CN110435858A - A kind of controllable pod propulsion underwater towed vehicle, of autonomous stabilisation multifreedom motion - Google Patents
A kind of controllable pod propulsion underwater towed vehicle, of autonomous stabilisation multifreedom motion Download PDFInfo
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- CN110435858A CN110435858A CN201910762500.1A CN201910762500A CN110435858A CN 110435858 A CN110435858 A CN 110435858A CN 201910762500 A CN201910762500 A CN 201910762500A CN 110435858 A CN110435858 A CN 110435858A
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- Prior art keywords
- heave
- control cabinet
- fixing piece
- heave control
- instrument
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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
- B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
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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
-
- 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
Abstract
The invention discloses a kind of controllable pod propulsion underwater towed vehicle, of autonomous stabilisation multifreedom motion, including main body, heaves control mechanism, turns bow control mechanism, instrument gondola fixed mechanism, wing formula trim control mechanism, float-type trim control mechanism, roll control system and instrument gondola；The left heave control cabinet and right heave control cabinet of main body are columnar cavity structure, and Zuo Shengchen control cabinet and right heave control cabinet are arranged at intervals at left and right sides of main body upper end；Left heave control cabinet, right heave control cabinet are connect with instrument gondola pedestal by two diagonal braces respectively, and left heave control cabinet and right heave control cabinet are rigidly connected by horizontal brace；The middle and back part excision of horizontal brace, forms notch；The heave control hydrofoil for heaving control mechanism is the airfoil structure being arranged in the notch of horizontal brace rear portion.The present invention has many advantages, such as that autonomous stabilisation, multifreedom motion are controllable, shipping-direction stability is good and heave manoeuvrable.
Description
Technical field
The present invention relates to a kind of underwater towed vehicle,s, more particularly to a kind of controllable pod propulsion of autonomous stabilisation multifreedom motion
Underwater towed vehicle,.
Background technique
Underwater towed vehicle, is the underwater physical chemistry such as marine environmental monitoring, oceanographic hydrological data observation, early warning of marine disasters
Common sub-aqua sport platform in terms of environmental parameter dynamic monitoring, itself is usually unpowered but by ship, submarine or goes straight up to
The aircraft such as aircraft are advanced by towing hawser towing, are controlled signal and collected data and are generally transmitted by cable.
It is limited to scientific and technological level at that time, the initially use underwater towed vehicle, of the mankind is only capable of the towing of depthkeeping straight line, drags under water
It drags the adjusting of body underwater penetration and is typically only capable to manually folding and unfolding towing hawser to realize.Thereafter as science and technology especially controls skill
The development of art, underwater towed vehicle, can realize that underwater penetration is adjusted by depth control apparatus, part high-performance underwater towed vehicle,
Two-dimentional undulation even other complicated three-dimensional space motions can also be carried out on vertical plane.Underwater towed vehicle, performance
Superiority and inferiority directly influences the success or failure of underwater physicochemical environment dynamic state of parameters monitoring, the especially stability of underwater towed vehicle, towage
And the flexibility of manipulation is always one of the key technology of underwater towed vehicle, research and development.
Seawater caused by underwater towed vehicle, towage flows intricate, Chinese invention patent 2014102563580
A kind of (2014.9.17) tail steering force Induction Control pull-type band cable is remotely controlled underwater hiding-machine, the invention constant tilt airfoil support
It is arranged between torpedo floating body and main cavity, constant tilt airfoil support will receive inclination by seawater disturbance during towage
Lateral perturbed force upward or downward, is easy to cause towed body roll, and then causes towed body shipping-direction stability to deteriorate, platform vibration
The problems such as swinging or even toppling, these problems can often reduce the detection efficient of physically or chemically environmental sensor, result even in water
The serious consequences such as lower towed body topples, structure is destroyed；In addition, towed body is often associated with the change of Angle of Trim in towage control process
Change, which cannot be adjusted in real time, in addition, existing part towed body Angle of Trim is adjusted by changing control hydrofoil
The angle of attack realizes that, when towage speed is lower, this control mode efficiency is lower even invalid.Unstable platform stance
The normal work of the underwater physicochemical environment monitoring instrument of most of meeting severe jamming even directly results in monitoring device failure, such as
What makes underwater towed vehicle, towage stationarity as much as possible be that current underwater towed vehicle, is especially higher to towage stability requirement
Underwater towed vehicle, R&D process in urgent problem to be solved.
Summary of the invention
The technical issues of present invention mainly solves in the presence of the prior art, thus provide a kind of autonomous stabilisation, mostly from
By degree movement is controllable, shipping-direction stability is good, the autonomous stabilisation of heave manoeuvrable moves controllable pod propulsion underwater towed vehicle,.
Above-mentioned technical problem of the invention is mainly to be addressed by following technical proposals:
A kind of controllable pod propulsion underwater towed vehicle, of autonomous stabilisation multifreedom motion, including main body, heave control mechanism, turn
Bow control mechanism, instrument gondola fixed mechanism, wing formula trim control mechanism, float-type trim control mechanism, roll control system
With instrument gondola；
The main body includes left heave control cabinet, right heave control cabinet, instrument gondola pedestal, bracket, diagonal brace, level
Support, towing cable fixing piece and hook；Left heave control cabinet and right heave control cabinet are columnar cavity structure, Zuo Shengchen control cabinet and
Right heave control cabinet is arranged at intervals at left and right sides of main body upper end；Instrument gondola pedestal is arranged along towed body vertical equity, instrument
Device gondola base outer wall face rigid connection bracket；Two diagonal braces hang left heave control cabinet, right heave control cabinet with instrument respectively
Left heave control cabinet and right heave control cabinet are rigidly connected by the connection of bilge seat, horizontal brace；Upper surface is rigidly solid in the middle part of horizontal brace
Determine towing cable fixing piece, the middle and back part excision of horizontal brace forms notch；Hook is rigidly fixed in horizontal brace front end；
The heave control hydrofoil of the heave control mechanism is the airfoil structure being arranged in the notch of horizontal brace rear portion, is risen
Heavy control hydrofoil left and right ends are rigidly connected with two heave control hydrofoil drive shafts respectively；
Two ducted propellers for turning bow control mechanism are rigidly fixed in left heave control cabinet and right heave respectively
The rear end of control cabinet；
The preceding fixing piece of the instrument gondola fixed mechanism is the thin-wall construction that cross section is semi-circular shape, rear fixing piece
Streamlined thin-wall construction, the instrument gondola is arranged on instrument gondola pedestal, be located at preceding fixing piece and rear fixing piece it
Between, horizontal tail is fixed on rear fixing piece rear end face bottom, and the vertical wing is rigidly fixed at the top of rear fixing piece rear end face；
The trim regulating empennage of the wing formula trim control mechanism is plate structure, and connecting rod is fixed on trim regulating empennage
Trim regulating empennage mounting hole is arranged in middle and upper part in lower surface, connecting rod, and trim regulating empennage is at trim regulating empennage mounting hole
With it is hinged at the trim regulating empennage axis hole of the vertical wing；Arc locating piece is fixed on connecting rod lower end, uniformly sets on arc locating piece
Several circular holes are set, circular hole is connect with the trim regulating empennage location hole on the vertical wing by pilot pin；
The float of the float-type trim control mechanism is located in the channel that two diagonal braces and horizontal brace surround, screw putter
Motor is arranged inside float, and screw putter passes through float and screw putter motor, and one end and hook connect, the other end and vertical
The connection of wing lower end；Pilot hole is arranged in float highest point；Guide rod passes through pilot hole, and one end and hook connect, the other end and vertical
The connection of wing top；The buoyancy that float is subject to is much larger than the gravity that float and screw putter motor are subject to；
Left front ballast tank, the left back ballast tank of the roll control system are separately positioned on two before and after left heave control cabinet
End, left front ballast tank, left back ballast tank are connected to form left side ballast tank by left connection pipe；Ballast tank behind ballast tank, the right side before the right side
Ballast tank was connected to form right side ballast by right communicating pipe behind ballast tank, the right side before right heave control cabinet rear and front end, the right side for setting
Cabin；Intermediate connection pipe is connected to left connection pipe and right communicating pipe, and high-speed bidirectional pump is arranged on intermediate connection pipe.
