CN113682435A - Novel wave glider of multi-link formula - Google Patents
Novel wave glider of multi-link formula Download PDFInfo
- Publication number
- CN113682435A CN113682435A CN202110840528.XA CN202110840528A CN113682435A CN 113682435 A CN113682435 A CN 113682435A CN 202110840528 A CN202110840528 A CN 202110840528A CN 113682435 A CN113682435 A CN 113682435A
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- hydrofoil
- hinge
- tractor
- ship
- water surface
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- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 30
- 238000007667 floating Methods 0.000 claims abstract description 29
- 230000007704 transition Effects 0.000 claims description 10
- 230000009471 action Effects 0.000 abstract description 3
- 230000005484 gravity Effects 0.000 abstract description 2
- 230000000737 periodic effect Effects 0.000 abstract description 2
- 230000007246 mechanism Effects 0.000 description 3
- 238000004891 communication Methods 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 229910000831 Steel Inorganic materials 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000002708 enhancing effect Effects 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000035945 sensitivity Effects 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
Images
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B21/00—Tying-up; Shifting, towing, or pushing equipment; Anchoring
- B63B21/56—Towing or pushing equipment
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- Chemical & Material Sciences (AREA)
- Engineering & Computer Science (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Other Liquid Machine Or Engine Such As Wave Power Use (AREA)
Abstract
The invention discloses a novel wave glider of multi-link formula, this device includes: the system comprises a water surface floating body ship, a multi-connecting-rod device and a vertical underwater tractor; two ends of the multi-link device are connected with the other two parts through rotating shafts; the length of the multi-connecting-rod device and the number of hydrofoils of the vertical underwater tractor can be changed; when the water surface floating body ship moves to the wave crest, the multi-connecting-rod device drives the vertical underwater tractor to move upwards, the vertical underwater tractor is in a straightened state and moves forwards and is positioned at the front end of the water surface floating body ship, and the multi-connecting-rod device pulls the water surface floating body ship to move forwards; when the wave crest is reached, the vertical underwater tractor still moves upwards due to inertia, and the multi-connecting-rod device is folded; when the vertical underwater tractor generates a downward speed due to the action of gravity, the multi-link device starts to stretch, the vertical underwater tractor is positioned at the front end of the water surface floating body ship, and the multi-link device pulls the water surface floating body ship to move forward, so that the periodic forward movement is realized.
Description
Technical Field
The invention mainly relates to the technical field of ocean mobile observation platforms, in particular to a novel wave glider technology adopting a multi-connecting-rod structure.
Background
The currently developed wave glider is a double-body-structure water surface autonomous movement observation platform formed by connecting a water surface floating body ship and an underwater tractor through an armored cable with the length of 4-7 meters, the armored cable of the platform is made of rubber materials with bearing steel wires and communication wires embedded inside, has certain flexibility, and 6 groups of hydrofoils of the underwater tractor of the platform are arranged in a horizontal array mode; the underwater tractors with the hydrofoils horizontally arrayed are weak in horizontal attitude keeping capacity, large pitching attitude angles are easy to generate, and gliding efficiency is affected.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a novel multi-connecting-rod type wave glider technology which is high in stability, convenient to assemble and strong in wave power conversion capacity.
In order to achieve the purpose, the invention adopts the technical scheme that: a novel wave glider of multi-link formula, includes: the system comprises a water surface floating body ship, a multi-connecting rod device and a vertical underwater tractor.
The multi-link device consists of a hull hinge, a transition hinge, a tractor hinge and a rotating shaft. The upper end of the hull hinge is connected with the bottom end of the water surface floating body ship, the lower end of the hull hinge is connected with the upper end of the transition hinge through a rotating shaft, the transition hinge is connected with the upper end of the tractor hinge in the same mode, the lower end of the tractor hinge is connected with the vertical underwater tractor through a screw, the rotating motion and the up-and-down folding motion of the forward degree of freedom are achieved, and the length and the number of the hinges of the multi-link device can be properly changed according to actual conditions.
The vertical underwater tractor consists of hydrofoils, a hydrofoil frame, a hydrofoil revolving shaft and a hydrofoil limiting shaft. The hydrofoils are fixed on two sides of the hydrofoil frame through the hydrofoil rotating shafts, the hydrofoil tail is connected with the hydrofoil limiting shaft to realize hydrofoil angle swing, the hydrofoil frame limits the vertical swing angle of the hydrofoils within +30 degrees to-90 degrees, and the number of the hydrofoils of the vertical underwater tractors and the length of the hydrofoil frame can be properly changed according to specific conditions.
