CN110254669A - Bilateral aerofoil profile is pulled from the dual-purpose UAV navigation that navigates - Google Patents
Bilateral aerofoil profile is pulled from the dual-purpose UAV navigation that navigates Download PDFInfo
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- CN110254669A CN110254669A CN201910605688.9A CN201910605688A CN110254669A CN 110254669 A CN110254669 A CN 110254669A CN 201910605688 A CN201910605688 A CN 201910605688A CN 110254669 A CN110254669 A CN 110254669A
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- 230000002146 bilateral effect Effects 0.000 title claims abstract description 21
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 claims abstract description 44
- 230000005484 gravity Effects 0.000 claims abstract description 31
- 230000005540 biological transmission Effects 0.000 claims abstract description 22
- 229910052742 iron Inorganic materials 0.000 claims abstract description 22
- 230000007246 mechanism Effects 0.000 claims abstract description 20
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims abstract description 20
- 239000000463 material Substances 0.000 claims description 7
- 229910000831 Steel Inorganic materials 0.000 claims description 4
- 239000010959 steel Substances 0.000 claims description 4
- 230000005611 electricity Effects 0.000 claims description 3
- 239000007787 solid Substances 0.000 claims 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 10
- 238000001514 detection method Methods 0.000 description 9
- 230000033001 locomotion Effects 0.000 description 7
- 230000001276 controlling effect Effects 0.000 description 5
- 230000008859 change Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 230000006698 induction Effects 0.000 description 3
- 238000011068 loading method Methods 0.000 description 3
- 241000251468 Actinopterygii Species 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 238000005096 rolling process Methods 0.000 description 2
- 230000006641 stabilisation Effects 0.000 description 2
- 238000011105 stabilization Methods 0.000 description 2
- 230000009466 transformation Effects 0.000 description 2
- 241000251729 Elasmobranchii Species 0.000 description 1
- 235000004443 Ricinus communis Nutrition 0.000 description 1
- 240000000528 Ricinus communis Species 0.000 description 1
- 239000000470 constituent Substances 0.000 description 1
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Classifications
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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
- B63C11/34—Diving chambers with mechanical link, e.g. cable, to a base
-
- 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
- B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
-
- 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
- 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
- B63G8/18—Control of attitude or depth by 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
- B63G8/24—Automatic depth adjustment; Safety equipment for increasing buoyancy, e.g. detachable ballast, floating bodies
-
- 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
- B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
- B63G2008/002—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned
- B63G2008/005—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned remotely controlled
- B63G2008/007—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned remotely controlled by means of a physical link to a base, e.g. wire, cable or umbilical
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses the bilateral aerofoil profile towing dual-purpose UAV navigations of boat, including main cavity, two fixed triangle horizontal tails, two fixed vertical wings, two oblique wing supports, two torpedo-shaped floating bodies, two propellers, empennage and gravity center adjusting mechanism certainly；Wherein gravity center adjusting mechanism is axially arranged in main cavity, and two pieces of pedestals are separately positioned on main cavity rear and front end, and the lower end of axis is connect by bearing with pedestal, and the upper end of axis is connect with driving wheel, and two driving wheels pass through transmission band connection；An axis in pedestal is equipped with orthogonal gear, and orthogonal gear is also connect with stepper motor and brake respectively；Load wagon upper end and transmission band connection, the bottom of load wagon are equipped with universal wheel, and universal wheel is flexibly connected with track plates, and load wagon is equipped with the iron block of center of gravity adjusting.The present invention can make full use of main chamber body length space, axially be fast moved by iron block in main cavity, and realization quickly controls the lifting of submarine navigation device.
Description
Technical field
The present invention relates to a kind of UAV navigations, pull more particularly to a kind of bilateral aerofoil profile from the dual-purpose unmanned water that navigates
Lower aircraft is a kind of UAV navigation having both from boat, drag function for carrying underwater detection equipment.
