CN114488329A - Ocean drag type low-resistance fixed-depth gravity-magnetic detection towed body - Google Patents
Ocean drag type low-resistance fixed-depth gravity-magnetic detection towed body Download PDFInfo
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- CN114488329A CN114488329A CN202111626830.1A CN202111626830A CN114488329A CN 114488329 A CN114488329 A CN 114488329A CN 202111626830 A CN202111626830 A CN 202111626830A CN 114488329 A CN114488329 A CN 114488329A
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- 238000001514 detection method Methods 0.000 title claims abstract description 25
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- 238000007789 sealing Methods 0.000 claims description 30
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- 238000012545 processing Methods 0.000 claims description 6
- 239000013535 sea water Substances 0.000 claims description 6
- 229920000049 Carbon (fiber) Polymers 0.000 claims description 4
- 229920000122 acrylonitrile butadiene styrene Polymers 0.000 claims description 4
- 239000004917 carbon fiber Substances 0.000 claims description 4
- 238000007667 floating Methods 0.000 claims description 4
- 239000012530 fluid Substances 0.000 claims description 4
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 claims description 4
- 229910001094 6061 aluminium alloy Inorganic materials 0.000 claims description 3
- 229920002396 Polyurea Polymers 0.000 claims description 3
- 230000007797 corrosion Effects 0.000 claims description 3
- 238000005260 corrosion Methods 0.000 claims description 3
- 230000005358 geomagnetic field Effects 0.000 claims description 3
- 239000000463 material Substances 0.000 claims description 3
- 238000012544 monitoring process Methods 0.000 claims description 3
- 230000003647 oxidation Effects 0.000 claims description 3
- 238000007254 oxidation reaction Methods 0.000 claims description 3
- 238000012360 testing method Methods 0.000 claims description 3
- 238000005259 measurement Methods 0.000 abstract description 7
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- 238000004891 communication Methods 0.000 abstract description 2
- 230000003247 decreasing effect Effects 0.000 abstract description 2
- 230000036544 posture Effects 0.000 description 24
- 238000005516 engineering process Methods 0.000 description 2
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
- G01V3/00—Electric or magnetic prospecting or detecting; Measuring magnetic field characteristics of the earth, e.g. declination, deviation
- G01V3/40—Electric or magnetic prospecting or detecting; Measuring magnetic field characteristics of the earth, e.g. declination, deviation specially adapted for measuring magnetic field characteristics of the earth
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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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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C13/00—Surveying specially adapted to open water, e.g. sea, lake, river or canal
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/04—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by terrestrial means
- G01C21/08—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by terrestrial means involving use of the magnetic field of the earth
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
- G01V7/00—Measuring gravitational fields or waves; Gravimetric prospecting or detecting
- G01V7/02—Details
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
- G01V7/00—Measuring gravitational fields or waves; Gravimetric prospecting or detecting
- G01V7/16—Measuring gravitational fields or waves; Gravimetric prospecting or detecting specially adapted for use on moving platforms, e.g. ship, aircraft
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A90/00—Technologies having an indirect contribution to adaptation to climate change
- Y02A90/30—Assessment of water resources
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Abstract
A marine dragging type low-resistance constant-depth gravity-magnetic detection towed body is used in the field of marine gravity magnetic measurement. In order to reduce drag resistance and simulate the appearance of a torpedo, the torpedo-shaped propeller type marine structure comprises a bow module, a main control cabin module, a hydrofoil cabin module, a load cabin module, a tail cabin module and a gravimeter cabin module, wherein the modules are fixedly connected through flanges, and can be increased or decreased according to task requirements. The bow module is provided with a bearing head and a fixed connecting rod, the towing cable and the bearing head are vulcanized together, and the mother ship pulls the towed body to advance in water through the towing cable. The main control cabin is provided with a control communication module for receiving and transmitting the towed body attitude control command. The upper side of the hydrofoil cabin is provided with an antenna, the lower side of the hydrofoil cabin is provided with a DVL, and the two sides of the gravimeter cabin module are symmetrically provided with balance hydrofoils. The load cabin is provided with a detection device, and the tail cabin module comprises four tail wings which are arranged in a cross manner. The invention adopts a modular design, is convenient to assemble, has low drag resistance and good posture stability, solves the problem of poor posture stability of the towed body in the prior art, and improves the expandability of the towed body.
