propulsion unit connection is stated, the propulsion unit is moved forward and backward under the guiding role of the guide bearing pedestal, and the shell is opened
The one end for closing link mechanism is connect with the propulsion unit by bearing, and the other end connects outside the retractable hydrodynamic force lightweight
Shell opens and closes link mechanism by the shell and pod is driven to open or close when the propulsion unit is moved forward and backward.
4. according to any one of claims 1 to 3 can be changed wing difunctional deep-sea unmanned submariner device, which is characterized in that described
Submariner device pressure-resistant cabin main body pressure-resistance structure, at carbon fiber cylinder, is arranged in carbon fiber winding every preset space length by carbon fiber winding
Metal end face is arranged in metallic inner, carbon fiber barrel both ends, and metalwork is attached with carbon fiber barrel using laciniation,
The both ends of the carbon fiber cylinder are sealed using arc end surface.
5. a kind of working method that can be changed wing difunctional deep-sea unmanned submariner device, which is characterized in that be applied to such as claim 1
To 4 it is any described can be changed in wing difunctional deep-sea unmanned submariner device, the working method includes:
Step 1, outside port is connected, at the beginning of the relevant motor pattern of submariner device, protection depth, guard time and relevant device
Beginningization is configured, and the submariner device set dispensing is lauched；
Step 2, main wing is unfolded in control submariner device, and the retractable propeller is withdrawn in cabin, starts latent job research mode,
The surplus buoyancy device oil return end to end is controlled, so that the submariner device dive；
Step 3, during dive by the posture information of submariner device described in attitude gyro and conductivity-temperature-depth system CTD real-time detection and
Ambient parameter information changes area of plane size in real time to compensate attitudes vibration caused by environmental factor；
Step 4, after reaching the first predetermined depth, the control surplus buoyancy device end to end is fuel-displaced, so that on the submariner device
It rises, while changing area of plane size in real time and carrying out pose compensation；
Step 5, in step 4 and step 5 implementation procedure, the acoustic information of target, capture are detected by hydrophone real-time monitoring
Target acoustical signal；
Step 6, it after capturing target acoustical signal, controls the submariner device and floats, carry out communication positioning, sent to bank station
The position coordinates in current goal sea area；
Step 7, it controls the submariner device to start accurately to sail through to detection mode, be made by the device oil return of surplus buoyancy end to end
The submariner device dive controls the submariner device and withdraws main wing, by the retractable propeller after reaching the second predetermined depth
It releases out of my cabin；
Step 8, the submariner device is driven to carry out power direct route using the retractable propeller, using side scan sonar equipment in mesh
Mark the target accurately detecting of sea area progress back and forth；
Step 9, it after obtaining target image, controls the submariner device and emerges, send the target image to bank station.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811404679.5A CN109250054B (en) | 2018-11-23 | 2018-11-23 | Variable wing-shaped dual-function deep sea unmanned underwater vehicle and working method thereof |
Applications Claiming Priority (1)
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| CN109823501A (en) * | 2019-03-25 | 2019-05-31 | 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） | A kind of retractably flexibility seawater rudder wing |
| CN110040214A (en) * | 2019-04-30 | 2019-07-23 | 大连海事大学 | A kind of continuous wing of guarantee air-drop type underwater glider main body |
| CN110161578A (en) * | 2019-06-18 | 2019-08-23 | 中国地震局地球物理研究所 | A kind of backdeeps convected curvilinear coordinate system and method |
| CN110510089A (en) * | 2019-08-29 | 2019-11-29 | 浙江大学 | A kind of flexible folding wing module for underwater robot |
| CN111319740A (en) * | 2020-03-18 | 2020-06-23 | 哈尔滨工程大学 | Deep-sea extensible boat body underwater vehicle |
| CN111703562A (en) * | 2020-06-04 | 2020-09-25 | 上海交通大学 | Foldable wave energy self-sufficient underwater vehicle |
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| CN112665467A (en) * | 2020-12-23 | 2021-04-16 | 北京航天飞腾装备技术有限责任公司 | Novel variable sweepback wing mechanism |
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| CN115071927A (en) * | 2022-06-29 | 2022-09-20 | 江苏科技大学 | High-reliability robot propulsion system suitable for underwater recovery task |
| CN115447737A (en) * | 2022-10-17 | 2022-12-09 | 中国船舶科学研究中心 | Deep sea underwater vehicle for realizing joint motion control |
| CN115783200A (en) * | 2023-02-09 | 2023-03-14 | 山东省海洋科学研究院(青岛国家海洋科学研究中心) | Underwater glider with positive camber wings |
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| CN109823501A (en) * | 2019-03-25 | 2019-05-31 | 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） | A kind of retractably flexibility seawater rudder wing |
| CN110040214A (en) * | 2019-04-30 | 2019-07-23 | 大连海事大学 | A kind of continuous wing of guarantee air-drop type underwater glider main body |
| CN110161578A (en) * | 2019-06-18 | 2019-08-23 | 中国地震局地球物理研究所 | A kind of backdeeps convected curvilinear coordinate system and method |
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| CN113212710A (en) * | 2021-06-15 | 2021-08-06 | 西北工业大学 | Rotary AUV rear stabilizing ring stability augmentation device |
| CN113532530A (en) * | 2021-07-16 | 2021-10-22 | 中经建研设计有限公司 | Real-time monitoring system for marine hydrology |
| CN113511039A (en) * | 2021-08-10 | 2021-10-19 | 江苏省海洋资源开发研究院(连云港) | Detection device with deep diving function and detection method thereof |
| CN113636050A (en) * | 2021-09-13 | 2021-11-12 | 中国船舶科学研究中心 | Multifunctional sensing-detecting gliding submarine integrally designed with flat appearance and wing-unfolding |
| 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 |
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| CN115071927B (en) * | 2022-06-29 | 2023-12-05 | 江苏科技大学 | High-reliability robot propulsion system suitable for underwater recovery task |
| CN115447737A (en) * | 2022-10-17 | 2022-12-09 | 中国船舶科学研究中心 | Deep sea underwater vehicle for realizing joint motion control |
| CN115783200A (en) * | 2023-02-09 | 2023-03-14 | 山东省海洋科学研究院(青岛国家海洋科学研究中心) | Underwater glider with positive camber wings |
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