Background technique
Underwater detection equipment is broadly divided into UAV navigation and manned submarine navigation device.UAV navigation have according to
Three kinds can be divided into according to control mode: remote control type, autonomous navigation formula and pull-type.As the demand utilized to marine resources constantly increases
Long, submarine navigation device has been widely used in the exploration of marine resources, while as the scientific investigation to marine environment needs,
Submarine navigation device has also been used in the detection and monitoring of sea-floor relief, the seabed hydrology, marine organisms etc., in addition, water
Lower aircraft also has application abundant, such as anti-submarine warfare, shipwreck search etc. in military aspect.
Underwater towed system, instrument needed for submarine navigation device, towing cable, towboat and various detections forms.And underwater navigation
Device is the carrying platform of instrument needed for various detections and itself control instrument.Wherein, pull-type submarine navigation device is that ocean is dragged
An important component of system is draged, and autonomous navigation formula submarine navigation device is also that progress Undersea Scientific Expedition is movable advantageous
Tool.And towing and the submarine navigation device from boat function are had both, it can not only realize the big model of carry out of pull-type submarine navigation device
The function for the search enclosed, while also can be using boat function certainly, the accurate detection to a certain fixed sea area.
And the submarine navigation device as underwater towed system, important component, it is whether with good stability and can
Maneuverability is to assess the important indicator of its performance superiority and inferiority.According to existing result of study, effective control of submarine navigation device is led
It wants that two kinds can be divided into: first is that towing cable, second is that hydrofoil.And in both modes, by controlling towing cable, thus realization pair
The posture of submarine navigation device, directional control can only generally realize the manipulation of large scale, relatively coarse, cannot achieve point-to-point essence
Really control.And submarine navigation device is manipulated using hydrofoil, then it is more accurate, compel the angle of attack of heavy hydrofoil or equivalent by changing
The angle of attack is, it can be achieved that submarine navigation device accurately pose adjustment and Heading control.
Under water in terms of aircraft shape, purpose and mode are used according to it, frame-type, fish type, streamlined etc. can be divided into,
Wherein, the streamlined design for current main use.And frame-type since its hydrodynamic performance is poor, i.e. resistance is larger, surely
It is qualitative lower, it is generally used in low speed towing.And fish type limits its extensive use since its difficulty of processing is larger.
In conclusion the interference of marine environment, water surface towboat, towing cable, towed body and towed body internal unit together constitute one
The dynamic response system of a complexity, and keep towed body itself with good stability, and realize during towing to towed body
It is accurate, flexible, convenient and fast control become research towing system key.If towed body can be made to have both autonomous navigation function simultaneously
Can, can even more make submarine navigation device hydrospace detection, resource exploration, in terms of application it is more perfect.
Summary of the invention
It is high that it is an object of that present invention to provide a kind of adaptability, can quickly realize the posture and Heading control to aircraft
The towing of bilateral aerofoil profile from the dual-purpose UAV navigation of navigating.
The object of the invention is achieved through the following technical solutions:
A kind of towing of bilateral aerofoil profile mainly includes main cavity, two fixed triangle water from the dual-purpose UAV navigation that navigates
The flat wing, two fixed vertical wings, two oblique wing supports, two torpedo-shaped floating bodies, two propellers, empennage and center of gravity adjust machine
Structure；Two fixed triangle horizontal tails are symmetricly set on main cavity front part sides, and two torpedo-shaped floating bodies are located at two fixations
Triangle horizontal tail lower end, each torpedo-shaped floating body by the fixed vertical wing and the oblique wing support respectively with fixed triangle horizontal tail and master
Cavity connection；Two torpedo-shaped floating body rear portions are equipped with screw propeller；
The gravity center adjusting mechanism is axially arranged in main cavity, and gravity center adjusting mechanism mainly includes track plates, stepping
Motor, orthogonal gear, bearing, axis, pedestal, brake, load wagon, driving wheel, transmission belt；The pedestal is two pieces, respectively
Main cavity rear and front end is set, and the lower end of axis is connect by bearing with pedestal, and the upper end of axis is connect with driving wheel, two driving wheels
By being driven band connection；An axis in pedestal is equipped with orthogonal gear, orthogonal gear also respectively with stepper motor and brake
Connection；Load wagon upper end and transmission band connection, the bottom of load wagon are equipped with universal wheel, and universal wheel is flexibly connected with track plates, rail
Guidance tape is arranged between two pieces of pedestals, and load wagon is equipped with center of gravity adjusting and uses iron block.
