CN114291240B - Flexible empennage structure and underwater vehicle - Google Patents
Flexible empennage structure and underwater vehicle Download PDFInfo
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- CN114291240B CN114291240B CN202111565417.9A CN202111565417A CN114291240B CN 114291240 B CN114291240 B CN 114291240B CN 202111565417 A CN202111565417 A CN 202111565417A CN 114291240 B CN114291240 B CN 114291240B
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Abstract
The invention relates to the technical field of underwater vehicles, and discloses a flexible empennage structure and an underwater vehicle. When the underwater vehicle sinks underwater, the flexible empennage structure is subjected to the resistance action of water when the underwater vehicle navigates, the tail wire is in a straightening state, and when the underwater vehicle deviates from the set direction, the gas tank and the gas bag pull the tail rod through the tail wire, and a restoring torque is applied to the vehicle body through the tail rod, so that the empennage structure is simplified, and the stability of underwater navigation of the vehicle is improved; when the underwater vehicle floats on the water surface, the air bag expands, the tail line is in a bent state, the effect on the underwater vehicle is small, the air bag is exposed out of the water surface, and the antenna positioned in the air bag is exposed out of the water surface along with the air bag, so that the communication quality is ensured.
Description
Technical Field
The invention relates to the technical field of underwater vehicles, in particular to a flexible empennage structure and an underwater vehicle.
Background
The underwater glider is a novel underwater robot, obtains propulsion by using net buoyancy and attitude angle adjustment, has extremely low energy consumption, only consumes a small amount of energy when adjusting the net buoyancy and the attitude angle, has the characteristics of high efficiency and large endurance, has low manufacturing cost and maintenance cost, can be repeatedly used, can be put in a large amount, and is widely applied to large-scale ocean exploration.
In order to improve the direction stability of the aircraft during movement, a vertical tail wing and a horizontal tail wing are generally additionally arranged in the design of the water tank aircraft, so that the underwater aircraft can stably navigate along a set direction, the direction control frequency is reduced, the energy consumption is reduced, and the system efficiency is improved. On the other hand, the communication antenna of an underwater vehicle is usually fixed on a tail boom or a vertical tail fin, and the antenna is lifted and exposed out of the water surface after the underwater vehicle goes up to the water surface so as to communicate with a communication satellite or a mother ship.
The utility model discloses a china's utility model with grant bulletin number CN206841689U discloses an underwater vehicle, including head hemisphere translucent cover, cylindrical stack shell and afterbody hemisphere translucent cover, cylindrical stack shell and head hemisphere translucent cover, afterbody hemisphere translucent cover is all through flange joint, and cylindrical stack shell and head hemisphere translucent cover, afterbody hemisphere translucent cover all sets up end face seal, the perpendicular fin antenna of upper end fixed connection in the middle part of the cylindrical stack shell, also set up end face seal between perpendicular fin antenna and the cylindrical stack shell, the fixed horizontal delta wing in cylindrical stack shell afterbody both sides, the cylindrical stack shell is located the fixed propeller in horizontal delta wing below, still install the net buoyancy adjusting device that drives underwater vehicle come-up dive and adjust underwater vehicle centrobaric focus adjusting device in the cylindrical stack shell.
The underwater vehicle is provided with a vertical tail antenna and a horizontal delta wing on a cylindrical barrel, and the vertical tail antenna is used for communication. However, the vertical and horizontal tail wings make the tail structure of the water tank vehicle complex, which brings troubles for the installation and integration of underwater vehicle systems and subsequent use, on the other hand, the underwater vehicle has small net buoyancy, the water outlet height cannot be fully ensured, the height of the communication antenna exposed out of the water surface is limited, and the water surface communication is not ideal.
Disclosure of Invention
The purpose of the invention is: the flexible empennage structure is provided to solve the problems that in the prior art, the tail structure of an underwater vehicle is complex due to the fact that a communication antenna of the underwater vehicle is arranged on an empennage, and meanwhile, the water surface communication of the underwater vehicle is not ideal after water is discharged; the invention also provides an underwater vehicle using the flexible tail structure.