To further realize the object of the invention, it is preferable that the vertical wing is provided with trim regulating empennage axis hole at top, vertical
Incline to adjusting and is provided with trim regulating empennage location hole below empennage axis hole；Vertical wing front end face is respectively equipped with screw thread from bottom to top and pushes away
Axis hole after axis hole and guide rod after bar；The hook is the L-shaped solid, rigid structure of lateral projection, and hook one end is rigidly fixed in
Horizontal brace front end, the other end is hanging, and screw putter front-axle hole and guide rod front-axle hole is arranged in hook rear end face according to this from bottom to top；
Screw putter one end and hook connect, and the other end is connect with vertical wing lower end refers to that screw putter motor one end is embedded in
In the screw putter front-axle hole for linking up with lower end, the other end is embedded in after the screw putter of vertical wing lower end in axis hole；
Guide rod and hook connect, and the other end is connect with vertical wing top refers to leading for guide rod insertion hook top
In bar front-axle hole, the other end is embedded in after the guide rod on vertical wing top in axis hole.
Preferably, the heave control mechanism includes heave control hydrofoil, heave control hydrofoil drive shaft, turbine, snail
Bar, servo motor；Two heave control hydrofoil drive shafts are each passed through the axis hole at left and right sides of horizontal brace notch, and respectively on a left side
It is connect in heave control cabinet, right heave control cabinet with turbine；Turbine engages connection, the connection of worm screw servo motor with worm screw.
Preferably, the heave control mechanism further includes heave control hydrofoil deflector, and the heave controls hydrofoil
The thin-slab structure that deflector is vertically arranged, several heave control hydrofoil deflectors are evenly distributed on heave control hydrofoil aerofoil
On, heave on each position control hydrofoil deflector is orthogonal with heave control hydrofoil and controls hydrofoil with heave and connect to be formed and leads
Flow structure.
Preferably, the main body further includes hatchcover, T-type reinforcing rib, T-type reinforcing rib panel；Left heave control cabinet and the right side
Heave control cabinet top half is dismountable hatchcover, and the inner wall at hatchcover head and the tail both ends is provided with T-type reinforcing rib, and T-type is reinforced
Muscle is a kind of standard cast profile that cross section is " T " shape, wherein a horizontal referred to as panel of " T " word, the one of " T " word is perpendicular to be known as abdomen
Plate；The web of T-type reinforcing rib and the inner wall of hatchcover are rigidly connected, the abdomen of laminal T-type reinforcing rib panel and T-type reinforcing rib
Plate rigid connection, T-type reinforcing rib panel upper surface uniform fold have one layer of watertight rubber ring；Hatchcover passes through several detachable spiral shells
Nail and nut and left heave control cabinet, right heave control cabinet are rigidly connected to form watertight space.
Preferably, the instrument gondola is the cylindrical cavity structure of watertight, and instrument gondola front end is laser diffraction detection
Acquisition device, instrument gondola rear end are provided with watertight hatchcover.
Preferably, the float is spherical hollow space structure made of light overpressure resistant material；Screw putter motor housing with
Float rigid connection；The horizontal brace is the solid construction that cross section is aerofoil profile.
Preferably, preceding fixing piece stabilizer blade is arranged in the preceding fixing piece bottom, and several screw threads are arranged on preceding fixing piece stabilizer blade
Preceding fixing piece and instrument gondola pedestal are rigidly connected by hole, preceding fixing piece stabilizer blade by screw and nut；Preceding fixing piece front end is rigid
Property connect before fixing piece front apron；Afterwards fixing piece bottom setting after fixing piece stabilizer blade, rear fixing piece by screw and nut will after
Fixing piece and instrument gondola pedestal are rigidly connected；Horizontal tail deflector is set at left and right sides of the horizontal tail.
Preferably, the trim regulating empennage at trim regulating empennage mounting hole with the trim regulating empennage of the vertical wing
It is hinged at axis hole.
Preferably, the towing cable fixing piece is uniformly arranged several towing chock bullnoses along longitudinal direction.
Compared with prior art, the beneficial effects of the present invention are:
(1) autonomous stabilisation.Underwater towed vehicle, self-stability of the invention include the self-stability on vertical direction with
And course self-stability.The present invention by the lesser instrument gondola of quality larger volume be placed in towed body lower part and by quality compared with
Biggish two floating drums of small size are placed in the top of towed body, mention significantly while the center of gravity for greatly reducing underwater towed vehicle,
The high centre of buoyancy of underwater towed vehicle, total effect are the centre of buoyancys of underwater towed vehicle, right above center of gravity and far from center of gravity, this just makes
It obtains underwater towed vehicle, of the invention and has preferable transverse stability and pitch metacentric stability that is, the present invention relatively difficult labour life rolling or pitching, simultaneously
Centre of buoyancy makes underwater towed vehicle, lead to the inevitable real estate of underwater towed vehicle, external force is larger right above center of gravity and far from center of gravity
The restoring moment obtained when raw rolling or pitching is larger, and biggish restoring moment allows underwater towed vehicle, of the invention quick
Righting.To sum up, underwater towed vehicle, of the invention has stronger autonomous stabilisation ability.