To further realize the purpose of the present invention, it is preferable that the load wagon include the first plate, spring mounting plate,
Rod piece, the first spring, universal wheel and permanent magnet；First plate has five pieces, the first plate and difference including one piece of bottom setting
Four piece of first plate being connect with bottom the first plate surrounding, the mount structure of five piece of first plate composition upper end opening, mount structure
Interior placement center of gravity, which is adjusted, uses iron block, is designed with permanent magnet on the first plate of every piece of surrounding setting；Connecting rod has 8, every
Rod piece one end is connect with one piece of first plate, and the other end is connect with the first spring, and the first spring is connect with spring mounting plate, spring
Mounting plate is fixed at the first sheet edge of bottom setting, and the first plate lower end of bottom setting is arranged in universal wheel.
Preferably, the first plate of described every piece surrounding setting is equipped with two connecting rods.
Preferably, the load wagon upper end and transmission band connection are one piece and biography in the first plate being arranged by surrounding
Dynamic band connection is realized.
Preferably, the spacing of two pieces of pedestals is 600-800mm, and the diameter of driving wheel 22 is preferably 120-150mm；
Universal wheel uses 2 cun of small-sized castors.
Preferably, the brake mainly includes electromagnet, the second plate, third plate and second spring；Pedestal
It is equipped with groove, third plate is movably arranged in groove, and third plate is flexibly connected with orthogonal gear, and the second board material vertical is set
Groove upper end is set, the second plate and third plate are affixed, and second spring is arranged in groove, and one end is connect with the second plate, separately
One end is fixed on groove ends；Electromagnet and the second plate relative spacing are arranged.
Preferably, the material of second plate and third plate is steel；The wire diameter of second spring is
0.4mm-0.5mm, screw pitch 1mm-1.2mm, circle number are 16-20.
Preferably, the depth of the groove is 10mm.
Preferably, the main cavity is torpedo-shaped, and main cavity upper surface middle part front end is provided with towing component and hanging ring.
Preferably, tail portion Yu main cavity the end distance of the fixed triangle horizontal tail are 120-150mm；Described consolidates
Determine vertical tail, tail portion and main cavity end distance be 550-560mm, the fixed vertical wing it is outermost with fixed triangle horizontal tail
End distance is 300-350mm；The other end and torpedo-shaped floating body of the fixed vertical wing weld, the tail portion of the fixed vertical wing and torpedo-shaped
The end distance of floating body is 130-150mm.
Compared with prior art, the present invention have the following advantages that with the utility model has the advantages that
(1) quickly control is realized to the lifting of submarine navigation device.The present invention is straight using orthogonal gear, transmission belt and universal wheel
Connecing is driven iron block, is moved up by universal wheel in track plates dynamic, and sliding friction becomes rolling, and iron block movement is quicker, due to
Track plates are axially arranged in main cavity, can make full use of main chamber body length space, axially quick in main cavity by iron block
Mobile, realization quickly controls the lifting of submarine navigation device.
(2) adaptability is high, and use scope is wide.Gravity center adjusting mechanism of the invention uses the load wagon with spring that can fill
Different size of iron block is carried, to make the iron block of regulating mechanism adjusting different weight, to adapt to a variety of speed of a ship or plane, a variety of load-carrying shapes
The operational configuration of state, a variety of towing depths expands the use scope of aircraft, improves its adaptability.Two torpedo-shapeds are floating
The stern of body both can be used as equipped with screw propeller turns bow controller, can also be used as propeller, provides thrust to help
Submarine navigation device realization is from navigating, so that submarine navigation device switchs to autonomous navigation formula from pull-type, to complete from a wide range of extensive
Detect the transformation for the usage mode that small range precisely detects.
(3) handle structure is simple.The present invention need to only control the rotation of 3 motors, the i.e. stepper motor of gravity motion, spiral
Two watertight motors of paddle propeller, so that it may realize multivariant manipulation.Specifically, stepper motor rotation passes through transmission belt
It is mobile to be driven iron block, changes the center of gravity of aircraft, entire aircraft trim by head or stern is made to incline, makes to fix the horizontal angle of attack and becomes
Change, generate lift and compel heavy power, realizes entire aircraft heave movement；The watertight motor of left and right two drives propeller rotational, together
When the different revolving speed or revolving speed of two propellers of control, so that propeller is generated the thrust in different size or direction, make entirely to navigate by water
Device generation turns bow, changes the angle of attack of two fixed vertical wings, generates power to the left and to the right, and that realizes entire aircraft turns bow fortune
It is dynamic.