In order to achieve the purpose, the invention provides a flexible tail wing structure which comprises a tail rod, a tail wire, a gas tank, a gas bag and an antenna, wherein the tail rod is fixedly arranged at the tail end of a vehicle body, the tail wire is connected onto the tail rod and is made of bendable flexible materials, one end, away from the tail rod, of the tail wire is connected with the gas tank, the antenna is arranged in the gas bag and communicated with the gas tank, and the tail wire is in communication connection with the antenna to transmit signals.
Preferably, the gas bag comprises a framework and a bag skin wrapped on the framework, the framework is connected with the gas tank, the antenna is arranged in the bag skin, and the antenna is fixedly connected with the framework.
Preferably, the capsule skin is made of corrosion-resistant plastic.
Preferably, the gas tank is a pressure-resistant housing.
Preferably, the tail wire is made of a flexible signal wire.
The invention also provides an underwater vehicle which comprises a vehicle body and a flexible empennage structure arranged at the tail part of the vehicle body, wherein the flexible empennage structure comprises a tail rod, a tail wire, a gas tank and an antenna, the tail rod is fixedly arranged at the tail end of the vehicle body, the tail wire is connected onto the tail rod and is made of bendable flexible materials, one end, far away from the tail rod, of the tail wire is connected with the gas tank, the antenna is arranged in the gas tank, the gas tank is communicated with the gas tank, and the tail wire is in communication connection with the antenna so as to transmit signals.
Preferably, the gas bag comprises a framework and a bag skin wrapped on the framework, the framework is connected with the gas tank, the antenna is arranged in the bag skin, and the antenna is fixedly connected with the framework.
Preferably, the capsule skin is made of corrosion-resistant plastic.
Preferably, the gas tank is a pressure-resistant housing.
Preferably, the tail wire is made of a flexible signal wire.
Compared with the prior art, the flexible empennage structure and the underwater vehicle have the advantages that: the air tank and the air bag are connected with the tail rod through the tail wire, when the underwater vehicle sinks underwater, air in the air bag is compressed into the air tank under the action of water pressure, the flexible tail wing structure is under the action of water resistance when the underwater vehicle navigates, the tail wire is in a straightening state, and when the underwater vehicle deviates from a set direction, the air tank and the air bag pull the tail rod through the tail wire and apply a restoring moment to the vehicle body through the tail rod, so that the effect same as that of a vertical tail wing and a horizontal tail wing is achieved, the tail wing structure is simplified, and the underwater navigation stability of the vehicle is improved; when the underwater vehicle floats on the water surface, the water pressure is reduced, the gas in the gas tank is released into the gas bag again, the gas bag expands, the tail line is in a bent state, the effect on the underwater vehicle is very small, the gas bag is ensured to be exposed out of the water surface, and the antenna in the gas bag is exposed out of the water surface along with the gas bag, so that the communication quality is ensured.
Drawings
FIG. 1 is a schematic view of an underwater vehicle of the present invention in a situation in which it is navigating underwater;
fig. 2 is a schematic view of the underwater vehicle of fig. 1 in a state of floating on the water surface.
In the figure, 1, a vehicle body; 2. a tail rod; 3. a tail line; 4. a gas tank; 5. an air bag; 51. a framework; 52. a capsule skin; 6. an antenna.
Detailed Description
The following detailed description of embodiments of the present invention is provided in connection with the accompanying drawings and examples. The following examples are intended to illustrate the invention but are not intended to limit the scope of the invention.