(2) multifreedom motion is controllable.Underwater towed vehicle, of the invention heaves control mechanism, float-type trim controls machine
Structure, roll control system and turn bow control mechanism etc., heave control mechanism makes the present invention have basic heave movement control
Function processed, float-type trim control mechanism can dynamic regulation Angle of Trim keep towed body stable or realize specific pitching movement, heel
Control system can dynamic regulation Angle of Heel keep towed body stable or realize specific rolling movement, turn bow control mechanism and make the present invention
Underwater towed vehicle, have and turn bow control ability.Underwater towed vehicle, multifreedom motion of the invention is controllable.
(3) shipping-direction stability is good.On the one hand, the left heave control cabinet of underwater towed vehicle, of the invention, right heave control cabinet etc.
Most of structure uses airflow design, and underwater towed vehicle, flow field during towage is relatively stable, to alleviate towage
Underwater towed vehicle, is led to problems such as to occur vibrating or yaw because flow field is unstable in journey, that is, airflow design enables water of the invention
The shipping-direction stability of lower towed body is preferable；On the other hand, pitching, rolling or yawing occur in underwater towed vehicle, towage of the invention
When etc. unnecessary movement, the structures such as diagonal brace, horizontal brace lateral projection or the biggish characteristic of vertical projection area make underwater towed vehicle,
Inhibit the damping of the kinetic damping of above-mentioned movement larger, to reduce the movement width of the unnecessary movement such as pitching, rolling or yawing
Degree, so that underwater towed vehicle, shipping-direction stability of the invention is preferable.To sum up, underwater towed vehicle, shipping-direction stability of the invention is good.
(4) manoeuvrable is heaved.In the heave movement control of underwater towed vehicle, towage process of the invention, heave control
Two servo motors of mechanism synchronize forward or reverse and drive heave control hydrofoil rotation, and heave, which controls hydrofoil, will obtain direction
The lifting force directed downwardly for compeling to sink power or direction upward simultaneously induces towed body to sink or float.Two servo motors are same during this
Step running so that heave control hydrofoil obtain driving force is larger and driving force or so distributing equilibrium, and heave control hydrofoil and lead
The guide functions of flowing plate further improve heave control hydrofoil wing effect, and total effect is that heave control hydrofoil heave control is dynamic
Make steady and strong.Further, since the characteristic that underwater towed vehicle, of the invention uses turbine and worm single-direction transmission enables heave control
Hydrofoil processed has self-lock ability, avoids frequent heave control manipulation.
(5) modularized design.The instrument gondola of underwater towed vehicle, of the invention is independent watertight structure, can be according to reality
Detection demand replaces the instrument gondola of different function easily to realize that different underwater physically or chemically environmental parameters monitors
Function, modularized design enable underwater towed vehicle, of the invention become a kind of general sub-aqua sport platform.
Detailed description of the invention
Fig. 1 is the monnolithic case schematic diagram that autonomous stabilisation of the invention moves controllable pod propulsion underwater towed vehicle,；
Fig. 2 is the right view that autonomous stabilisation of the invention moves controllable pod propulsion underwater towed vehicle,；
Fig. 3 is the front view that autonomous stabilisation of the invention moves controllable pod propulsion underwater towed vehicle,；
Fig. 4 is sectional view along A-A in Fig. 3；
Fig. 5 is the top view that autonomous stabilisation of the invention moves controllable pod propulsion underwater towed vehicle,；
Fig. 6 is the rearview that autonomous stabilisation of the invention moves controllable pod propulsion underwater towed vehicle,；
Fig. 7 is B-B direction cross-sectional view in Fig. 6；
Fig. 8 is that autonomous stabilisation of the invention moves controllable pod propulsion underwater towed vehicle, hatchcover opening state internal structure chart；
Fig. 9 is the hatchcover perspective view that autonomous stabilisation of the invention moves controllable pod propulsion underwater towed vehicle,；
Figure 10 is the hatchcover bottom view that autonomous stabilisation of the invention moves controllable pod propulsion underwater towed vehicle,；
Figure 11 is the heave control mechanism schematic diagram that autonomous stabilisation of the invention moves controllable pod propulsion underwater towed vehicle,；
Figure 12 is the preceding fixing piece perspective view that autonomous stabilisation of the invention moves controllable pod propulsion underwater towed vehicle,；
Figure 13 is the preceding fixing piece bottom view that autonomous stabilisation of the invention moves controllable pod propulsion underwater towed vehicle,；
Figure 14 is the rear fixing piece perspective view that autonomous stabilisation of the invention moves controllable pod propulsion underwater towed vehicle,；
Figure 15 is the rear fixing piece bottom view that autonomous stabilisation of the invention moves controllable pod propulsion underwater towed vehicle,；
Figure 16 is the wing formula trim control mechanism perspective that autonomous stabilisation of the invention moves controllable pod propulsion underwater towed vehicle,
Figure；
Figure 17 is the wing formula trim control mechanism left view that autonomous stabilisation of the invention moves controllable pod propulsion underwater towed vehicle,
Figure；
Figure 18 be autonomous stabilisation of the invention move controllable pod propulsion underwater towed vehicle, float-type trim control mechanism it is saturating
View；
Figure 19 is the roll control system perspective view that autonomous stabilisation of the invention moves controllable pod propulsion underwater towed vehicle,.
It is shown in figure: main body 1, Zuo Shengchen control cabinet 1-1, right heave control cabinet 1-2, instrument gondola pedestal 1-3, bracket 1-
4, diagonal brace 1-5, horizontal brace 1-6, towing cable fixing piece 1-7, hatchcover 1-8, type reinforcing rib 1-9T, type reinforcing rib panel 1-10T, hook
1-11, screw putter front-axle hole 1-12, guide rod front-axle hole 1-13, heave control mechanism 2, heave control hydrofoil 2-1, heave control
Hydrofoil drive shaft 2-2, turbine 2-3, worm screw 2-4, servo motor 2-5, heave control hydrofoil deflector 2-6；Turn bow control mechanism
3, ducted propeller 3-1, instrument gondola fixed mechanism 4, preceding fixing piece 4-1, preceding fixing piece stabilizer blade 4-2, preceding fixing piece front apron
4-3, rear fixing piece 4-4, rear fixing piece stabilizer blade 4-5, horizontal tail 4-6, horizontal tail deflector 4-7, vertical wing 4-8, trim regulating
Axis hole 4-12, wing formula trim after axis hole 4-11, guide rod after empennage axis hole 4-9, trim regulating empennage location hole 4-10, screw putter
Control mechanism 5, trim regulating empennage 5-1, trim regulating empennage deflector 5-2, connecting rod 5-3, trim regulating empennage mounting hole 5-
4, arc locating piece 5-5, float-type trim control mechanism 6, float 6-1, screw putter motor 6-2, screw putter 6-3, guiding
Ballast before hole 6-4, guide rod 6-5, roll control system 7, left front ballast tank 7-1, left back ballast tank 7-2, left connection pipe 7-3, the right side
Ballast tank 7-5, right communicating pipe 7-6, intermediate connection pipe 7-7, high-speed bidirectional pump 7-8, instrument gondola 8 behind cabin 7-4, the right side.