(4) self stability is high.For submarine navigation device, guarantee that displacement stability is crucial.The present invention has
Two fixed triangle horizontal tails, two vertical tail,s, two oblique wings and empennage can guarantee under certain speed, the stabilization in course
Property.Two fixed triangle horizontal tails and main cavity ensure that the height of aircraft centre of buoyancy simultaneously, and two torpedo-shaped floating bodies can fill
Carrying heavier instrument or directly aggravating iron block reduces height of C.G., meanwhile, there is biggish fixed triangle horizontal tail, simultaneously
The rolling arm of force is increased, ensure that the transverse stability of aircraft.The all constituents of aircraft are all made of streamlined contour, control
Mechanism does not have extra additional structure in main cavity other than main wing, ensure that the equal of the flow field on aircraft surface
Even property also just reduces the pulling force that towing cable is born to reduce water resistance, the risk for reducing towing cable fracture or slipping.
Aerofoil profiles reduce the disturbance of water flow simultaneously, avoid generating whirlpool, water flow stationary is made to flow through aircraft, for keeping aircraft
Attitude stabilization is advantageous.
(5) instrument layout is flexible.There are three cavitys for present invention tool, are main cavity and two torpedo-shaped floating bodies respectively, can use
Carry out flexible arrangement using required equipment and instrument, simultaneously because cavity space is big, after carrying out good subdivision, two torpedo-shaped floating bodies
It can be used as the use of equipment and instrument cabin, be alternatively arranged as ballast tank use, while main cavity acts not only as control cabinet use,
Enough buoyancy compartments can also be marked off to help aircraft to improve centre of buoyancy, increase itself course, attitude stability.
Detailed description of the invention
Fig. 1 is the bilateral aerofoil profile towing dual-purpose UAV navigation stereoscopic schematic diagram of boat certainly；
Fig. 2 is the contour structures left view of Fig. 1；
Fig. 3 is the contour structures front view of Fig. 1；
Fig. 4 is the contour structures top view of Fig. 1；
Fig. 5 is the load wagon schematic internal view of gravity center adjusting mechanism in Fig. 1；
Fig. 6 is the load wagon bottom schematic view of gravity center adjusting mechanism in Fig. 1；
Fig. 7 is the brake schematic diagram of gravity center adjusting mechanism in Fig. 1；
Fig. 8 is the stereoscopic schematic diagram of gravity center adjusting mechanism in Fig. 1.
Show in figure: main cavity 1, the fixed vertical wing 3, oblique wing support 4, torpedo-shaped floating body 5, pushes away fixed triangle horizontal tail 2
Into device 6, towing component 7, hanging ring 8, track plates 9, stepper motor 10, electromagnet 11, orthogonal gear 12, permanent magnet 13, the first bullet
Spring 14, bearing 15, rod piece 16, the first plate 17, universal wheel 18, spring mounting plate 19, brake 20, load wagon 21, driving wheel
22, transmission belt 23, empennage 24, second spring 25, axis 26, the second plate 27, third plate 28, pedestal 29.
Specific embodiment
For a better understanding of the invention, the present invention will be further described below with reference to the drawings, but implementation of the invention
Mode is not limited to as described below.