A preferred embodiment of the underwater vehicle of the present invention, as shown in fig. 1 and 2, comprises a vehicle body 1 and a flexible tail structure, wherein the vehicle body 1 can carry a man-made underwater vehicle or an unmanned underwater vehicle, such as an underwater glider, etc., and the specific structure of the vehicle body is the same as that of the existing vehicle, and will not be described repeatedly herein. The flexible tail wing structure is arranged at the tail part of the aircraft body 1 and used for replacing a vertical tail wing and a horizontal tail wing in the prior art, so that the stability of the underwater navigation of the aircraft body 1 is ensured.
The flexible empennage structure comprises a tail rod 2, a tail wire 3, a gas tank 4, a gas bag 5 and an antenna 6, wherein the tail rod 2 is of a columnar structure, and the tail rod 2 is installed and fixed at the tail part of the aircraft body 1 and plays a role in connecting the tail wire 3 with the aircraft body 1. Meanwhile, the tail rod 2 serves as a connecting piece of the flexible empennage structure and the aircraft body 1 and plays a role in transmitting torque.
When the underwater vehicle is in a sailing state, the tail wire 3 is in a tensioning state under the influence of water flow resistance, and the gas tank 4 and the gas bag 5 exert tension on the tail rod 2 through the tail wire 3. When the underwater vehicle deviates from the course, under the influence of inertial resistance, the flexible empennage structure applies a restoring moment to the underwater vehicle through the tail rod 2, the acting point of the restoring moment is that one end of the tail rod 2, which is far away from the vehicle body 1, namely the acting distance of the restoring moment is influenced by the length of the tail rod 2, the longer the length of the tail rod 2 is, the longer the acting distance of the tail wire 3 is, the larger the restoring moment is, the more obvious the acting effect on the underwater vehicle is, and therefore the stability of the course of the vehicle body 1 is ensured.
According to the size of the aircraft body 1, the size of the gas tank 4 and the size of the gas bag 5, the length of the tail rod 2 can be adjusted, so that the size of the restoring torque is adjusted, the stability of the underwater navigation of the aircraft body 1 is guaranteed, the same effect of a vertical tail wing and a horizontal tail wing is achieved, meanwhile, the tail rod 2 is simple in structure and simple in integrated connection with the tail part of the aircraft body 1, and subsequent use and maintenance are facilitated.
The tail rod 2 is connected with a tail wire 3, one end of the tail wire 3, which is far away from the tail rod 2, is connected with a gas tank 4, and the gas tank 4 is fixedly connected with a gas bag 5. The tail wire 3 is a connection structure between the tail rod 2 and the gas tank 4 and is used for transmitting signals between the aircraft body 1 and the flexible empennage structure. The tail wire 3 is made of a bendable flexible material, the change direction of the aircraft body 1 can change when the aircraft sails underwater, the sailing direction of the aircraft body 1 is not in the same straight line with the gas tank 4 and the airbag 5, the tail wire 3 is made of the flexible material and can be bent to absorb the acting force between the aircraft body 1 and the gas tank 4 and the airbag 5, and meanwhile, the gas tank 4 and the airbag 5 are used for applying restoring torque to the aircraft body 1.
The antenna 6 is arranged in the air bag 5, the air bag 5 is communicated with the air tank 4, and the tail wire 3 is in communication connection with the antenna 6 to transmit signals. The antenna 6 is communication equipment of an underwater vehicle, and the antenna 6 can be protected by the airbag 5 when the antenna 6 is arranged in the airbag 5, so that the antenna 6 is prevented from being damaged. Meanwhile, the material of the air bag 5 has no shielding effect, so that communication signal transmission can be ensured.
The gas tank 4 is communicated with the air bag 5 through a gas pipeline, structures such as a valve and the like are omitted between the gas tank 4 and the air bag 5, and the gas is driven to flow by the action of pressure difference. When the underwater vehicle sinks underwater, the external water surface applies pressure to the air bag 5, the air is compressed into the air tank 4 under the action of water pressure, and the air bag 5 is in a contraction state at the moment, so that the resistance of the underwater vehicle during navigation can be reduced.