The invention has the advantages that:
1. the control system is arranged in the water surface floating body ship, the vertical underwater tractor does not need to be additionally provided with an electric unit, wiring is not needed between the water surface floating body ship and the vertical underwater tractor, and the stability and the safety of the control system are enhanced.
2. The invention adopts the rigid multi-link device to connect the water surface floating body ship and the vertical underwater tractor, prevents the relative torsion of the water surface floating body ship and the vertical underwater tractor, and removes the hidden trouble that the flexible armored cable is broken.
3. The length of the connecting rods in the multi-connecting-rod device and the number of hydrofoils of the vertical underwater tractor can be changed according to specific use conditions, so that the folding rationalization under the conditions of different water depths is realized.
4. The vertical underwater tractor moves in a vertical state, the problems of trim and pitching attitude angle of the traditional transverse underwater tractor do not need to be considered, the hydrofoil can better keep a horizontal state, and the gliding efficiency is enhanced.
5. The multi-connecting-rod type novel wave glider integrally adopts rigid connection, so that the defect of inconvenient assembly is overcome, and the reliability of long-term work is enhanced.
Drawings
The invention will be further described with reference to the accompanying drawings, in which:
FIG. 1 is a general structural schematic of the present invention (a novel multi-link wave glider general structural schematic);
FIG. 2 is a schematic view of the multi-link apparatus of the present invention (a schematic view of a novel multi-link wave glider multi-link apparatus);
FIG. 3 is a schematic diagram of the working mechanism of the present invention (a schematic diagram of the working mechanism of the novel multi-link wave glider);
wherein: 1. the system comprises a water surface floating body ship, 2 parts of a multi-connecting rod device, 2-1 parts of a ship body hinge, 2-2 parts of a transition hinge, 2-3 parts of an underwater tractor hinge, 2-4 parts of a rotating shaft and 3 parts of a vertical underwater tractor.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
The novel multi-connecting-rod type wave glider is used for improving the wave gliding efficiency, improving the steering sensitivity, simplifying the assembly process and enhancing the stability and reliability.
As shown in figure 1, the novel multi-link wave glider comprises a water surface floating body ship 1, a multi-link device 2 and a vertical underwater tractor 3, wherein the water surface floating body ship 1 comprises a ship body, a steering engine, a solar cell panel and an electric control system. The ship body is designed into a streamline ship shape, the integral frame of the water surface floating body ship 1 is provided with the steering engine arranged at the bottom end of the tail part of the ship body, the solar panel is arranged on the upper surface of the ship body, the electric control system mainly completes tasks such as remote communication, autonomous navigation, steering control and the like, the multi-link device 2 consists of a ship body hinge 2-1, a transition hinge 2-2, a tractor hinge 2-3 and a rotating shaft 2-4, the upper end of the ship body hinge 2-1 is connected with the bottom end of the water surface floating body ship 1, the lower end of the ship body hinge 2-1 is connected with the upper end of the transition hinge 2-2 through the rotating shaft 2-4, the transition hinge 2-2 is connected with the tractor hinge 2-3 in the same way, and the lower end of the tractor hinge 2-3 is connected with the vertical underwater tractor 3 through a screw, the length and the number of hinges of the multi-link device can be properly changed according to actual conditions, the vertical underwater tractor 3 comprises hydrofoils, a hydrofoil frame, hydrofoil rotating shafts and hydrofoil limiting shafts, the hydrofoils are fixed on two sides of the hydrofoil frame through the hydrofoil rotating shafts and are connected with the tail parts of the hydrofoils through the hydrofoil limiting shafts to realize hydrofoil angle swing, the hydrofoil frame limits the vertical swing angle of the hydrofoils within +30 degrees to-90 degrees, and the number of the hydrofoils of the vertical underwater tractor and the length of the hydrofoil frame can be properly changed according to specific conditions.
The water surface floating body ship 1 and the multi-link device 2 are connected with each other through a ship body hinge 2-1 and a rotating shaft 2-4, the multi-link device 2 and the vertical underwater tractor 3 are connected with each other through a tractor hinge 2-3 and a rotating shaft 2-4, the vertical underwater tractor 3 fixes the hydrofoil on two sides of the hydrofoil frame through a hydrofoil rotating shaft and a hydrofoil limiting shaft, and the hydrofoil frame has an included angle of +30 degrees to-90 degrees to limit the rotating angle of the hydrofoil.