As shown in Figs 1-4, a kind of towing of bilateral aerofoil profile is from the dual-purpose UAV navigation that navigates, specifically include that main cavity 1,
The oblique wing of two 3, two, fixed vertical wings of fixed triangle horizontal tail 2, two supports 4, two torpedo-shaped floating bodies, 5, two propellers
6, empennage 24 and gravity center adjusting mechanism.Two fixed triangle horizontal tails 2 are symmetricly set on 1 front part sides of main cavity, two torpedoes
Shape floating body 5 is located at two 2 lower ends of fixed triangle horizontal tail, and each torpedo-shaped floating body 5 passes through the fixed vertical wing 3 and oblique wing branch
Support 4 is connect with fixed triangle horizontal tail 2 and main cavity 1 respectively；Two torpedo-shapeds float 5 rear portions and screw propeller 6 are housed；
Gravity center adjusting mechanism is axially arranged in main cavity 1, and as viewed in figures 5-8, gravity center adjusting mechanism mainly includes track
Plate 9, stepper motor 10, orthogonal gear 12, bearing 15, axis 26, pedestal 29, brake 20, load wagon 21, driving wheel 22, transmission
Band 23；Pedestal 29 is two pieces, is separately positioned on 1 rear and front end of main cavity, and the lower end of axis 26 is connect by bearing 15 with pedestal 29,
The upper end of axis 26 is connect with driving wheel 22, and two driving wheels 22 are connected by transmission belt 23；It is set on an axis 26 in pedestal 29
There is orthogonal gear 12, orthogonal gear 12 is also connect with stepper motor 10 and brake 20 respectively；21 upper end of load wagon and transmission belt
The bottom of 23 connections, load wagon 21 is equipped with universal wheel 18, and universal wheel 18 is flexibly connected with track plates 9, and track plates 9 are arranged at two pieces
Between pedestal 29.
As shown in Figure 5,6, load wagon 21 mainly includes the first plate 17, spring mounting plate 19, rod piece 16, the first spring
14, universal wheel 18 and permanent magnet 13.First plate 17 has five pieces, the first plate 17 including the setting of one piece of bottom and respectively with bottom
Four piece of first plate 17 of portion's the first plate surrounding connection, five piece of first plate 17 form the mount structure of upper end opening, mount structure
It is interior place center of gravity adjusting iron block, every piece of surrounding setting the first plate 17 on be designed with permanent magnet 13；Connecting rod 16 has 8
Root, every 16 one end of rod piece are connect with one piece of first plate 17, and the other end is connect with the first spring 14, the first spring 14 and spring
Mounting plate 19 connects, and spring mounting plate 19 is fixed at 17 edge of the first plate of bottom setting, and preferably every piece of surrounding is set
The first plate 17 set is equipped with two connecting rods 16；17 lower end of the first plate of bottom setting is arranged in universal wheel 18.It is logical
Different size can be loaded by crossing the flexible of the first spring 14, and the iron block of different quality is to adapt to different loading and operational configuration.
In addition, the permanent magnet 13 on every block of first plate 17 can be very good to lock iron block, guarantee the stability of iron block during navigation.
Surrounding setting the first plate 17 in one piece connect with transmission belt 23 realization 21 upper end of load wagon connect with transmission belt 23.
The spacing of two pieces of pedestals 29 is preferably 600-800mm, can adjust two pieces of bottoms by different loadings and sailing condition
The distance of seat 29；26 diameter of axis is preferably 8-10mm, and length is preferably 120-150mm；The diameter of driving wheel 22 is preferably 120-
150mm；The material of first plate 17 preferably uses steel, and the first plate 17 is preferably dimensioned to be 100mm × 100mm × 5mm, spring peace
Loading board 19 is preferably dimensioned to be 10mm × 10mm × 5mm；Rod piece 16 needs 8, and diameter is preferably 8-10mm, and length is preferably
90-100mm；Preferably 8, first spring 14, wire diameter is preferably 0.8-1mm, and screw pitch is preferably 4mm-5mm, and circle number is preferred
For 20-25；Permanent magnet 13 selects rectangular magnetic sheet, and specification is preferably 100mm × 50mm × 5mm, and universal wheel 18 uses 2 cun of small-sized feet
Wheel.
As shown in fig. 7, brake 20 mainly includes electromagnet 11, the second plate 27, third plate 28 and second spring
25；Pedestal 29 is equipped with groove, and third plate 28 is movably arranged in groove, and third plate 28 and 12 activity of orthogonal gear are even
It connects, the second plate 27 is vertically arranged groove upper end, and the second plate 27 and third plate 28 are affixed, and preferably the second plate 27 is welded on
28 middle part of third plate, second spring 25 are arranged in groove, and one end is connect with the second plate 27, and the other end is fixed on groove ends
Portion；It is preferred that the depth of groove is 10mm；Electromagnet 11 and 27 relative spacing of the second plate are arranged, by being powered and breaking to electromagnet
Electricity and then attraction and the second plate 27 of relieving, and then the connection of third plate 28 and orthogonal gear 12 is controlled, realize control for brake.