When the underwater vehicle floats to the water surface, the pressure of the water surface on the air bag 5 is reduced and is smaller than the pressure of the gas in the gas tank 4, at the moment, the gas in the gas tank 4 is discharged into the air bag 5 under the action of the pressure, at the moment, the air bag 5 is in an expansion state, the buoyancy force borne by the underwater vehicle is increased, and the floating of the vehicle body 1 is assisted. Because the air bag 5 and the air tank 4 are connected with the aircraft body 1 by the flexible tail wire 3, the acting force of the underwater aircraft on the air bag 5 and the air tank 4 is very small, and the air bag 5 is ensured to be exposed out of the water surface. After the air bag 5 is exposed, the antenna 6 can be exposed out of the water surface, so that the communication quality of the underwater vehicle is ensured.
When the underwater vehicle is used, the flexible tail wing mechanism is fixedly connected with the vehicle body 1 through the tail rod 2, the tail rod 2 is connected with the gas tank 4 and the gas bag 5 through the bendable flexible tail wire 3, when the underwater vehicle sinks underwater, the gas bag 5 discharges gas into the gas tank 4 under the action of water pressure, the flexible tail wing structure is subjected to the resistance action of water when the underwater vehicle navigates, the tail wire 3 is in a straightening state, when the underwater vehicle deviates from a set direction, the gas tank 4 and the gas bag 5 pull the tail rod 2 through the tail wire 3, and a restoring moment is applied to the vehicle body 1 through the tail rod 2, so that the same effect as that of a vertical tail wing and a horizontal tail wing is achieved, the tail wing structure is simplified, and the underwater navigation stability of the vehicle is improved; when the underwater vehicle floats on the water surface, the water pressure is reduced, the gas in the gas tank 4 is released into the gas bag 5 again, the gas bag 5 expands, the tail wire 3 is in a bent state, the effect on the underwater vehicle is small, the gas bag 5 is ensured to be exposed out of the water surface, and the antenna 6 positioned in the gas bag 5 is exposed out of the water surface along with the gas bag 5, so that the communication quality is ensured.
Preferably, the airbag 5 comprises a framework 51 and a bag skin 52 wrapped on the framework 51, the framework 51 is connected with the gas tank 4, the antenna 6 is arranged in the bag skin 52, and the antenna 6 is fixedly connected with the framework 51.
The framework 51 supports the air bag 5, the shape of the air bag 5 is guaranteed, and meanwhile the framework 51 plays a role in connecting the air tank 4 and the antenna 6, and the antenna 6 is prevented from swinging. The bag cover 52 is usually made of flexible rubber, plastic or polyester material, and has no signal shielding effect, and although the antenna 6 is located inside the air bag 5, the signal transmission effect is not affected.
Preferably, the material of the capsule shell 52 is corrosion-resistant plastic.
The underwater vehicle has a complex working environment, and the corrosion of water flow to the airbag 5 can be reduced by adopting the corrosion-resistant rubber, so that the service life of the underwater vehicle is prolonged.
Preferably, the gas tank 4 is a pressure-resistant housing.
In the embodiment, a valve is not arranged between the gas tank 4 and the airbag 5, the gas is driven to flow under the action of water pressure, and the gas tank 4 adopts a pressure-resistant shell, so that the bearing pressure of the gas tank 4 can be increased, and the diving depth of an underwater vehicle can be increased.
Preferably, the tail 3 is made of a flexible signal wire.
The tail wire 3 has two effects, firstly, connect fixed tail rod 2 and gas pitcher 4, gasbag 5, secondly, transmit the signal between navigation ware body 1 and antenna 6, the gas pitcher 4, and the tail wire 3 adopts flexible signal line, and signal data's transmission can be guaranteed to the signal line, adopts flexible material 3 bending of tail wire of being convenient for simultaneously, plays flexonics's effect.
The invention also provides an embodiment of a flexible tail structure, the specific structure of which is the same as that of the flexible tail structure of an underwater vehicle described in any of the above embodiments, and the description is not repeated here.