Description
Technical Field
The invention relates to an ocean towing type low-resistance fixed-depth gravity-magnetic detection towed body, and belongs to the technical field of ocean detection equipment.
Background
Ocean exploration technology has become the key field of current international competition, wherein ocean gravity and magnetic measurement has wide application in military and civil fields, such as resource exploration, earth science research, target object exploration, port monitoring, geomagnetic matching navigation and anti-latency and the like. In order to obtain gravity magnetic data (gravity field magnetic field data), a towed measurement mode can be adopted, namely a mother ship drags a towed body through a towing cable to detect. The traditional marine gravity-magnetic measurement is usually carried out by a large scientific investigation ship or a frame-type towing body, and the large scientific investigation ship can only run along a fixed air route and cannot meet the requirements on measurement flexibility and maneuverability; in addition, due to the limitation of the structural form of the frame type towed body, the expandability of the towed body is poor, the carried sensor equipment is single, and the increase and decrease of the load cannot be realized quickly and conveniently. When the tug works, the swing of the towing cable and the impact of ocean current can influence the posture of the tug, and if the posture of the tug in work is unstable or the depth of the tug cannot be locked, a large error can be caused in a measuring result. The structure hydrodynamic performance of the common frame type towing body is poor, and the towing body is large in resistance, unstable in posture, large in pitching and rolling angle change and large in towing depth change due to factors such as sinking and floating disturbance of a mother ship with complex sea conditions in the towing process. High-precision gravity magnetic data measurement depends on stable towed body postures, and meanwhile, the towed body can be kept at a stable depth. This makes it difficult to obtain the ocean gravity and magnetic data with high precision for the common frame type towed body.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: the defects of the prior art are overcome, the marine dragging type low-resistance fixed-depth heavy-magnetic detection towed body is provided, and the problems of hydrodynamic performance, posture adjustment and stability and track fixed-depth of the towed body in the high-precision heavy-magnetic detection process are solved, so that the high-precision heavy-magnetic detection requirement is met.
The technical solution of the invention is as follows:
an ocean towed low resistance constant depth gravity-magnetic detection towed body, comprising: the device comprises a bow module (3), a main control cabin module (5), an antenna cabin module (9), a load cabin module (11), a tail cabin module (12) and a gravimeter cabin module (23);
the bow module (3) comprises a bow cabin body, a bearing head (1) and a fixed connecting rod (2); the head of the bow cabin body is ellipsoidal, one end of the fixed connecting rod (2) is connected with the axis of the bow cabin body, the other end of the fixed connecting rod is connected with the bearing head (1), and the other end of the bearing head (1) is vulcanized with the towing cable;
the rear side of the bow module (3) is connected with a main control cabin module (5) through a flange (4), wherein the main control cabin module (5) consists of a head sealing cover and a tail sealing cover (15) and a hollow cylindrical cabin body, the sealing covers (15) and the cabin body are sealed through O-shaped rings, and a hollow sealing cabin body is formed inside the cabin body;
the rear end of the main control cabin module (5) is connected with the antenna cabin module (9) through a flange, the antenna cabin module (9) is of a hollow cylindrical cabin body structure, and an antenna assembly (16) comprising a GPS antenna, a radio station antenna, a Beidou antenna and a stroboscopic lamp (8) is arranged on the upper side of the antenna cabin module (9); an ellipsoidal flow guide sleeve (7) is arranged on the outer side of the antenna component and used for reducing fluid resistance; the bottom of the antenna cabin module (9) is provided with a balancing weight (17) for adjusting the gravity center and the floating center of the towed body; the middle of the antenna cabin module (9) is filled with floating body materials (18) for providing buoyancy required by the towed body in seawater; the DVL (21) is arranged at the bottom of the antenna cabin module (9) and used for navigation and positioning of the towed body;
the rear end of the antenna cabin module (9) is connected with a gravimeter cabin module (23) through a conical flange (22), the gravimeter cabin module (23) is of a hollow cylindrical cabin structure, sealing covers are arranged at the front end and the rear end of the gravimeter cabin module, and a gravimeter is installed inside the gravimeter cabin module and used for detecting a gravity field; the carbon fiber horizontal wings (10) are symmetrically arranged on two sides of the gravimeter cabin module (23) and used for improving the posture stability of the towed body in water, and the mounting frames of the horizontal wings (10) are designed to be uniform in mounting hole pitch, so that the center of gravity can be adjusted by adjusting the front and rear positions of the horizontal wings (10);