The material of second plate 27 and third plate 28 is preferably steel；The wire diameter of second spring 25 is preferably 0.4mm-
0.5mm, screw pitch are preferably 1mm-1.2mm, and circle number is preferably 16-20.
Main cavity 1 is torpedo-shaped, and main cavity upper surface middle part front end is provided with towing component 7 and hanging ring 8.
Propeller includes watertight motor and ducted propeller, and watertight motor and propeller are mounted on two by transmission shaft
5 tail portions of torpedo-shaped floating body.By controlling two screw propellers 6, different revolving speed and steering are made it have, realizes one kind
Differential Control makes aircraft turn one low-angle of bow by means of which, the Effective angles of attack variation of the induction fixed vertical wing 3,
3 two sides of the fixed vertical wing are made to generate pressure difference, so that its generation turns bow power, to realize that the bow that turns of aircraft moves.
Without remaining excessive mechanism and component outside aircraft, to reduce water resistance.Fixed triangle horizontal tail 2 is set
It sets in the two sides of main cavity, is symmetrically arranged, tail portion and the 1 end distance of main cavity of fixed triangle horizontal tail 2 are preferably
120-150mm.Fixed vertical wing one end is vertical with fixed triangle horizontal tail 2 to be connect, the tail portion of the fixed vertical wing 3 and main cavity 1
End distance be preferably 550-560mm, the fixed vertical wing 3 with 2 outermost end of fixed triangle horizontal tail distance be preferably 300-
350mm.The other end and torpedo-shaped floating body 5 of the fixed vertical wing weld, the tail portion of the fixed vertical wing 3 and the end of torpedo-shaped floating body 5
End distance is preferably 130-150mm.
Stepper motor 10 and brake 20 are arranged in side, and stepper motor 10 is axially connect with an orthogonal gear 12, separately
One orthogonal gear 12 (being located at the upper surface of pedestal) axially connect with axis 26, and two junctions are all made of key connection, prevent opposite
Sliding.Third plate 28 is inserted into the slot of orthogonal gear 12 under the effect of 14 elastic force of spring, makes to rotate stuck, and then makes to fill
The iron block of carrier vehicle 21 and the inside is fixed on a position, and electromagnet 11, which is powered, generates the second plate of gravitational attraction 27 and third plate
28 leave slot, and rotation restores at this time.Load wagon 21 is placed in transmission belt 23, and one side of load wagon 21 and transmission belt 23 connect
It connects.By the way of in parallel, switch is located on the main line of circuit for stepper motor 10 and electromagnet 11, guarantees stepper motor and electromagnetism
The synchronous of iron opens and closes.
The heave operation of submarine navigation device is as follows: iron block required for selecting first is placed in load wagon 21, control electricity
Magnet 11 attracts the second plate 27 and third plate 28 of two pieces of orthogonal connections, and third plate 28 is made to be detached from slot, restores rotation,
Stepper motor 10 rotates, and is driven by orthogonal gear 12 and driving wheel 22 is driven to rotate, and then drives load wagon by transmission belt 23
21 and iron block moved on track plates 9, finally realize the movement of whole center of gravity.After gravity motion, make entire aircraft because
The mobile generation trim by head or stern of center of gravity are inclined, and change the angle of attack of fixed triangle horizontal tail 2, and then generation lift and urgent heavy power make to navigate
Row device rises and sinks.
Some zonules detect when, need lash ship certain area stop when, need to zonule carry out accurately detecting when,
Towing cable no longer provides drag, traditional aircraft can not autonomous navigation, so that the detection of zonule can not be carried out, exploration is lived
It is dynamic.And the towing of this bilateral aerofoil profile provides electric energy by umbilical cables from dual-purpose UAV navigation is navigated, and passes through 5 tail of torpedo-shaped floating body
The propeller 6 in portion provides thrust, so that submarine navigation device be made to realize that submarine navigation device switchs to autonomous navigation from pull-type from navigating
Formula, to complete from the transformation for detecting the usage mode that small range precisely detects extensively on a large scale.
