CN115009484B - Device for improving maneuverability of wing body fusion underwater glider and working method thereof - Google Patents
Device for improving maneuverability of wing body fusion underwater glider and working method thereof Download PDFInfo
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- CN115009484B CN115009484B CN202210829353.7A CN202210829353A CN115009484B CN 115009484 B CN115009484 B CN 115009484B CN 202210829353 A CN202210829353 A CN 202210829353A CN 115009484 B CN115009484 B CN 115009484B
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- underwater glider
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- 230000004927 fusion Effects 0.000 title claims abstract description 51
- 238000000034 method Methods 0.000 title claims abstract description 10
- 238000007599 discharging Methods 0.000 claims description 17
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 6
- 230000000149 penetrating effect Effects 0.000 claims description 3
- 230000002708 enhancing effect Effects 0.000 claims 4
- 238000004804 winding Methods 0.000 abstract description 11
- 230000005484 gravity Effects 0.000 abstract description 5
- 210000001015 abdomen Anatomy 0.000 abstract 1
- 230000008859 change Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000006855 networking Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000007704 transition Effects 0.000 description 1
Classifications
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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
- B63G8/14—Control of attitude or depth
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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
- B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
- B63G2008/002—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned
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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
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T70/00—Maritime or waterways transport
- Y02T70/10—Measures concerning design or construction of watercraft hulls
Abstract
The invention discloses a mobility improving device of a wing body fusion underwater glider, which is arranged at the abdomen of the wing body fusion underwater glider and comprises a rope winding and unwinding device and a counterweight sliding system, wherein the rope winding and unwinding device comprises a rope winding and unwinding unit, a rope and a counterweight, and the counterweight sliding system comprises an isosceles triangle sliding rail and a slidable trolley group. And discloses a working method thereof. According to the invention, the rope retraction device and the counterweight sliding system are adjusted, so that the counterweight is changed relative to the wing body fusion underwater glider, and the gravity center of the whole wing body fusion underwater glider is further changed, and therefore, the pitch angle and the roll angle of the underwater glider are changed, and the maneuverability of the wing body fusion underwater glider is improved.
Description
Technical Field
The invention relates to the technical field of underwater gliders, in particular to a device for improving the maneuverability of a wing body fusion underwater glider and a working method thereof.
Background
The underwater glider is a novel underwater robot, and has the characteristics of high efficiency and large endurance (up to thousands of kilometers) because the underwater glider obtains propulsion through the adjustment of the net buoyancy and the attitude angle, has extremely low energy consumption and only consumes a small amount of energy when the net buoyancy and the attitude angle are adjusted. Although the underwater glider has slower sailing speed, the underwater glider has the characteristics of low manufacturing cost and maintenance cost, reusability, mass throwing and the like, and meets the needs of long-time and large-range ocean exploration.
In an ideal state, the motion range of the underwater glider is a plane, when the underwater glider is influenced by ocean currents, the motion track of the underwater glider is not controllable when the underwater glider performs tasks, and although the propeller is additionally arranged on the two wings of the underwater glider in a wing body fusion mode, the maneuverability and the maneuverability of the underwater glider can be improved, and the concealment and the cruising ability of the underwater glider can be reduced.
Disclosure of Invention
The invention aims to: aiming at the problems, the invention aims to provide the device for improving the maneuverability of the wing body fusion underwater glider, which can enhance the dynamic performance on the premise of ensuring the concealment and cruising ability of the device. And provides a working method thereof.
The technical scheme is as follows: the utility model provides a wing body fuses mobility improving device of glider under water, including rope winding and unwinding devices and counter weight sliding system, rope winding and unwinding devices includes rope winding and unwinding unit, rope and counter weight, counter weight sliding system includes isosceles triangle slide rail and slidable dolly, the inside of glider is installed to rope winding and unwinding unit, the isosceles triangle slide rail is installed in the glider bottom under water, slidable dolly includes left side sliding dolly, right side sliding dolly, regard the base central line of isosceles triangle slide rail as the world, with the left half of isosceles triangle slide rail, right side half sliding connection respectively, be equipped with a rope guide hole on left side sliding dolly and the right side sliding dolly respectively, the rope is equipped with two, two rope one end are connected with rope winding and unwinding unit respectively, the other end is worn to locate respectively in a rope guide hole that corresponds afterwards with the counter weight connection.