As shown in fig. 3, in the multi-link type novel wave glider movement mechanism, when the surface floating body ship 1 moves to a wave crest, the vertical underwater tractor 3 is driven to move upwards through the multi-link device 2, the multi-link device 2 is in a straightened state, and the hydrofoil swings, because the water has a forward acting component force on the hydrofoil, the vertical underwater tractor 3 moves forwards and is positioned at the front end of the surface floating body ship 1, and the vertical underwater tractor 3 pulls the surface floating body ship 1 to move forwards through the multi-link device 2 in the straightened state; when the wave crest is reached, the water surface floating body ship 1 starts to move downwards, but the vertical underwater tractor 3 still moves upwards due to the inertia effect, so that the multi-link device 2 is folded, and the folding amount of the multi-link device 2 is maximized when the upward speed of the vertical underwater tractor 3 is 0; when the underwater tractor 3 begins to generate a downward speed due to the action of gravity, the multi-link device 2 begins to stretch, and the vertical underwater tractor 3 is positioned at the front end of the water surface floating body ship 1 due to the forward action component force of water, and the water surface floating body ship 1 is pulled to move forwards through the multi-link device 2, for example, a secondary multi-link type novel wave glider realizes periodic forward movement.
Claims (4)
1. The utility model provides a novel wave glider of multi-link formula which characterized in that: comprises three parts, namely a water surface floating body ship, a multi-connecting rod device and a vertical underwater tractor;
the water surface floating body ship comprises a ship body, a steering engine and a solar cell panel, wherein the ship body is designed in a streamline ship shape and provides buoyancy for the multi-connecting-rod type novel wave glider, the tail rudder is installed at the bottom end of the tail part of the ship body and is used for steering control of the multi-connecting-rod type novel wave glider, and the solar cell panel is installed on the upper surface of the ship body and provides necessary electric energy for the multi-connecting-rod type novel wave glider; the multi-link device comprises a hull hinge, a transition hinge, a tractor hinge and a rotating shaft, the upper end of the hull hinge is connected with the bottom end of the water surface floating body ship, the lower end of the hull hinge is connected with the upper end of the transition hinge through the rotating shaft, the transition hinge is connected with the upper end of the tractor hinge in the same way, the lower end of the tractor hinge is connected with the vertical underwater tractor through a screw, and the length and the number of the hinges of the multi-link device can be properly changed according to actual conditions; the vertical underwater tractor comprises hydrofoils, a hydrofoil frame, a hydrofoil rotating shaft and a hydrofoil limiting shaft, wherein the hydrofoils are fixed on two sides of the hydrofoil frame through the hydrofoil rotating shaft and are connected with the tail parts of the hydrofoils through the hydrofoil limiting shaft to realize hydrofoil angle swing, and the hydrofoil frame limits the vertical swing angle of the hydrofoils within + 30-90 degrees.
2. The novel wave glider of multi-link type according to claim 1, characterized in that: the hydrofoil number of the vertical underwater tractor and the length of the hydrofoil frame can be properly changed according to specific conditions.
3. The novel wave glider of multi-link type according to claim 1, characterized in that: the length and the number of hinges of the multi-link device can be properly changed according to actual conditions.
4. The novel wave glider of multi-link type according to claim 1, characterized in that: the connection mode of the hull hinge of the multi-link device and the water surface floating body ship is revolute pair connection.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110840528.XA CN113682435A (en) | 2021-07-24 | 2021-07-24 | Novel wave glider of multi-link formula |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110840528.XA CN113682435A (en) | 2021-07-24 | 2021-07-24 | Novel wave glider of multi-link formula |
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| Publication Number | Publication Date |
|---|---|
| CN113682435A true CN113682435A (en) | 2021-11-23 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202110840528.XA Pending CN113682435A (en) | 2021-07-24 | 2021-07-24 | Novel wave glider of multi-link formula |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114802620A (en) * | 2022-03-10 | 2022-07-29 | 东南大学 | Mobile offshore charging station driven and generated by wave energy |
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2021
- 2021-07-24 CN CN202110840528.XA patent/CN113682435A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114802620A (en) * | 2022-03-10 | 2022-07-29 | 东南大学 | Mobile offshore charging station driven and generated by wave energy |
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Application publication date: 20211123 |
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