the rear end of the gravity meter cabin module (23) is connected with the load cabin module (11) through a conical flange (22); the load cabin module (11) is also composed of a head sealing cover, a tail sealing cover and a hollow cylindrical cabin body, wherein a magnetometer protecting cylinder (14) along the axial direction is arranged below a central axis of the rear sealing cover;
the rear end of the load cabin module (11) is connected with the tail cabin module (12) through a flange, and four tail wings (13) which are arranged in a cross manner are arranged on the side wall of the tail cabin module (12);
and the upper sides of the outer surfaces of the main control cabin module (5) and the load cabin module (11) are provided with hoop hoisting rings (6) for hoisting the towed body in a sea test.
Furthermore, the appearance main body of the marine dragging type fixed-depth gravity magnetic detection towed body is designed into a shape of a simulated torpedo.
Furthermore, a control equipment assembly is arranged in the main control cabin module (5), and comprises a main control computer and a data recorder.
Further, the horizontal wing (10) has a leading edge sweep angle of 45 degrees, a trailing edge sweep angle of 50 degrees and an aspect ratio lambda of 6.
Furthermore, equipment in the load cabin module (11) comprises a magnetometer sensor (20), a time scale computer board, a water inlet sensor and a high-precision inertial navigation system (19), wherein the high-precision inertial navigation system (19) is used for measuring the pitch angle and roll angle attitude data of the towed body, the magnetometer sensor (20) is used for detecting geomagnetic field data, and the magnetometer sensor (20) is arranged in the magnetometer protection cylinder (14); the time scale computer board is used for setting time marks aiming at the data, and the water inlet sensor is used for monitoring the water sealing state in the cabin body.
Further, the shape of the tail cabin module (12) is calculated and shaped by adopting a Myring linear formula; the profile of the empennage (13) is designed according to NACA0012 symmetrical airfoil profile.
Furthermore, two steering engines are arranged in the tail cabin module (12), the steering engines are connected with the tail wings (13) through transmission shafts, the tail wings (13) are adjusted through the steering engines to adjust the posture of the towed body in real time, the posture is kept stable, and the towed body is enabled to be fixed in depth.
Furthermore, the tail cabin module (12) specifically comprises a connecting flange (25), a balancing weight (26), a tail cabin supporting rod (27), a supporting ring frame (28), a tail cabin rear section (29), a left tail wing (30), a lower tail wing (31), a right tail wing (32), an upper tail wing (313), a hydrofoil fixing frame (33), a steering engine fixing frame (34), a steering engine (35), a transmission shaft (36) and a positioning pin (37);
the steering engine (35) is connected with the left tail wing (30), the lower tail wing (31), the right tail wing (32) and the upper tail wing (313) through the transmission shaft (36), the towed body obtains a real-time posture through the high-precision inertial navigation (19), the steering engine (35) is used for controlling and locking the rotating angle of the tail wing, and the towed body posture is stable, posture is adjusted and the towed body is fixed in depth through being matched with the horizontal wing (10);
the steering engine (35) is fixed on a steering engine fixing frame (34), and the steering engine fixing frame (34) is fixed on the supporting ring frame (28), so that the stress stability of the steering engine is ensured; the four tail wings are all fixed with a hydrofoil fixing frame (33) through a transmission shaft (36), and the hydrofoil fixing frame (33) is fixed on the supporting ring frame (28); the support ring frame (28) is connected with the connecting flange (25) through a tail cabin support rod (27), so that the support ring frame (27) and the connecting flange (25) are integrated, and the stability of the hydrofoil fixing frame (33) and the steering engine fixing frame (34) is ensured;
the tail cabin module (12) is divided into a front tail cabin section and a rear tail cabin section (29) which are connected through a support ring frame (28) to form an integral tail cabin air guide sleeve, so that the structural strength of the integral tail cabin is ensured; meanwhile, the positioning pin (37) ensures the alignment of the front section of the tail cabin and the rear section of the tail cabin;
the balancing weight (26) is used for balancing the center of gravity and the floating center of the towed body.