Further, the isosceles triangle slide rail comprises an inner side slide rail and an outer side slide rail, wherein the inner side slide rail and the outer side slide rail are isosceles triangles, the sections of the inner side slide rail and the outer side slide rail are C-shaped, the inner side slide rail is arranged in the outer side slide rail, C-shaped openings of the inner side slide rail and the outer side slide rail are oppositely arranged at intervals, and bolt locking holes are respectively formed in the inner side slide rail and the outer side slide rail.
Further, a groove matched with the isosceles triangle slide rail is formed in the bottom surface of the underwater glider, and the inner side slide rail and the outer side slide rail are respectively arranged in the groove and are respectively fixed with one corresponding inner side wall through screws.
Further, a driving bolt is respectively arranged on the left side sliding trolley and the right side sliding trolley, the driving bolt on the left side sliding trolley is matched with the bolt locking hole on the inner side sliding rail, and the driving bolt on the right side sliding trolley is matched with the bolt locking hole on the outer side sliding rail.
Optimally, the bottom side central line of the isosceles triangle slide rail and the central line of the underwater glider are in the same plane, and the vertex angle and the two bottom angles of the isosceles triangle slide rail are transited through circular arcs.
Optimally, the length A of the bottom edge of the isosceles triangle slide rail is 0.6-0.8 times of the width W of the underwater glider, the height B of the bottom edge of the isosceles triangle slide rail is 0.5-0.75 times of the length L of the underwater glider, and the value range of the ratio eta of the bottom edge A to the height B of the isosceles triangle slide rail is 2 < eta < 3.
Optimally, the value range of the ratio beta of the weight mass M to the underwater glider mass M is more than 0.05 and less than 0.1.
Optimally, the rope receiving and discharging unit comprises two motors which are respectively connected with the counterweight through one rope, one ends of the two ropes are respectively connected with the corresponding one motor, and the other ends of the two ropes are respectively arranged in the corresponding rope guide holes in a penetrating way and then are connected with the counterweight.
The working method of the device for improving the maneuverability of the wing body fusion underwater glider comprises the steps of not working, changing the pitch angle state of the wing body fusion underwater glider, changing the roll angle state of the wing body fusion underwater glider and simultaneously changing the pitch angle state and the roll angle state of the wing body fusion underwater glider;
when in the non-working state:
the left side sliding trolley and the right side sliding trolley are respectively locked at the left bottom corner and the right bottom corner of the isosceles triangle sliding rail, and the counterweight is accommodated in the underwater glider;
when the pitch angle state of the wing body fusion underwater glider is changed:
the rope receiving and discharging unit enables the counterweight to be arranged below the left side sliding trolley to move along the isosceles triangle sliding rail to reach the vertex angle of the isosceles triangle sliding rail and then lock the left side sliding trolley, and the right side sliding trolley moves along the isosceles triangle sliding rail to reach the midpoint of the bottom edge of the isosceles triangle sliding rail and then is fixed, so that the counterweight is suspended under the central shaft of the underwater glider;
when the state of the roll angle of the wing body fusion underwater glider is changed:
the left side sliding trolley and the right side sliding trolley are respectively locked at the left bottom corner and the right bottom corner of the isosceles triangle sliding rail; the two motors of the rope receiving and discharging unit start to work, and the lengths of the corresponding ropes are adjusted, so that the length difference is generated between the lengths of the ropes between the left side sliding trolley and the counterweight and the lengths of the ropes between the right side sliding trolley and the counterweight, and the counterweight is suspended below the underwater glider and deviates from the central axis of the underwater glider;
when the state of the pitch angle and the roll angle of the wing body fusion underwater glider is changed simultaneously:
the left side sliding trolley and the right side sliding trolley are respectively moved to the left waist and the right waist of the isosceles triangle sliding rail and then locked, two motors of the rope receiving and discharging unit start to work, the lengths of corresponding ropes are adjusted, at the moment, the distances from the left side sliding trolley and the right side sliding trolley to the top angle of the isosceles triangle sliding rail are different, the lengths of the ropes between the left side sliding trolley and the counterweight and the lengths of the ropes between the right side sliding trolley and the counterweight are different, and the counterweight is hung below the underwater glider and deviates from the central axis of the underwater glider.