Bilateral aerofoil profile towing of the present invention navigates dual-purpose UAV navigation during the work time certainly:
First according to different detection missions, the Marine Chemistry of respective type is arranged inside main cavity 1 and torpedo-shaped floating body 5
The equipment such as element detector, physical detecting sensor.The towing chock bullnose that suitable position is selected on towing component 7, towing cable is connected
At the towing chock bullnose, pulled.According to towing situation, the counterweight inside torpedo-shaped floating body 5 is adjusted, so that aircraft is kept
Well stable towage posture.
When towing, in gravity center adjusting mechanism stepper motor 10 and electromagnet 11 be powered, unlock stuck state, pass through step
It drives the iron block of load wagon and the inside mobile into the rotation of motor 10, changes the center of gravity of aircraft, produce aircraft whereby
Raw trim by head and stern incline, and change the Effective angles of attack of fixed triangle horizontal tail 2 to realize the sinking and rising of aircraft, realize to navigation
Device it is deep-controlled.Different revolving speed and steering are generated by controlling two propellers 6, a kind of Differential Control is realized, utilizes this
Kind of mode makes aircraft turn one low-angle of bow, and the Effective angles of attack variation of the induction fixed vertical wing 3 makes 3 liang of the fixed vertical wing
Side generates pressure difference, so that its generation turns bow power, to realize that the bow that turns of aircraft moves.
From endurance, umbilical cables, which provide electric energy, makes the propeller of torpedo-shaped floating body tail portion provide thrust, and from endurance, it needs to turn
To, then different revolving speed and steering are generated by controlling two propellers 6, realizes a kind of Differential Control, it is next by means of which
Aircraft is set to turn one low-angle of bow, the Effective angles of attack variation of the induction fixed vertical wing 3 makes 3 two sides of the fixed vertical wing generate pressure
Power is poor, so that its generation turns bow power, to realize that the bow that turns of aircraft moves, after going to target angle, makes propeller 6
Restore identical revolving speed and steering, promotes towing along this direction.Gravity center adjusting mechanism makes the gravity motion of aircraft simultaneously
Aircraft trim by head and stern incline, and change the angle of attack of fixed triangle horizontal tail 2, and aircraft is made to generate heave movement.Pass through above method
To realize aircraft multiple degrees of freedom autonomous navigation.
As set forth above, it is possible to realize this towing from the dual-purpose unmanned underwater navigation of bilateral aerofoil profile multifreedom controlling of navigating well
The function of device.The present invention is not constrained by above embodiment, and others are any without departing from the spirit and principles of the present invention
Made changes, modifications, substitutions, combinations, simplifications should be equivalent alternative, be included in protection scope of the present invention
Within.
Claims (10)
1. the towing of bilateral aerofoil profile mainly includes main cavity, two fixed triangle horizontal tails, two from the dual-purpose UAV navigation that navigates
A fixed vertical wing, two oblique wing supports, two torpedo-shaped floating bodies, two propellers, empennage and gravity center adjusting mechanism；Two solid
Determine triangle horizontal tail and be symmetricly set on main cavity front part sides, two torpedo-shaped floating bodies are located at two fixed triangle horizontal tails
Lower end, each torpedo-shaped floating body are connect with fixed triangle horizontal tail and main cavity respectively by the fixed vertical wing and the support of the oblique wing；
Two torpedo-shaped floating body rear portions are equipped with screw propeller；
It is characterized in that, the gravity center adjusting mechanism is axially arranged in main cavity, gravity center adjusting mechanism mainly includes track
Plate, stepper motor, orthogonal gear, bearing, axis, pedestal, brake, load wagon, driving wheel, transmission belt；The pedestal is two
Block is separately positioned on main cavity rear and front end, and the lower end of axis is connect by bearing with pedestal, and the upper end of axis is connect with driving wheel,
Two driving wheels pass through transmission band connection；An axis in pedestal is equipped with orthogonal gear, and orthogonal gear is also electric with stepping respectively
Machine is connected with brake；Load wagon upper end and transmission band connection, the bottom of load wagon are equipped with universal wheel, and universal wheel and track plates are living
Dynamic connection, track plates are arranged between two pieces of pedestals, and load wagon is equipped with the iron block of center of gravity adjusting.