Furthermore, the casings of the bow module (3) and the tail cabin module (12) are made of ABS resin, the density and the water are the same, and the buoyancy in the water is equal to the gravity; the main control cabin module (5), the antenna cabin module (9), the load cabin module (11) and the gravimeter cabin module (23) are all made of 6061 aluminum alloy, anodic oxidation treatment is carried out after processing, and polyurea is sprayed on the surface to prevent seawater corrosion.
Furthermore, watertight connectors are arranged on the surfaces of the sealing covers of the main control cabin module (5), the load cabin module (11) and the gravimeter cabin module (23) and are used for equipment between cabin ends to communicate and transmit data.
Compared with the prior art, the invention has the beneficial effects that:
(1) the towed body complete machine adopts the shape of a simulated fish and thunder, has good hydrodynamic performance, and has low resistance and low noise when towed and navigated; the main part adopts ABS resin and aluminum alloy material, has higher intensity, provides safe and reliable's operational environment for under-deck equipment.
(2) The invention adopts the modular design, is convenient to assemble, has good stability of the towing posture, solves the problem of poor posture stability of the towing body in the prior art, and improves the expandability of the towing body.
(3) The antenna assembly is positioned right above the towed body and protected by the ellipsoidal flow guide cover, so that the communication and positioning are facilitated, and the performance is safe and reliable.
(4) The magnetometer sensor is arranged in the magnetometer protection cylinder at the tail end of the towed body, so that the interference of electromagnetic equipment is reduced, and the measurement precision can be effectively improved.
(5) The hydrodynamic performance of the towed body is excellent. The whole towing body adopts a streamline low-water-resistance design, so that the pulling force on the towing cable is reduced, the influence of the water resistance on the posture of the towing body is reduced, and the automatic control and adjustment of the posture of the towing body are facilitated. The front air guide sleeve and the tail air guide sleeve of the towed body are calculated by adopting a Myring linear form, and the optimized streamline shape is obtained through CFD computational fluid mechanics simulation analysis. The middle cabin section is designed by a revolving body and is connected with the front cabin and the tail cabin through flanges, and a slender cylinder design is integrally formed, so that the uniformity and the fluency of water flow on the surface of the towed body are ensured.
(6) The towed body has good stability and flexible posture adjustment, and can realize track depthkeeping. The towed body obtains real-time posture through high-precision inertial navigation and feeds the posture back to the main control computer. Two steering engines are installed in the tail cabin module, the main control computer controls two steering engine rotation angles according to the posture of the towed body, and the steering engines are connected with the tail wings through transmission shafts, so that the posture of the towed body can be adjusted in real time through the tail wings adjusted by the steering engines, and meanwhile, the posture of the towed body can be kept stable by matching two carbon fiber horizontal wings, so that the track depth is fixed, and the high-precision gravity magnetic detection requirement is met.
Drawings
FIG. 1 is a schematic structural view of the present invention;
fig. 2 is a schematic view of the internal structure of the present invention.
FIG. 3 is a pictorial view of the aft pod attitude adjustment mechanism of the present invention;
FIG. 4 is a vertical cross-sectional view of the aft pod attitude adjustment mechanism of the present invention;
fig. 5 is a horizontal sectional view of the tail tank attitude adjusting mechanism of the present invention.
Detailed Description
The following describes embodiments of the present invention in further detail with reference to the accompanying drawings.