Optimally, the value range of the ratio alpha of the rope length S1 between the left side sliding trolley and the counterweight to the rope length S2 between the right side sliding trolley and the counterweight is 1.8 < alpha < 2.5; the value range of the ratio gamma of the distance Q1 from the left side sliding trolley to the top angle of the isosceles triangle sliding rail to the distance Q2 from the right side sliding trolley to the top angle of the isosceles triangle sliding rail is 2 < gamma < 4.
The beneficial effects are that: compared with the prior art, the invention has the advantages that:
1. the invention can adjust the pitch angle of the underwater glider in the underwater glider process, and can change the sailing distance of the underwater glider for completing a submerging and floating period under the condition of unchanged submerging depth, thereby realizing the networking monitoring of the underwater glider for completing different sailing periods.
2. According to the invention, the high mobility glide of yaw left and right can be completed without installing propellers on the left and right wings of the underwater glider, and the data acquisition and target detection and tracking in a larger range are realized.
3. According to the invention, the position of the slidable trolley on the isosceles triangle slide rail is changed, the rope receiving and discharging unit is controlled to adjust the length of the rope, so that the gravity center of the wing body fusion underwater glider is deviated, the posture of the wing body fusion underwater glider is changed, and the maneuverability of the wing body fusion underwater glider is increased.
4. The invention can directly replace the propeller propulsion devices of the left wing and the right wing of other wing body fusion underwater gliders, so that the wing body fusion underwater gliders are improved in system integrity and glide concealment.
Drawings
FIG. 1 is a schematic view of the structure of the invention mounted on an underwater glider;
FIG. 2 is a schematic diagram of the connection structure of the rope reel, the trolley and the counterweight according to the invention;
FIG. 3 is a schematic view of the present invention from an inactive state to a change in pitch angle state;
FIG. 4 is a schematic view of the relative positions of the counterweights and rope lengths of the present invention in a pitch angle change state;
FIG. 5 is a simplified schematic diagram of FIG. 4;
FIG. 6 is a schematic view of the relative position of the counterweight and rope length of the present invention in a roll angle change condition;
fig. 7 is a simplified schematic diagram of fig. 6.
Detailed Description
The invention will be further elucidated with reference to the drawings and to specific embodiments, it being understood that these embodiments are only intended to illustrate the invention and are not intended to limit the scope thereof.
The utility model provides a wing body fuses mobility enhancement device of glider under water, as shown in fig. 1 ~ 7, includes rope winding and unwinding devices 1 and counter weight sliding system 2, and rope winding and unwinding devices 1 includes rope winding and unwinding units 101, rope 102 and counter weight 103, and counter weight sliding system 2 includes isosceles triangle slide rail 21 and slidable trolley group 22.
The rope receiving and discharging unit 101 is installed inside the underwater glider 100, the isosceles triangle slide rail 21 is installed at the bottom of the underwater glider 100, the slidable trolley unit 22 comprises a left side sliding trolley 228 and a right side sliding trolley 229, the bottom side central line of the isosceles triangle slide rail 21 is used as a boundary and is respectively in sliding connection with the left half part and the right half part of the isosceles triangle slide rail 21, the bottom side central line of the isosceles triangle slide rail 21 and the central line of the underwater glider 100 are in the same plane, and the vertex angle and two bottom angles of the isosceles triangle slide rail 21 are in arc transition. The isosceles triangle slide rail 21 comprises an inner side slide rail 211 and an outer side slide rail 212, the inner side slide rail 211 and the outer side slide rail 212 are isosceles triangles, the sections of the inner side slide rail 211 and the outer side slide rail 212 are C-shaped, the C-shaped openings of the inner side slide rail 211 and the C-shaped openings of the outer side slide rail 212 are arranged in the outer side slide rail 212 at opposite intervals, the inner side slide rail 211 and the outer side slide rail 212 are respectively provided with a bolt locking hole, the bottom surface of the underwater glider 100 is provided with a groove 999 matched with the isosceles triangle slide rail 21, and the inner side slide rail 211 and the outer side slide rail 212 are respectively arranged in the groove 999 and are respectively fixed with one corresponding inner side wall through screws.