The dual-purpose UAV navigation 2. bilateral aerofoil profile towing according to claim 1 is navigated certainly, which is characterized in that described
Load wagon includes the first plate, spring mounting plate, rod piece, the first spring, universal wheel and permanent magnet；First plate has five pieces, packet
Four piece of first plate for including first plate of one piece of bottom setting and being connect respectively with bottom the first plate surrounding, five piece of first plate
Material forms the mount structure of upper end opening, and placement center of gravity, which is adjusted, in mount structure uses iron block, on the first plate of every piece of surrounding setting all
Equipped with permanent magnet；Connecting rod has 8, and every rod piece one end is connect with one piece of first plate, and the other end is connect with the first spring,
First spring is connect with spring mounting plate, and spring mounting plate is fixed at the first sheet edge of bottom setting, universal wheel
First plate lower end of bottom setting is set.
The dual-purpose UAV navigation 3. bilateral aerofoil profile towing according to claim 2 is navigated certainly, which is characterized in that described
First plate of every piece of surrounding setting is equipped with two connecting rods.
The dual-purpose UAV navigation 4. bilateral aerofoil profile towing according to claim 2 is navigated certainly, which is characterized in that described
Load wagon upper end and transmission band connection are realized with transmission band connection for one piece in the first plate being arranged by surrounding.
The dual-purpose UAV navigation 5. bilateral aerofoil profile towing according to claim 1 is navigated certainly, which is characterized in that described
The spacing of two pieces of pedestals is 600-800mm, and the diameter of driving wheel 22 is preferably 120-150mm；Universal wheel uses 2 cun of small-sized feet
Wheel.
The dual-purpose UAV navigation 6. bilateral aerofoil profile towing according to claim 1 is navigated certainly, which is characterized in that described
Brake mainly includes electromagnet, the second plate, third plate and second spring；Pedestal is equipped with groove, and third plate is living
It is dynamic setting in a groove, third plate is flexibly connected with orthogonal gear, the second board material vertical setting groove upper end, the second plate with
Third plate is affixed, and second spring is arranged in groove, and one end is connect with the second plate, and the other end is fixed on groove ends；Electricity
Magnet and the second plate relative spacing are arranged.
The dual-purpose UAV navigation 7. bilateral aerofoil profile towing according to claim 6 is navigated certainly, which is characterized in that described
The material of second plate and third plate is steel；The wire diameter of second spring is 0.4mm-0.5mm, screw pitch 1mm-
1.2mm, circle number are 16-20.
The dual-purpose UAV navigation 8. bilateral aerofoil profile towing according to claim 6 is navigated certainly, which is characterized in that described
The depth of groove is 10mm.
The dual-purpose UAV navigation 9. bilateral aerofoil profile towing according to claim 1 is navigated certainly, which is characterized in that described
Main cavity is torpedo-shaped, and main cavity upper surface middle part front end is provided with towing component and hanging ring.
The dual-purpose UAV navigation 10. bilateral aerofoil profile towing according to claim 1 is navigated certainly, which is characterized in that described
Fixed triangle horizontal tail tail portion and main cavity end distance be 120-150mm；The tail portion of the fixed vertical wing and master
The end distance of cavity is 550-560mm, and the fixed vertical wing is 300-350mm with fixed triangle horizontal tail outermost end distance；
The other end and torpedo-shaped floating body of the fixed vertical wing weld, and the tail portion of the fixed vertical wing is with the end distance of torpedo-shaped floating body
130-150mm。
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910605688.9A CN110254669B (en) | 2019-07-05 | Double-sided wing type towing and self-propulsion dual-purpose unmanned underwater vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910605688.9A CN110254669B (en) | 2019-07-05 | Double-sided wing type towing and self-propulsion dual-purpose unmanned underwater vehicle |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110254669A true CN110254669A (en) | 2019-09-20 |
| CN110254669B CN110254669B (en) | 2024-06-11 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111572720A (en) * | 2020-05-11 | 2020-08-25 | 华南理工大学 | High-speed high-sea-condition submersible multi-body unmanned aircraft and control method thereof |
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