The invention provides an ocean drag type low-resistance fixed-depth gravity-magnetic detection towed body, wherein the whole machine adopts a modularized concept design, and modules can be increased and decreased as required; the appearance is designed to prevent torpedo, so that the resistance in water can be greatly reduced; the middle of the towed body is provided with two horizontal wings, and the tail part of the towed body is provided with four tail wings, so that the towed body has good stability in water.
As shown in fig. 1, the marine towed low-resistance constant-depth heavy-magnetic detection towed body provided by the invention comprises a bow module 3, a main control cabin module 5, an antenna cabin module 9, a load cabin module 11, a tail cabin module 12 and a gravimeter cabin module 23;
the bow module 3 comprises a bow cabin body, a bearing head 1 and a fixed connecting rod 2; the head of the bow cabin body is ellipsoidal, one end of the fixed connecting rod 2 is connected with the axis of the bow cabin body, the other end of the fixed connecting rod is connected with the bearing head 1, and the other end of the bearing head 1 is vulcanized with the towing cable; when in work, the towing body is towed by the towing cable to advance.
The rear side of the bow module 3 is connected with a main control cabin module 5 through a flange 4, wherein the main control cabin module 5 consists of a head sealing cover 15 and a tail sealing cover 15 and a hollow cylindrical cabin body, the sealing covers 15 and the cabin body are sealed through O-shaped rings, and a hollow sealed cabin body is formed inside the cabin body;
the rear end of the main control cabin module 5 is connected with the antenna cabin module 9 through a flange, the antenna cabin module 9 is of a hollow cylindrical cabin body structure, and an antenna assembly 16 which comprises a GPS antenna, a radio antenna, a Beidou antenna and a stroboscopic lamp 8 is arranged on the upper side of the antenna cabin module 9; an ellipsoidal flow guide cover 7 is arranged on the outer side of the antenna component and used for reducing fluid resistance; the bottom of the antenna cabin module 9 is provided with a balancing weight 17 for adjusting the gravity center and the floating center of the towed body; the antenna cabin module 9 is filled with floating body materials 18 in the middle for providing buoyancy required by the towed body in seawater; the DVL21 is mounted at the bottom of the antenna bay module 9 for improving the navigational positioning of the tow. DVL is a Doppler velocimeter and is used for improving the navigation and positioning accuracy of the towed body.
The main control cabin module 5 is internally provided with a control equipment assembly which comprises a program control power supply, a main control computer and a data recorder.
The rear end of the antenna cabin module 9 is connected with a gravimeter cabin module 23 through a conical flange 22, the gravimeter cabin module 23 is of a hollow cylindrical cabin structure, sealing covers are arranged at the front end and the rear end of the gravimeter cabin module, and a gravimeter is installed inside the gravimeter cabin module and used for detecting a gravity field; the carbon fiber horizontal wings 10 are symmetrically arranged on two sides of the gravimeter cabin module 23 and used for improving the posture stability of the towed body in water, and the installation frames of the horizontal wings 10 are designed to be uniform in installation hole distance, so that the center of gravity can be adjusted by adjusting the front and rear positions of the horizontal wings 10;
preferably, the horizontal wing 10 has a leading edge sweep angle of 45 °, a trailing edge sweep angle of 50 °, and an aspect ratio λ of 6.
The rear end of the gravimeter compartment module 23 is connected to the load compartment module 11 via a conical flange 22. The load cabin module 11 is also composed of a head sealing cover, a tail sealing cover and a hollow cylindrical cabin body, wherein a magnetometer protecting cylinder 14 along the axial direction is arranged below the central axis of the rear sealing cover;
the rear end of the load cabin module 11 is connected with the tail cabin module 12 through a flange, and the side wall of the tail cabin module 12 is provided with four empennages 13 which are arranged in a crossed manner;
and the upper sides of the outer surfaces of the main control cabin module 5 and the load cabin module 11 are provided with hoop hoisting rings 6 for hoisting the towed body during a sea test.