The left side slide cart 228 and the right side slide cart 229 are respectively provided with a rope guide hole 222, the rope receiving and discharging unit 101 comprises two motors, each motor is connected with the counterweight 103 through one rope 102, one end of each rope 102 is connected with a corresponding motor, and the other end of each rope 102 is connected with the counterweight 103 after penetrating through the corresponding rope guide hole 222. Pulley blocks may be provided on the rope 102 to facilitate the motor to retract the weight 103 through the rope 102 to the inside and outside of the underwater glider 100.
The left sliding trolley 228 and the right sliding trolley 229 are respectively provided with a driving bolt 223, the driving bolt 223 on the left sliding trolley 228 is matched with the bolt locking hole on the inner side sliding rail 211, the driving bolt 223 on the right sliding trolley 229 is matched with the bolt locking hole on the outer side sliding rail 212, the driving bolt 223 is provided with a power source such as a piston cylinder, and the actions of inserting or extracting from the corresponding bolt locking hole can be realized through system control.
The left side sliding trolley 228 and the right side sliding trolley 229 are respectively provided with a telescopic spring 221 and a motor, four wheels are arranged, the left side sliding trolley 228 and the right side sliding trolley 229 can slide on the isosceles triangle slide rail 21 through system control, when the left side sliding trolley 228 and the right side sliding trolley 229 pass through the top angle or two bottom angles of the isosceles triangle slide rail 21, and the front two wheels and the rear two wheels are not on the same side of the isosceles triangle slide rail 21, the relative position relationship between the four wheels is not a rectangle, so that the left side sliding trolley 228 and the right side sliding trolley 229 can conveniently pass through the top angle or the two bottom angles of the isosceles triangle slide rail 21, and the telescopic springs 221 are arranged on the left side sliding trolley 228 and the right side sliding trolley 229.
Let the width W and length L of the underwater glider 100, the bottom side length a and the bottom side height B of the isosceles triangle slide rail 21, wherein the range of values of a and B is as follows: 0.6W < A < 0.8W,0.5L < B < 0.75L; the ratio η=a/B of the bottom side to the high length of the isosceles triangle slide rail 21 is set as follows: 2 < eta < 3. Let the mass of the counterweight 103 be M and the mass of the underwater glider 100 (total mass excluding the counterweight) be M, wherein the ratio β (β=m/M) of the mass M of the counterweight 103 to the mass M of the wing body fusion underwater glider 100 has a value ranging from: beta is more than 0.05 and less than 0.1.
The working method of the device for improving the maneuverability of the wing body fusion underwater glider comprises the steps of not working, changing the pitch angle state of the wing body fusion underwater glider, changing the roll angle state of the wing body fusion underwater glider and simultaneously changing the pitch angle state and the roll angle state of the wing body fusion underwater glider;
when in the non-working state:
the left side slide trolley 228 and the right side slide trolley 229 are respectively locked at the left bottom corner and the right bottom corner of the isosceles triangle slide rail 21, and the counterweight 103 is accommodated in the underwater glider 100;
when the pitch angle state of the wing body fusion underwater glider is changed:
the rope receiving and discharging unit 101 makes the weight 103 lower through the rope 102, the left side sliding trolley 228 moves along the isosceles triangle slide rail 21 to reach the vertex angle of the isosceles triangle slide rail 21 and then locks, the right side sliding trolley 229 moves along the isosceles triangle slide rail 21 to reach the midpoint of the bottom edge of the isosceles triangle slide rail 21 and then fixes, and the weight 103 is suspended under the central shaft of the underwater glider 100;
when the state of the roll angle of the wing body fusion underwater glider is changed:
the left side sliding trolley 228 and the right side sliding trolley 229 are respectively locked at the left bottom corner and the right bottom corner of the isosceles triangle sliding rail 21; the two motors of the rope receiving and discharging unit 101 start to work, and the lengths of the corresponding ropes 102 are adjusted, so that the lengths of the ropes 102 between the left side sliding trolley 228 and the counterweight 103 and the lengths of the ropes 102 between the right side sliding trolley 229 and the counterweight 103 are different, and the counterweight 103 is suspended below the underwater glider 100 and deviates from the central axis;
when the state of the pitch angle and the roll angle of the wing body fusion underwater glider is changed simultaneously:
the left side sliding trolley 228 and the right side sliding trolley 229 are respectively moved to the left waist and the right waist of the isosceles triangle slide rail 21 and then locked, the two motors of the rope receiving and discharging unit 101 start to work, and the lengths of the corresponding ropes 102 are adjusted, at this time, the distances from the left side sliding trolley 228 and the right side sliding trolley 229 to the top angle of the isosceles triangle slide rail 21 are different, the lengths of the ropes 102 between the left side sliding trolley 228 and the counterweight 103 are different from the lengths of the ropes 102 between the right side sliding trolley 229 and the counterweight 103, and the counterweight 103 is suspended below the underwater glider 100 and deviates from the center line thereof.