Specific embodiment
Preferably to support the present invention, the invention will be further elaborated with reference to the accompanying drawing, but implementation of the invention
Mode is unlimited so.
As Figure 1-Figure 8, the controllable pod propulsion underwater towed vehicle, of a kind of autonomous stabilisation multifreedom motion, including main body 1,
Heave control mechanism 2 turns bow control mechanism 3, instrument gondola fixed mechanism 4, wing formula trim control mechanism 5, float-type trim control
Mechanism 6, roll control system 7 and instrument gondola 8 processed.
Main body 1 includes left heave control cabinet 1-1, right heave control cabinet 1-2, instrument gondola pedestal 1-3, bracket 1-4, diagonal brace
1-5, horizontal brace 1-6, towing cable fixing piece 1-7；Left heave control cabinet 1-1 and right heave control cabinet 1-2 is columnar cavity structure,
Left heave control cabinet 1-1 and right heave control cabinet 1-2 is arranged at intervals at left and right sides of 1 upper end of main body；Instrument gondola pedestal 1-3 is
Middle cross section is semi-circular shape, thin-wall construction opening up, closed at both ends, and instrument gondola pedestal 1-3 is vertical along towed body
To horizontally disposed, instrument gondola pedestal 1-3 outside wall surface rigid connection bracket 1-4；Bracket 1-4 is staggeredly rigid by several tubular structures
The frame supporting structure that property is formed by connecting, two diagonal brace 1-5 by left heave control cabinet 1-1, right heave control cabinet 1-2 respectively with
Left heave control cabinet 1-1 and right heave control cabinet 1-2 is rigidly connected by instrument gondola pedestal 1-3 rigid connection, horizontal brace 1-6,
Horizontal brace 1-6, Zuo Shengchen control cabinet 1-1, right heave control cabinet 1-2 and instrument gondola pedestal 1-3 form up-side down triangle main body
Structure, horizontal brace 1-6, Zuo Shengchen control cabinet 1-1, right heave control cabinet 1-2 constitute up-side down triangle base end；In horizontal brace 1-6
Portion upper surface rigidly fixes towing cable fixing piece 1-7, and towing cable fixing piece 1-7 is uniformly arranged several towing chock bullnoses along longitudinal direction, to fixation
Towing cable；Horizontal brace 1-6 is the solid construction that cross section is aerofoil profile, and the middle and back part excision of horizontal brace 1-6 forms notch, lacking
Setting perforation heaves control cabinet 1-1 and the right axis hole for heaving control cabinet 1-2 to left at left and right sides of mouthful.
Main body 1 further include hatchcover 1-8, T-type reinforcing rib 1-9, T-type reinforcing rib panel 1-10, hook 1-11, before screw putter
Axis hole 1-12 and guide rod front-axle hole 1-13.As shown in Figures 9 and 10, Zuo Shengchen control cabinet 1-1, the upper half right heave control cabinet 1-2
It is divided into dismountable hatchcover 1-8, the inner wall at hatchcover 1-8 head and the tail both ends is provided with T-type reinforcing rib 1-9, to reinforce hatchcover 1-8
Structural strength；T-type reinforcing rib is a kind of standard cast profile that cross section is " T " shape, wherein a horizontal referred to as panel of " T " word,
The one of " T " word is perpendicular to be known as web；The web of T-type reinforcing rib and the inner wall of hatchcover 1-8 are rigidly connected, and laminal T-type is reinforced
The web of muscle panel 1-10 and T-type reinforcing rib 1-9 is rigidly connected, and the upper surface T-type reinforcing rib panel 1-10 uniform fold has one layer
Watertight rubber ring；Hatchcover 1-8 passes through several detachable screw and nuts and left heave control cabinet 1-1, right heave control cabinet 1-2
Rigid connection forms watertight space.
Linking up with 1-11 is the L-shaped solid, rigid structure of lateral projection, before hook one end 1-11 is rigidly fixed in horizontal brace 1-6
Lower section, the other end is hanging, and screw putter front-axle hole 1-12 and guide rod front axle is arranged in hook 1-11 rear end face according to this from bottom to top
Hole 1-13.
As shown in figure 11, heave control mechanism 2 includes heave control hydrofoil 2-1, heave control hydrofoil drive shaft 2-2, whirlpool
Take turns 2-3, worm screw 2-4, servo motor 2-5 and heave control hydrofoil deflector 2-6；Heave control hydrofoil 2-1 is to be arranged in water
The airfoil structure in the notch of the rear portion 1-6 is supported, the heave control left and right ends hydrofoil 2-1 drive with two heave control hydrofoils respectively
Axis 2-2 rigid connection；Two heave control hydrofoil drive shaft 2-2 are each passed through the axis hole at left and right sides of horizontal brace 1-6 notch, and
It is rigidly connected in left heave control cabinet 1-1, right heave control cabinet 1-2 with turbine 2-3 respectively；Turbine 2-3 is engaged with worm screw 2-4
Connection, worm screw 2-4 are connect with servo motor 2-5, and the left servo motor 2-5 heaved in control cabinet 1-1 and right heave are controlled
The driving force unidirectional delivery of servo motor 2-5 in the 1-2 of cabin to heave controls hydrofoil 2-1；Heave controls hydrofoil deflector 2-6
The thin-slab structure being vertically arranged, several heave control hydrofoil deflector 2-6 are evenly distributed on heave control hydrofoil 2-1 aerofoil,
Heave control hydrofoil deflector 2-6 on each position is orthogonal with heave control hydrofoil 2-1 and controls hydrofoil 2-1 rigidity with heave
Connection forms flow-guiding structure.
As Figure 1-Figure 8, turning bow control mechanism 3 includes ducted propeller 3-1；Two ducted propeller 3-1 difference are rigid
Property be fixed on it is left heave control cabinet 1-1 and it is right heave control cabinet 1-2 rear end.