In summary, the embodiment of the invention provides a flexible empennage structure and an underwater vehicle, wherein a gas tank and a gas bag are connected with a tail rod through tail wires, when the underwater vehicle sinks underwater, gas in the gas bag is compressed into the gas tank under the action of water pressure, when the underwater vehicle navigates, the flexible empennage structure is subjected to the resistance action of water, the tail wires are in a straightening state, when the underwater vehicle deviates from a set direction, the gas tank and the gas bag pull the tail rod through the tail wires, and a restoring moment is applied to a vehicle body through the tail rod, so that the same effect as that of a vertical empennage and a horizontal empennage is achieved, the empennage structure is simplified, and the underwater navigation stability of the vehicle is improved; when the underwater vehicle floats on the water surface, the water pressure is reduced, the gas in the gas tank is released into the gas bag again, the gas bag expands, the tail line is in a bent state, the effect on the underwater vehicle is very small, the gas bag is ensured to be exposed out of the water surface, and the antenna in the gas bag is exposed out of the water surface along with the gas bag, so that the communication quality is ensured.
The above description is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, many modifications and substitutions can be made without departing from the technical principle of the present invention, and these modifications and substitutions should also be regarded as the protection scope of the present invention.
Claims (10)
1. The flexible empennage structure is characterized by comprising a tail rod, a tail wire, a gas tank, a gas bag and an antenna, wherein the tail rod is fixedly installed at the tail end of a vehicle body and connected with the tail wire, the tail wire is made of bendable flexible materials, one end, far away from the tail rod, of the tail wire is connected with the gas tank, the antenna is arranged in the gas bag and communicated with the gas tank, and the tail wire is in communication connection with the antenna to transmit signals.
2. The flexible tail structure of claim 1 wherein the airbag includes a carcass and a skin wrapped around the carcass, the carcass being coupled to the gas canister, the antenna being disposed within the skin, the antenna being fixedly coupled to the carcass.
3. The flexible tail structure of claim 2 wherein the skin is made of a corrosion resistant plastic.
4. A flexible tail structure according to any one of claims 1 to 3 wherein the gas tank is a pressure resistant housing.
5. A flexible tail structure according to any one of claims 1 to 3 wherein the tail wire is made of a flexible signal wire.
6. An underwater vehicle is characterized by comprising a vehicle body and a flexible empennage structure arranged at the tail of the vehicle body, wherein the flexible empennage structure comprises a tail rod, a tail wire, a gas tank and an antenna, the tail rod is fixedly installed at the tail end of the vehicle body, the tail wire is connected onto the tail rod and is made of bendable flexible materials, one end, far away from the tail rod, of the tail wire is connected with the gas tank, the antenna is arranged in the gas tank, the gas tank is communicated with the gas tank, and the tail wire is in communication connection with the antenna to transmit signals.
7. The underwater vehicle of claim 6, wherein the balloon comprises a skeleton and a skin wrapped around the skeleton, the skeleton being connected to the gas tank, the antenna being disposed within the skin, the antenna being fixedly connected to the skeleton.
8. The underwater vehicle of claim 7, wherein the skin is made of corrosion resistant plastic.
9. The underwater vehicle of any of claims 6-8, wherein the gas canister is a pressure hull.
10. The underwater vehicle of any of claims 6 to 8, wherein the tail wire is made of a flexible signal wire.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111565417.9A CN114291240B (en) | 2021-12-16 | 2021-12-16 | Flexible empennage structure and underwater vehicle |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202111565417.9A CN114291240B (en) | 2021-12-16 | 2021-12-16 | Flexible empennage structure and underwater vehicle |
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| CN114291240A CN114291240A (en) | 2022-04-08 |
| CN114291240B true CN114291240B (en) | 2022-06-21 |
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| JP2014240216A (en) * | 2013-06-11 | 2014-12-25 | 株式会社Ihi | In-water movable body |
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