The ratio alpha of the length S1 of the rope 102 between the left side sliding trolley 228 and the counterweight 103 to the length S2 of the rope 102 between the right side sliding trolley 229 and the counterweight 103 is in the range of 1.8 < alpha < 2.5; the ratio gamma of the distance Q1 from the left side sliding trolley 228 to the vertex angle of the isosceles triangle slide rail 21 to the distance Q2 from the right side sliding trolley 229 to the vertex angle of the isosceles triangle slide rail 21 is in the range of 2 < gamma < 4.
When the device is converted from an inactive state to a state of changing the pitch angle of the wing body fusion underwater glider, firstly, the rope receiving and discharging unit 101 rotates to release the rope 102, and the counterweight 103 originally contained in the underwater glider 100 descends; then the left side sliding trolley 228 slides to the vertex angle of the isosceles triangle slide rail 21 along the left waist of the isosceles triangle slide rail 21, and the driving bolt 223 on the left side sliding trolley 228 is inserted into the bolt locking hole of the isosceles triangle slide rail 21; simultaneously, the right slide cart 229 slides along the bottom edge of the isosceles triangle slide rail 21 to the midpoint of the bottom edge of the isosceles triangle slide rail 21, and the driving latch 223 on the right slide cart 229 is inserted into the latch locking hole of the isosceles triangle slide rail 21.
The position of the weight 103 relative to the underwater glider 100 is adjusted by changing the length of the rope 102 between the weight 103 and the left and right side sideslip trolleys 228, 229 in a state where the pitch angle of the wing body fusion underwater glider is changed.
When the length of the rope 102 between the weight 103 and the left side slide car 228 is smaller than the length of the rope 102 between the weight 103 and the right side slide car 229 in a state where the pitch angle of the wing body fusion underwater glider is changed, the weight 103 moves forward the center of gravity of the underwater glider 100, and the pitch angle of the underwater glider 100 increases.
When the device is converted from an inactive state to a state of changing the roll angle of the wing body fusion underwater glider, the rope receiving and discharging unit 101 rotates to release the rope 102, and the counterweight 103 originally contained in the underwater glider 100 descends; the position of the weight 103 relative to the underwater glider 100 is then adjusted by adjusting the length of the rope 102 between the weight 103 and the left and right sideslip trolleys 228, 229.
When the length of the rope 102 between the weight 103 and the left-side slide car 228 is smaller than the length of the rope 102 between the weight 103 and the right-side slide car 229 in a state where the roll angle of the wing body fusion underwater glider is changed, the weight 103 moves the center of gravity of the underwater glider 100 to the left, the roll angle of the underwater glider 100 is changed, and the underwater glider 100 is yawed to the left.
When the device is converted from an inactive state to a state of simultaneously changing the pitch angle and the roll angle of the wing body fusion underwater glider, the rope receiving and discharging unit 101 rotates to release the rope 102, and the counterweight 103 originally contained in the underwater glider 100 descends; the left side slide carriage 228 slides on the left half of the isosceles triangle slide rail 21, and the right side slide carriage 229 slides on the right half of the isosceles triangle slide rail 21; finally, the left side slide cart 228 and the right side slide cart 229 are respectively locked on the left and right sides of the isosceles triangle slide rail 21, and the distances from the left side slide cart 228 and the right side slide cart 229 to the top of the isosceles triangle slide rail 21 are not equal. The length of the rope 102 between the left side slide cart 228 and the weight 103 is different from the length of the rope 102 between the right side slide cart 229 and the weight 103, and the weight 103 is suspended below the underwater glider 100 and not directly below the center shaft.