As shown in Figure 12-Figure 15, instrument gondola fixed mechanism 4 includes preceding fixing piece 4-1, preceding fixing piece stabilizer blade 4-2, preceding solid
Determine part front apron 4-3, rear fixing piece 4-4, rear fixing piece stabilizer blade 4-5, horizontal tail 4-6, horizontal tail deflector 4-7, vertical wing 4-
8, trim regulating empennage axis hole 4-9 and trim regulating empennage location hole 4-10.Preceding fixing piece 4-1 is that cross section is semicircular
Several spiral shells are arranged on fixing piece stabilizer blade 4-2, preceding fixing piece stabilizer blade 4-2 before the bottom preceding fixing piece 4-1 is arranged in the thin-wall construction of annular
Preceding fixing piece 4-1 and instrument gondola pedestal 1-3 to be rigidly connected by pit by screw and nut, the front end preceding fixing piece 4-1
Fixing piece front apron 4-3 before being rigidly connected；Fixing piece 4-4 is streamlined thin-wall construction afterwards, and rear fixing piece 4-4 is arranged in preceding fixation
The rear end part 4-1, rear fixing piece 4-4, preceding fixing piece 4-1 are connect with instrument gondola pedestal 1-3 respectively, and the bottom rear fixing piece 4-4 is set
Fixing piece stabilizer blade 4-5 is postponed, rear fixing piece 4-4 and instrument gondola pedestal 1-3 to be rigidly connected by screw and nut；Water
Flat wing 4-6 is rigidly fixed in rear fixing piece 4-4 rear end face bottom, and horizontal tail deflector 4-7 is arranged at left and right sides of horizontal tail 4-6；
Vertical wing 4-8 is rigidly fixed at the top of rear fixing piece 4-4 rear end face, and vertical wing 4-8 is provided with trim regulating caudal wing shaft at top
Hole 4-9, and trim regulating empennage location hole 4-10 is provided with below trim regulating empennage axis hole 4-9；Vertical wing 4-8 front end face
Axis hole 4-12 axis hole 4-11 and guide rod after is respectively equipped with after screw putter from bottom to top.
As shown in Figure 16-Figure 17, wing formula trim control mechanism 5 includes trim regulating empennage 5-1, trim regulating empennage water conservancy diversion
Plate 5-2, connecting rod 5-3, trim regulating empennage mounting hole 5-4 and arc locating piece 5-5；Trim regulating empennage 5-1 is plate knot
Structure, the left and right ends trim regulating empennage 5-1 rigidly fix a piece of trim regulating empennage deflector 5-2 respectively；Two connecting rod 5-3 are left
Right to be rigidly fixed in the lower surface trim regulating empennage 5-1 side by side, trim regulating empennage mounting hole 5- is arranged in middle and upper part in connecting rod 5-3
4, trim regulating empennage 5-1 are at the trim regulating empennage axis hole 4-9 at trim regulating empennage mounting hole 5-4 with vertical wing 4-8
Hingedly；Arc locating piece 5-5 is rigidly fixed in the lower end connecting rod 5-3, is uniformly arranged several circular holes on arc locating piece 5-5, wherein
A certain circular hole and vertical wing 4-8 on trim regulating empennage location hole 4-10 align and be inserted into pilot pin, by wing formula trim control
Mechanism 5 processed is locked under a certain angle of attack.
As shown in figure 18, float-type trim control mechanism 6 includes float 6-1, screw putter motor 6-2, screw putter 6-
3, pilot hole 6-4 and guide rod 6-5；Float 6-1 be light overpressure resistant material made of spherical hollow space structure, be located at diagonal brace 1-5 with
In the channel that horizontal brace 1-6 is surrounded, the buoyancy that float 6-1 is subject to is much larger than the weight that float 6-1 and screw putter motor 6-2 are subject to
Power；Screw putter motor 6-2 is arranged inside float 6-1, and screw putter motor 6-2 shell and float 6-1 are rigidly connected；Screw thread
Push rod 6-3 passes through float 6-1 and screw putter motor 6-2, the screw putter front-axle hole 1-12 of one end insertion hook lower end 1-11
Interior, the other end is embedded in after the screw putter of the lower end vertical wing 4-8 in axis hole 4-11；Pilot hole 6-4 is axial flat with screw putter 6-3
It goes and is rigidly fixed in float 6-1 highest point；Guide rod 6-5 passes through pilot hole 6-4, before the guide rod on the top 1-11 is linked up in one end insertion
In axis hole 1-13, the other end is embedded in after the guide rod on the top vertical wing 4-8 in axis hole 4-12；Float 6-1 will be in screw putter motor
Under 6-2 driving effect and guide rod 6-5 guiding role, it is moved forward and backward to change towed body of the present invention along screw putter 6-3
Longitudinal center on buoyancy, and then achieve the purpose that control towed body Angle of Trim of the present invention.
As shown in figure 19, roll control system 7 include left front ballast tank 7-1, left back ballast tank 7-2, left connection pipe 7-3,
Ballast tank 7-5, right communicating pipe 7-6, intermediate connection pipe 7-7 and high-speed bidirectional pump 7-8 behind ballast tank 7-4, the right side before the right side；Left front pressure
Carry cabin 7-1, left back ballast tank 7-2 is separately positioned on the rear and front end left heave control cabinet 1-1, left front ballast tank 7-1, left back ballast
Cabin 7-2 is connected to form left side ballast tank by left connection pipe 7-3；Ballast tank 7-5 is arranged in right liter behind ballast tank 7-4, the right side before the right side
The heavy rear and front end control cabinet 1-2, it is right before ballast tank 7-4, it is right after ballast tank 7-5 be connected to form right side and press by right communicating pipe 7-6
Carry cabin；Intermediate connection pipe 7-7 is connected to left connection pipe 7-3 and right communicating pipe 7-6, and high-speed bidirectional pumps 7-7 and is arranged in intermediate connection pipe
On 7-7.High-speed bidirectional pump 7-7 work when by ballast water from left side ballast tank turn right ballast tank conveying or from right side ballast tank it is past
Ballast tank conveying in left side reaches control towed body heel of the present invention to change the transverse position of gravity center of towed body of the present invention
The purpose at angle.
As Figure 1-Figure 8, instrument gondola 8 is the cylindrical cavity structure of watertight, and instrument gondola 8 is placed in instrument gondola bottom
On seat 1-3, instrument gondola pedestal 1-3 and preceding fixing piece 4-1, rear fixing piece 4-4 collectively constitute the knot that constraint instrument gondola 8 is displaced
Structure, to realize that instrument gondola 8 moves together with towed body；8 front end of instrument gondola is that laser diffraction detects acquisition device, instrument
8 rear end of gondola is provided with watertight hatchcover.