The surface of the sealing cover of the main control cabin is provided with a watertight connector mounting hole, and the equipment in the main control cabin realizes data transmission and control instruction issuing through a watertight cable, an antenna, high-precision inertial navigation and a magnetometer.
The rear side of the gravimeter cabin is connected with a load cabin module through a conical flange, the load cabin is also sealed by a front sealing cover, a rear sealing cover and a middle hollow cylindrical cabin body through an O shape to form a sealed cabin body, and a magnetometer for providing attitude information for the towed body and measuring geomagnetic field data is installed in the cavity; the magnetometer protection cylinder extends out of the lower part of the tail cabin along the axial direction of the towed body.
The shape of the tail cabin module 12 is calculated and shaped by adopting a Myring linear formula. The rear end of the magnetic cabin module is connected with the tail cabin module through a flange, four cross-mounted tail wings are arranged on the tail cabin module, and the tail wings are designed according to NACA0012 symmetrical wing profiles;
as shown in fig. 3, 4 and 5, the tail tank module 12 specifically includes a connecting flange 25, a counterweight 26, a tail tank support rod 27, a support ring frame 28, a tail tank rear section 29, a left empennage 30, a lower empennage 31, a right empennage 32, an upper empennage 313, a hydrofoil fixing frame 33, a steering engine fixing frame 34, a steering engine 35, a transmission shaft 36 and a positioning pin 37;
the four tail fins 13 are a left tail fin 30, a lower tail fin 31, a right tail fin 32, and an upper tail fin 313.
The steering engine 35 is connected with the left wing 30 through the transmission shaft 36, the towed body obtains a real-time posture through the high-precision inertial navigation 19, the steering engine 35 is used for controlling and locking the rotating angle of the tail wing, and the towed body stability, posture adjustment and towed body depth setting are achieved by matching with the horizontal wings 10. The steering engine 35 is fixed on the steering engine fixing frame 34, and the steering engine fixing frame 34 is fixed on the supporting ring frame 28, so that the stress stability of the steering engine is ensured. The upper wing 13 and the lower wing 31 are both fixed with a hydrofoil fixing frame 33 through a transmission shaft 36, and the hydrofoil fixing frame 33 is fixed on the supporting ring frame 28. The supporting ring frame 28 is connected with the connecting flange 25 through the tail cabin supporting rod 27, so that the supporting ring frame 27 and the connecting flange 25 are integrated, and the stability of the hydrofoil fixing frame 33 and the steering engine fixing frame 34 is guaranteed. The balancing weight 26 is used for balancing the gravity center and the floating center of the support body.
The tail cabin module 12 is divided into a front tail cabin section and a rear tail cabin section 29 which are connected through a support ring frame 28 to form an integral tail cabin air guide sleeve, so that the structural strength of the integral tail cabin is ensured. While the alignment of the aft section front section with the aft section is ensured by the alignment pins 37.
Preferably, the fore module and the 12 stern module are made of ABS, the density and the water are similar, the buoyancy in water is equal to the gravity, the streamline shape processing technology is considered for the stern, front and rear sectional processing is adopted, and the problems of large overall size and difficult overall processing of the stern are solved.
Preferably, the main control cabin module, the hydrofoil cabin module and the magnetic cabin module are all made of 6061 aluminum alloy, the cabin section is 470mm in outer diameter, 700mm in length and 8mm in wall thickness, anodic oxidation treatment is carried out after processing, the high pressure of 500 meters underwater can be borne, and polyurea is sprayed on the surface of the cabin section to prevent seawater corrosion.
The invention is not described in detail and is within the knowledge of a person skilled in the art.