When the gravity center of the underwater glider 100 moves forward and moves left, the pitch angle of the underwater glider 100 increases and yaw to the left.
Claims (10)
1. The utility model provides a wing body fuses glider mobility improving device under water which characterized in that: including rope receive and release device (1) and counter weight slide system (2), rope receive and release device (1) include rope receive and release unit (101), rope (102) and counter weight (103), counter weight slide system (2) are including isosceles triangle slide rail (21) and slidable dolly (22), rope receive and release unit (101) are installed in inside glider under water (100), isosceles triangle slide rail (21) are installed in glider under water (100) bottom, slidable dolly (22) are including left side slide dolly (228), right side slide dolly (229), regard the base central line of isosceles triangle slide rail (21) as the world, left side half, right side half sliding connection with isosceles triangle slide rail (21) respectively, be equipped with one rope guide hole (222) on left side slide dolly (228) and the right side slide dolly (229) respectively, rope (102) are equipped with two, two ropes (102) one end are connected with rope receive and release unit (101) respectively, the other end wear to locate respectively in corresponding one rope guide hole (222) back and be connected with counter weight (103) respectively.
2. The wing body fusion underwater glider mobility improving device according to claim 1, wherein: the isosceles triangle sliding rail (21) comprises an inner side sliding rail (211) and an outer side sliding rail (212), wherein the inner side sliding rail (211) and the outer side sliding rail are isosceles triangles, the sections of the inner side sliding rail and the outer side sliding rail are C-shaped, the inner side sliding rail (211) is arranged in the outer side sliding rail (212), C-shaped openings of the inner side sliding rail and the outer side sliding rail (212) are oppositely arranged at intervals, and bolt locking holes are respectively formed in the inner side sliding rail (211) and the outer side sliding rail (212).
3. A wing body fusion underwater glider mobility enhancing apparatus as claimed in claim 2, wherein: the bottom surface of the underwater glider (100) is provided with a groove (999) matched with the isosceles triangle slide rail (21), and the inner side slide rail (211) and the outer side slide rail (212) are respectively arranged in the groove (999) and are respectively fixed with one corresponding inner side wall through screws.
4. A wing body fusion underwater glider mobility enhancing apparatus as claimed in claim 2, wherein: a driving bolt (223) is respectively arranged on the left sliding trolley (228) and the right sliding trolley (229), the driving bolt (223) on the left sliding trolley (228) is matched with a bolt locking hole on the inner side sliding rail (211), and the driving bolt (223) on the right sliding trolley (229) is matched with a bolt locking hole on the outer side sliding rail (212).
5. The wing body fusion underwater glider mobility improving device according to claim 1, wherein: the bottom side central line of the isosceles triangle slide rail (21) is in the same plane with the central axis of the underwater glider (100), and the vertex angle and the two bottom angles of the isosceles triangle slide rail (21) are transited through circular arcs.
6. The wing body fusion underwater glider mobility improving device according to claim 1, wherein: the length A of the bottom edge of the isosceles triangle slide rail (21) is 0.6-0.8 times of the width W of the underwater glider (100), the height B of the bottom edge of the isosceles triangle slide rail (21) is 0.5-0.75 times of the length L of the underwater glider (100), and the value range of the ratio eta of the bottom edge A of the isosceles triangle slide rail (21) to the height B of the bottom edge is 2 < eta < 3.
7. The wing body fusion underwater glider mobility improving device according to claim 1, wherein: the value range of the ratio beta of the mass M of the counterweight (103) to the mass M of the underwater glider (100) is 0.05 < beta < 0.1.
8. The wing body fusion underwater glider mobility improving device according to claim 1, wherein: the rope receiving and discharging unit (101) comprises two motors, wherein the two motors are respectively connected with the counterweight (103) through one rope (102), one ends of the two ropes (102) are respectively connected with one corresponding motor, and the other ends of the two ropes are respectively arranged in one corresponding rope guide hole (222) in a penetrating mode and then are connected with the counterweight (103).