Specific working mode of the invention is as follows:
(1) require for TU task unit, that is, instrument gondola 8 to be placed on instrument gondola pedestal 1-3 according to detection mission, will before
The preceding fixing piece stabilizer blade 4-2 of fixing piece 4-1, the rear fixing piece stabilizer blade 4-5 of rear fixing piece 4-4 are placed individually into instrument gondola pedestal
Preceding fixing piece 4-1 and rear fixing piece 4-4 are fixed company with instrument gondola pedestal 1-3 respectively with screw and nut by the corresponding position 1-3
It is connected to together；Instrument gondola 8 after the installation is completed, carries out trim to underwater towed vehicle, in water tank and towed body heel is made to be zero；
One end of towing hawser passes through the towing chock bullnose on towing cable fixing piece 1-7 and fixation, the other end for pulling hawser are connected to aircraft
On hawser draw off gear corresponding position on；Relevant cables are connected, and underwater towed vehicle, is put into marine a certain depth, ship,
The aircraft such as submarine or helicopter navigate by water forward towing so that underwater towed vehicle, navigates by water forward.
(2) during towage, the left heave control cabinet 1-1 of underwater towed vehicle, of the invention, right heave control cabinet 1-2 etc.
The fairshaped shape of structure is conducive to reduce towage resistance, and lesser towage resistance can reduce the tension of towing hawser to subtract
The risk of rode fracture, so that towage is safer；Pitching, rolling or yawing occur in underwater towed vehicle, towage of the invention
When etc. unnecessary movement, the structures such as diagonal brace 1-5, horizontal brace 1-6 survey projection or the biggish characteristic of vertical projection area makes diagonal brace
The structures such as 1-5, horizontal brace 1-6 can obtain the kinetic damping appropriate for inhibiting above-mentioned movement, the knot such as diagonal brace 1-5, horizontal brace 1-6
Structure designs so that underwater towed vehicle, shipping-direction stability of the invention is preferable.
(3) in the trim preconditioning in underwater towed vehicle, of the invention based on wing formula trim control mechanism 5: being dragged when under water
When draging body trim by head, towed body is discharged, the corner locking removed on the arc locating piece 5-5 of wing formula trim control mechanism 5 is inserted
Pin, trim regulating empennage 5-1 is turned an angle forward manually, plugs dead bolt again, so that trim regulating empennage 5-1
Corner locking.By towed body back into Shui Shui, due to the mobilization of seawater during towage, the trim regulating tail that deflects forward
Wing 5-1 obtain it is downward compel heavy power, this is compeled heavy power and forms a clockwise moment on towed body under water, clockwise
Torque induction underwater towed vehicle, deflects toward the clockwise direction, and underwater towed vehicle, trim by head disappears；On the contrary, when underwater towed vehicle, stern inclines
When, towed body is discharged, the corner dead bolt on the arc locating piece 5-5 of wing formula trim control mechanism 5 is removed, manually will
Trim regulating empennage 5-1 rotates backward certain angle, plugs dead bolt again, so that trim regulating empennage 5-1 corner locks.
By towed body back into water, due to the mobilization of seawater during towage, the trim regulating empennage 5-1 deflected forward obtain to
On lifting force, which forms a counter clockwise direction torque on towed body under water, and counter clockwise direction torque induces water
Lower towed body counterclockwise deflects, and underwater towed vehicle, stern inclines disappearance.It usually requires to carry out several times before data acquisition
Examination is dragged to adjust underwater towed vehicle, Angle of Trim so that the working efficiency of instrument gondola 8 is best.
(4) in the heave control of underwater towed vehicle, towage process of the invention: when towed body needs, heave control
Two servo motor 2-5 of mechanism 2 processed are synchronous to be inverted and corresponding worm screw 2-4 is driven to rotate respectively, and worm screw 2-4 drives again
It is corresponding to it and intermeshing turbine 2-3 is rotated, and turbine 2-3 drives therewith further through heave control hydrofoil drive shaft 2-2
Rigidly connected heave control hydrofoil 2-1 is rotated counterclockwise, during towage under seawater mobilization, heave control hydrofoil 2-
1 will obtain the urgent heavy power being directed downward, and heaving control hydrofoil deflector 2-6 makes above-mentioned flowing be strengthened so that above-mentioned
Compel heavy power to increase, this is compeled heavy power induction towed body and sinks；When towed body needs to float, two servos of control mechanism 2 are heaved
Motor 2-5 is synchronous to be rotated forward and corresponding worm screw 2-4 is driven to rotate respectively, and worm screw 2-4 drives again and is corresponding to it and mutually nibbles
The turbine 2-3 of conjunction is rotated, and turbine 2-3 drives rigidly connected heave therewith to control further through heave control hydrofoil drive shaft 2-2
Hydrofoil 2-1 processed is rotated clockwise, and during towage under seawater mobilization, heave control hydrofoil 2-1 will obtain direction upward
Lifting force, and heave control hydrofoil deflector 2-6 so that above-mentioned flowing is strengthened so that above-mentioned lifting force increase, this is mentioned
Lift induces towed body to float；In above-mentioned towed body sinks or floating controls, two equal synchronous operations of servo motor 2-5 make
Must heave that control hydrofoil 2-1 obtains driving force is larger and left and right distributing equilibrium, and since turbine 2-3 and worm screw 2-4 are unidirectionally passed
Dynamic characteristic makes above-mentioned transmission process be unidirectional, that is, two servo motor 2-5 can drive heave control hydrofoil 2-1, but
Heave control hydrofoil 2-1 can not reversely drive two servo motor 2-5, this, which allows for heave control hydrofoil 2-1, to be locked in
It works under a certain corner without two servo motor 2-5 and maintains the deflection angle, to alleviate two servo motor 2-5
Burden.In this way, underwater towed vehicle, of the invention can dynamically control underwater penetration.