Claims (10)
1. An ocean drag type low-resistance constant-depth gravity-magnetic detection towed body is characterized by comprising: the device comprises a bow module (3), a main control cabin module (5), an antenna cabin module (9), a load cabin module (11), a tail cabin module (12) and a gravimeter cabin module (23);
the bow module (3) comprises a bow cabin body, a bearing head (1) and a fixed connecting rod (2); the head of the bow cabin body is ellipsoidal, one end of the fixed connecting rod (2) is connected with the axis of the bow cabin body, the other end of the fixed connecting rod is connected with the bearing head (1), and the other end of the bearing head (1) is vulcanized with the towing cable;
the rear side of the bow module (3) is connected with a main control cabin module (5) through a flange (4), wherein the main control cabin module (5) consists of a head sealing cover and a tail sealing cover (15) and a hollow cylindrical cabin body, the sealing covers (15) and the cabin body are sealed through O-shaped rings, and a hollow sealing cabin body is formed inside the cabin body;
the rear end of the main control cabin module (5) is connected with the antenna cabin module (9) through a flange, the antenna cabin module (9) is of a hollow cylindrical cabin body structure, and an antenna assembly (16) comprising a GPS antenna, a radio station antenna, a Beidou antenna and a stroboscopic lamp (8) is arranged on the upper side of the antenna cabin module (9); an ellipsoidal flow guide sleeve (7) is arranged on the outer side of the antenna component and used for reducing fluid resistance; the bottom of the antenna cabin module (9) is provided with a balancing weight (17) for adjusting the gravity center and the floating center of the towed body; the middle of the antenna cabin module (9) is filled with floating body materials (18) for providing buoyancy required by the towed body in seawater; the DVL (21) is arranged at the bottom of the antenna cabin module (9) and used for navigation and positioning of the towed body;
the rear end of the antenna cabin module (9) is connected with a gravimeter cabin module (23) through a conical flange (22), the gravimeter cabin module (23) is of a hollow cylindrical cabin structure, sealing covers are arranged at the front end and the rear end of the gravimeter cabin module, and a gravimeter is installed inside the gravimeter cabin module and used for detecting a gravity field; the carbon fiber horizontal wings (10) are symmetrically arranged on two sides of the gravimeter cabin module (23) and used for improving the posture stability of the towed body in water, and the mounting frames of the horizontal wings (10) are designed to be uniform in mounting hole pitch, so that the center of gravity can be adjusted by adjusting the front and rear positions of the horizontal wings (10);
the rear end of the gravity meter cabin module (23) is connected with the load cabin module (11) through a conical flange (22); the load cabin module (11) is also composed of a head sealing cover, a tail sealing cover and a hollow cylindrical cabin body, wherein a magnetometer protecting cylinder (14) along the axial direction is arranged below a central axis of the rear sealing cover;
the rear end of the load cabin module (11) is connected with the tail cabin module (12) through a flange, and four tail wings (13) which are arranged in a cross manner are arranged on the side wall of the tail cabin module (12);
and the upper sides of the outer surfaces of the main control cabin module (5) and the load cabin module (11) are provided with hoop hoisting rings (6) for hoisting the towed body in a sea test.
2. The marine towed low-resistance fixed-depth heavy magnetic detection towed body according to claim 1, characterized in that: the appearance main body of the marine towing type fixed-depth heavy-magnetic detection towed body is designed into a shape of a simulated torpedo.
3. The marine towed low-resistance constant-depth gravity-magnetic detection towed body according to claim 1, wherein: the main control cabin module (5) is internally provided with a control equipment assembly which comprises a main control computer and a data recorder.
4. The marine towed low-resistance constant-depth gravity-magnetic detection towed body according to claim 1, wherein: the horizontal wing (10) has a leading edge sweep angle of 45 degrees, a trailing edge sweep angle of 50 degrees and an aspect ratio lambda of 6.
5. The marine towed low-resistance constant-depth gravity-magnetic detection towed body according to claim 1, wherein: the equipment in the load cabin module (11) comprises a magnetometer sensor (20), a time scale computer board, a water inlet sensor and a high-precision inertial navigation system (19), wherein the high-precision inertial navigation system (19) is used for measuring the pitch angle and roll angle attitude data of the towed body, the magnetometer sensor (20) is used for detecting geomagnetic field data, and the magnetometer sensor (20) is arranged in a magnetometer protection cylinder (14); the time scale computer board is used for setting time marks aiming at the data, and the water inlet sensor is used for monitoring the water sealing state in the cabin body.