9. A method of operating a wing body fusion underwater glider mobility enhancing device as claimed in any one of claims 1 to 8 wherein: the working states of the underwater glider (100) comprise a non-working state, a state of changing the pitch angle of the wing body fusion underwater glider, a state of changing the roll angle of the wing body fusion underwater glider and a state of changing the pitch angle and the roll angle of the wing body fusion underwater glider;
when in the non-working state:
the left side sliding trolley (228) and the right side sliding trolley (229) are respectively locked at the left bottom corner and the right bottom corner of the isosceles triangle sliding rail (21), and the counterweight (103) is accommodated in the underwater glider (100);
when the pitch angle state of the wing body fusion underwater glider is changed:
the rope receiving and discharging unit (101) enables the weight (103) to be arranged below through the rope (102), the left side sliding trolley (228) moves along the isosceles triangle sliding rail (21) to reach the vertex angle of the isosceles triangle sliding rail (21) and then locks, the right side sliding trolley (229) moves along the isosceles triangle sliding rail (21) to reach the midpoint of the bottom edge of the isosceles triangle sliding rail (21) and then is fixed, and the weight (103) is suspended under the central shaft of the underwater glider (100);
when the state of the roll angle of the wing body fusion underwater glider is changed:
the left side sliding trolley (228) and the right side sliding trolley (229) are respectively locked at the left bottom corner and the right bottom corner of the isosceles triangle sliding rail (21); the two motors of the rope receiving and discharging unit (101) start to work, the lengths of the corresponding ropes (102) are adjusted, so that the length difference is generated between the lengths of the ropes (102) between the left side sliding trolley (228) and the counterweight (103) and the lengths of the ropes (102) between the right side sliding trolley (229) and the counterweight (103), and the counterweight (103) is suspended below the underwater glider (100) and deviates from the central axis;
when the state of the pitch angle and the roll angle of the wing body fusion underwater glider is changed simultaneously:
the left side sliding trolley (228) and the right side sliding trolley (229) respectively move to the left waist and the right waist of the isosceles triangle sliding rail (21) and then are locked, two motors of the rope receiving and discharging unit (101) start to work, the lengths of corresponding ropes (102) are adjusted, at the moment, the distances from the left side sliding trolley (228) and the right side sliding trolley (229) to the top angle of the isosceles triangle sliding rail (21) are different, the lengths of the ropes (102) between the left side sliding trolley (228) and the counterweight (103) and the lengths of the ropes (102) between the right side sliding trolley (229) and the counterweight (103) are different, and the counterweight (103) is hung below the underwater glider (100) and deviates from the central axis.
10. The method of operation of a wing body fusion underwater glider mobility enhancing device of claim 9, wherein: the value range of the ratio alpha of the length S1 of the rope (102) between the left side sliding trolley (228) and the counterweight (103) to the length S2 of the rope (102) between the right side sliding trolley (229) and the counterweight (103) is 1.8 < alpha < 2.5; the ratio gamma of the distance Q1 from the left side sliding trolley (228) to the vertex angle of the isosceles triangle sliding rail (21) to the distance Q2 from the right side sliding trolley (229) to the vertex angle of the isosceles triangle sliding rail (21) is 2 < gamma < 4.
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Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102050218A (en) * | 2009-11-04 | 2011-05-11 | 中国科学院沈阳自动化研究所 | Gesture adjusting device for underwater glider |
| CN105836082A (en) * | 2016-03-18 | 2016-08-10 | 浙江海洋学院 | Motion posture control device for underwater glider |
| CN205770078U (en) * | 2016-05-11 | 2016-12-07 | 浙江海洋大学 | A kind of gravity center adjusting mechanism of underwater glider |
| CN106741707A (en) * | 2017-01-03 | 2017-05-31 | 江苏科技大学 | A kind of automatic stowage balance system for rig a ship |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| US9540085B2 (en) * | 2014-07-01 | 2017-01-10 | Ybm Co., Ltd. | Ocean exploration apparatus and ocean exploration method |
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Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102050218A (en) * | 2009-11-04 | 2011-05-11 | 中国科学院沈阳自动化研究所 | Gesture adjusting device for underwater glider |
| CN105836082A (en) * | 2016-03-18 | 2016-08-10 | 浙江海洋学院 | Motion posture control device for underwater glider |
| CN205770078U (en) * | 2016-05-11 | 2016-12-07 | 浙江海洋大学 | A kind of gravity center adjusting mechanism of underwater glider |
| CN106741707A (en) * | 2017-01-03 | 2017-05-31 | 江苏科技大学 | A kind of automatic stowage balance system for rig a ship |
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