(5) the real-time dynamic of trim when towage in underwater towed vehicle, of the invention based on float-type trim control mechanism 6
In adjusting: when underwater towed vehicle, needs fore body to lift, screw putter motor 6-2 is rotated forward, screw putter motor 6-2 and float 6-
1 travels forward along screw putter 6-3 and guide rod 6-5 together, due to float 6-1 the buoyancy being subject to much larger than float 6-1 with
The centre of buoyancy of the gravity that screw putter motor 6-2 is subject to, towed body of the invention moves forward and centre of buoyancy amount of movement is much larger than gravity motion
Amount, centre of buoyancy is before center of gravity and buoyancy is approximately equal to gravity, and torque induces lower towed body fore body to be lifted；On the contrary, ought drag under water
When draging body fore body being needed to sink, screw putter motor 6-2 reversion, screw putter motor 6-2 is pushed away together with float 6-1 along screw thread
Bar 6-3 and guide rod 6-5 are moved backward, since the buoyancy of float 6-1 being subject to is much larger than float 6-1 and screw putter motor 6-2
The centre of buoyancy of the gravity being subject to, towed body of the invention moves back and centre of buoyancy amount of movement is much larger than gravity motion amount, centre of buoyancy center of gravity it
Afterwards and buoyancy is approximately equal to gravity, and torque induces lower towed body fore body to sink.In this way, underwater towed vehicle, of the invention can be adjusted dynamically
Section Angle of Trim keeps towed body stable or realizes specific pitching movement.
(6) when towage in underwater towed vehicle, heel control of the invention: when towed body needs to tilt to the right, high speed
Two-way pump 7-8 rotate forward, ballast water quickly by ballast water from left side ballast tank turn right ballast tank conveying so that towed body on the right side of increase
Weight, left side mitigate, and torque induces lower towed body to tilt to the right；On the contrary, high speed is double when towed body needs to tilt to the left
To pump 7-8 reversion, ballast water quickly by ballast water from right side ballast tank turn left side ballast tank conveying so that towed body on the left of increase
Weight, right side mitigate, and torque induces lower towed body to tilt to the left.In this way, underwater towed vehicle, of the invention can dynamic regulation cross
Inclination angle keeps towed body stable or realizes specific rolling movement.
(7) turn bow control by turning the setting of bow control mechanism 3 in left and right two in underwater towed vehicle, towage process of the invention
The left and right ducted propeller 3-1 positive and negative rotation of the rear end of a floating drum shape cabin structure or rotational speed difference control.When underwater towed vehicle, needs
Counterclockwise when turning bow, the ducted propeller 3-1 of left floating drum shape cabin structure rear end rotates forward, right floating drum shape cabin structure rear end is led
The ducted propeller 3-1 revolving speed of pipe propeller 3-1 reversion or left floating drum shape cabin structure rear end is greater than right floating drum shape cabin structure
The ducted propeller of rear end, total effect that the ducted propeller 3-1 of left and right two generates thrust is to generate a work in the horizontal plane
Used in the torque counterclockwise of towed body, this torque induction towed body turns bow counterclockwise；On the contrary, when underwater towed vehicle, needs are suitable
When hour hands turn bow, the ducted propeller 3-1 of left floating drum shape cabin structure rear end reversion, right floating drum shape cabin structure rear end conduit
Propeller 3-1 is rotated forward or the ducted propeller 3-1 revolving speed of left floating drum shape cabin structure rear end is less than after right floating drum shape cabin structure
The ducted propeller at end, total effect that the ducted propeller 3-1 of left and right two generates thrust is to generate an effect in the horizontal plane
In the clockwise torque of towed body, this torque induction towed body turns bow clockwise.In this way, underwater towed vehicle, of the invention
Control course is that towed body is stable or the specific horizontal plane motion of realization acts.
(8) it during towage, heaves control mechanism 2 and turns bow control mechanism 3 and towing hawser synergistic effect, make
It obtains underwater towed vehicle, of the invention and completes specified athletic performance.
The present invention is not constrained by above-described embodiment, and others are any to be made without departing from the spirit and principles of the present invention
Changes, modifications, substitutions, combinations, simplifications, should be equivalent alternative, be included within the scope of the present invention.
Claims (10)
1. a kind of controllable pod propulsion underwater towed vehicle, of autonomous stabilisation multifreedom motion, it is characterised in that: including main body, heave control
Mechanism processed turns bow control mechanism, instrument gondola fixed mechanism, wing formula trim control mechanism, float-type trim control mechanism, heel
Control system and instrument gondola；
The main body includes left heave control cabinet, right heave control cabinet, instrument gondola pedestal, bracket, diagonal brace, horizontal brace, drags
Cable fixing piece and hook；Left heave control cabinet and right heave control cabinet are columnar cavity structure, Zuo Shengchen control cabinet and right liter
Heavy control cabinet is arranged at intervals at left and right sides of main body upper end；Instrument gondola pedestal is arranged along towed body vertical equity, and instrument is hung
Bilge seat outside wall surface rigid connection bracket；Two diagonal braces by left heave control cabinet, right heave control cabinet respectively with instrument gondola bottom
Left heave control cabinet and right heave control cabinet are rigidly connected by seat connection, horizontal brace；Upper surface, which rigidly fixes, in the middle part of horizontal brace drags
Cable fixing piece, the middle and back part excision of horizontal brace, forms notch；Hook is rigidly fixed in horizontal brace front end；
The heave control hydrofoil of the heave control mechanism is the airfoil structure being arranged in the notch of horizontal brace rear portion, heave control
Hydrofoil left and right ends processed are rigidly connected with two heave control hydrofoil drive shafts respectively；
Two ducted propellers for turning bow control mechanism are rigidly fixed in left heave control cabinet and right heave control respectively
The rear end in cabin；
The preceding fixing piece of the instrument gondola fixed mechanism is the thin-wall construction that cross section is semi-circular shape, and rear fixing piece is stream
Linear thin-wall construction, the instrument gondola is arranged on instrument gondola pedestal, between preceding fixing piece and rear fixing piece, water
The flat wing is fixed on rear fixing piece rear end face bottom, and the vertical wing is rigidly fixed at the top of rear fixing piece rear end face；
The trim regulating empennage of the wing formula trim control mechanism is plate structure, and connecting rod is fixed on trim regulating empennage following table
Trim regulating empennage mounting hole is arranged in middle and upper part in face, connecting rod, and trim regulating empennage is at trim regulating empennage mounting hole and perpendicular
It is hinged at the trim regulating empennage axis hole of the straight wing；Arc locating piece is fixed on connecting rod lower end, if being uniformly arranged on arc locating piece
Dry circular hole, circular hole are connect with the trim regulating empennage location hole on the vertical wing by pilot pin；
The float of the float-type trim control mechanism is located in the channel that two diagonal braces and horizontal brace surround, screw putter motor
It is arranged inside float, screw putter passes through float and screw putter motor, and one end and hook connect, under the other end and the vertical wing
End connection；Pilot hole is arranged in float highest point；Guide rod passes through pilot hole, and one end and hook connect, on the other end and the vertical wing
Portion's connection；The buoyancy that float is subject to is much larger than the gravity that float and screw putter motor are subject to；
Left front ballast tank, the left back ballast tank of the roll control system are separately positioned on left heave control cabinet rear and front end,
Left front ballast tank, left back ballast tank are connected to form left side ballast tank by left connection pipe；Ballast tank is arranged behind ballast tank, the right side before the right side
Ballast tank was connected to form right side ballast tank by right communicating pipe behind ballast tank, the right side before right heave control cabinet rear and front end, the right side；In
Between communicating pipe connection left connection pipe and right communicating pipe, high-speed bidirectional pump is arranged on intermediate connection pipe.