6. The marine towed low-resistance constant-depth gravity-magnetic detection towed body according to claim 1, wherein: the shape of the tail cabin module (12) is calculated and shaped by adopting a Myring linear formula; the profile of the empennage (13) is designed according to NACA0012 symmetrical airfoil profile.
7. The marine towed low-resistance constant-depth gravity-magnetic detection towed body according to claim 1, wherein: two steering engines are arranged in the tail cabin module (12), the steering engines are connected with the tail wings (13) through transmission shafts, the posture of the towed body is adjusted in real time through the steering engines by adjusting the tail wings (13), the posture is kept stable, and the towed body is enabled to be deep in flight path.
8. The marine towed low-resistance constant-depth gravity-magnetic detection towed body according to claim 1, wherein: the tail cabin module (12) specifically comprises a connecting flange (25), a balancing weight (26), a tail cabin supporting rod (27), a supporting ring frame (28), a tail cabin rear section (29), a left tail wing (30), a lower tail wing (31), a right tail wing (32), an upper tail wing (313), a hydrofoil fixing frame (33), a steering engine fixing frame (34), a steering engine (35), a transmission shaft (36) and a positioning pin (37);
the steering engine (35) is connected with the left tail wing (30), the lower tail wing (31), the right tail wing (32) and the upper tail wing (313) through the transmission shaft (36), the towed body obtains a real-time posture through the high-precision inertial navigation (19), the steering engine (35) is used for controlling and locking the rotating angle of the tail wing, and the towed body posture is stable, posture is adjusted and the towed body is fixed in depth through being matched with the horizontal wing (10);
the steering engine (35) is fixed on the steering engine fixing frame (34), and the steering engine fixing frame (34) is fixed on the supporting ring frame (28), so that the stress stability of the steering engine is ensured; the four tail wings are all fixed with a hydrofoil fixing frame (33) through a transmission shaft (36), and the hydrofoil fixing frame (33) is fixed on the supporting ring frame (28); the support ring frame (28) is connected with the connecting flange (25) through a tail cabin support rod (27), so that the support ring frame (27) and the connecting flange (25) are integrated, and the stability of the hydrofoil fixing frame (33) and the steering engine fixing frame (34) is ensured;
the tail cabin module (12) is divided into a front tail cabin section and a rear tail cabin section (29) which are connected through a supporting ring frame (28) to form an integral tail cabin air guide sleeve, so that the structural strength of the integral tail cabin is ensured; meanwhile, the positioning pin (37) ensures the alignment of the front section of the tail cabin and the rear section of the tail cabin;
the balancing weight (26) is used for balancing the center of gravity and the floating center of the towed body.
9. The marine towed low-resistance constant-depth gravity-magnetic detection towed body according to claim 1, wherein: the bow module (3) and the tail cabin module (12) are made of ABS resin, the density and the water are the same, and the buoyancy in water is equal to the gravity; the main control cabin module (5), the antenna cabin module (9), the load cabin module (11) and the gravimeter cabin module (23) are all made of 6061 aluminum alloy, anodic oxidation treatment is carried out after processing, and polyurea is sprayed on the surface to prevent seawater corrosion.
10. The marine towed low-resistance constant-depth gravity-magnetic detection towed body according to claim 1, wherein: and watertight connectors are arranged on the surfaces of the sealing covers of the main control cabin module (5), the load cabin module (11) and the gravimeter cabin module (23) and are used for equipment between cabin ends to communicate and transmit data.
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| CN202111626830.1A CN114488329B (en) | 2021-12-28 | 2021-12-28 | Ocean towed low-resistance deep and heavy magnetic detection towed body |
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| CN202111626830.1A CN114488329B (en) | 2021-12-28 | 2021-12-28 | Ocean towed low-resistance deep and heavy magnetic detection towed body |
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| CN115783200A (en) * | 2023-02-09 | 2023-03-14 | 山东省海洋科学研究院(青岛国家海洋科学研究中心) | Underwater glider with positive camber wings |
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| CN114488329B (en) | 2024-07-09 |
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