2. the controllable pod propulsion underwater towed vehicle, of autonomous stabilisation multifreedom motion according to claim 1, it is characterised in that:
The vertical wing is provided with trim regulating empennage axis hole at top, is provided with trim regulating below trim regulating empennage axis hole
Empennage location hole；Vertical wing front end face is respectively equipped with after screw putter axis hole after axis hole and guide rod from bottom to top；The hook
It for the L-shaped solid, rigid structure of lateral projection, links up with one end and is rigidly fixed in horizontal brace front end, the other end is hanging, links up with rear end
Screw putter front-axle hole and guide rod front-axle hole is arranged in face according to this from bottom to top；
Screw putter one end and hook connect, and the other end is connect with vertical wing lower end refers to screw putter motor one end insertion hook
In the screw putter front-axle hole of lower end, the other end is embedded in after the screw putter of vertical wing lower end in axis hole；
Guide rod and hook connect, before the other end connect the guide rod for referring to guide rod insertion hook top with vertical wing top
In axis hole, the other end is embedded in after the guide rod on vertical wing top in axis hole.
3. the controllable pod propulsion underwater towed vehicle, of autonomous stabilisation multifreedom motion according to claim 1, it is characterised in that:
The heave control mechanism includes heave control hydrofoil, heave control hydrofoil drive shaft, turbine, worm screw, servo motor；Two
Heave control hydrofoil drive shaft is each passed through the axis hole at left and right sides of horizontal brace notch, and respectively in left heave control cabinet, right liter
It is connect in heavy control cabinet with turbine；Turbine engages connection, the connection of worm screw servo motor with worm screw.
4. the controllable pod propulsion underwater towed vehicle, of autonomous stabilisation multifreedom motion according to claim 3, it is characterised in that:
The heave control mechanism further includes heave control hydrofoil deflector, and the heave control hydrofoil deflector is vertically arranged
Thin-slab structure, several heaves control hydrofoil deflectors are evenly distributed on heave control hydrofoil aerofoil, the liter on each position
Heavy control hydrofoil deflector is orthogonal with heave control hydrofoil and connect to form flow-guiding structure with heave control hydrofoil.
5. the controllable pod propulsion underwater towed vehicle, of autonomous stabilisation multifreedom motion according to claim 1, it is characterised in that:
The main body further includes hatchcover, T-type reinforcing rib, T-type reinforcing rib panel；Left heave control cabinet and the right heave control cabinet upper half
It is divided into dismountable hatchcover, the inner wall at hatchcover head and the tail both ends is provided with T-type reinforcing rib, and T-type reinforcing rib is that a kind of cross section is in
" T " shaped standard cast profile, wherein a horizontal referred to as panel of " T " word, the one of " T " word is perpendicular to be known as web；The abdomen of T-type reinforcing rib
The web of the rigid connection of the inner wall of plate and hatchcover, laminal T-type reinforcing rib panel and T-type reinforcing rib is rigidly connected, and T-type adds
Strengthening tendons panel upper surface uniform fold has one layer of watertight rubber ring；Hatchcover passes through several detachable screw and nuts and Zuo Shengchen
Control cabinet, right heave control cabinet are rigidly connected to form watertight space.
6. the controllable pod propulsion underwater towed vehicle, of autonomous stabilisation multifreedom motion according to claim 1, it is characterised in that:
The instrument gondola is the cylindrical cavity structure of watertight, and instrument gondola front end is that laser diffraction detects acquisition device, and instrument is hung
Cabin rear end is provided with watertight hatchcover.
7. the controllable pod propulsion underwater towed vehicle, of autonomous stabilisation multifreedom motion according to claim 1, it is characterised in that:
The float is spherical hollow space structure made of light overpressure resistant material；Screw putter motor housing and float are rigidly connected；Institute
The horizontal brace stated is the solid construction that cross section is aerofoil profile.
8. the controllable pod propulsion underwater towed vehicle, of autonomous stabilisation multifreedom motion according to claim 1, it is characterised in that:
Preceding fixing piece stabilizer blade is arranged in the preceding fixing piece bottom, and several threaded holes, preceding fixing piece stabilizer blade is arranged on preceding fixing piece stabilizer blade
Preceding fixing piece and instrument gondola pedestal are rigidly connected by screw and nut；Before preceding fixing piece front end is rigidly connected before fixing piece
Baffle；Fixing piece stabilizer blade after the setting of fixing piece bottom, rear fixing piece pass through screw and nut for rear fixing piece and instrument gondola afterwards
Pedestal rigid connection；Horizontal tail deflector is set at left and right sides of the horizontal tail.
9. the controllable pod propulsion underwater towed vehicle, of autonomous stabilisation multifreedom motion according to claim 1, it is characterised in that:
The trim regulating empennage is hinged at the trim regulating empennage axis hole at trim regulating empennage mounting hole with the vertical wing.
10. the controllable pod propulsion underwater towed vehicle, of autonomous stabilisation multifreedom motion according to claim 1, feature exist
In: the towing cable fixing piece is uniformly arranged several towing chock bullnoses along longitudinal direction.
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| CN201910762500.1A CN110435858B (en) | 2019-08-19 | 2019-08-19 | Autonomous stable multi-degree-of-freedom motion controllable pod type underwater towed body |
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| CN113501110A (en) * | 2021-06-12 | 2021-10-15 | 华中科技大学 | Open-frame underwater towed body for ocean observation and underwater recovery |
| CN113581435A (en) * | 2021-07-27 | 2021-11-02 | 中国船舶科学研究中心 | Nacelle power instrument attitude adjusting mechanism |
| CN114132465A (en) * | 2021-11-12 | 2022-03-04 | 台山核电合营有限公司 | Underwater marine organism monitoring device |
| CN114200531A (en) * | 2022-02-16 | 2022-03-18 | 自然资源部第二海洋研究所 | Multi-component submarine magnetic field measurement method and device |
| CN114379749A (en) * | 2022-01-27 | 2022-04-22 | 中国科学院沈阳自动化研究所 | Method for adjusting steady height of parallel three-body underwater robot |
| CN114670996A (en) * | 2022-05-31 | 2022-06-28 | 中国海洋大学 | Three-body underwater robot |
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