CN115447742A - Underwater unpowered buoy carrier capable of self-correcting posture and using method - Google Patents

Underwater unpowered buoy carrier capable of self-correcting posture and using method Download PDF

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Publication number
CN115447742A
CN115447742A CN202211401584.4A CN202211401584A CN115447742A CN 115447742 A CN115447742 A CN 115447742A CN 202211401584 A CN202211401584 A CN 202211401584A CN 115447742 A CN115447742 A CN 115447742A
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carrier
probe
attitude
end cover
underwater
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CN115447742B (en
Inventor
刘杰
崔永超
杜立彬
柳泽政
贺海靖
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Shandong University of Science and Technology
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Shandong University of Science and Technology
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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
    • 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
    • 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
    • B63G8/22—Adjustment of buoyancy by water ballasting; Emptying equipment for ballast tanks
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D21/00—Measuring or testing not otherwise provided for
    • G01D21/02—Measuring two or more variables by means not covered by a single other subclass

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Ocean & Marine Engineering (AREA)
  • Length Measuring Devices With Unspecified Measuring Means (AREA)
  • Testing Or Calibration Of Command Recording Devices (AREA)

Abstract

The invention discloses an underwater unpowered buoy carrier capable of self-correcting postures and a using method, relates to the technical field of ocean detection equipment, and is used for automatically correcting the buoy carrier. Through the analysis to unpowered flotation pontoon carrier kinematics, to its self structure, positive buoyancy size and matter center of buoyancy distance have carried out optimal design, can keep the gesture stable in the upward floating process, have small, the simple and clear, the advantage such as play water and upward floating gesture stability of structure, possess the potentiality that further development becomes the pervasive flotation pontoon carrier that is applicable to other small-size jettison ocean detection equipment such as jettison formula temperature and depth measuring apparatu.

Description

Underwater unpowered buoy carrier capable of self-correcting posture and using method
Technical Field
The invention relates to the technical field of ocean exploration equipment, in particular to an underwater unpowered buoy carrier capable of self-correcting postures and a using method.
Background
The expendable thermohaline depth measuring instrument is an instrument for measuring relevant hydrological parameters by expending an induction probe carrying a temperature sensor and a conductivity sensor and completing the measurement of the probe in the movement of a seawater section. The existing technology is relatively complete and jettison type temperature and salt depth measuring instrument mainly has two types, which are respectively airborne and shipborne. The carrier designed and used by the shipborne jettison type thermohaline depth measuring instrument does not need to enter water, provide buoyancy and bear water pressure, so the carrier of the type of thermohaline depth measuring instrument is generally a cylindrical shell made of plastic, and has the functions of storing the probe of the jettison type thermohaline depth measuring instrument to avoid unnecessary collision, matching with a shipborne transmitting device to finish transmitting the probe of the shipborne jettison type thermohaline depth measuring instrument, returning data and the like. Its structure is also comparatively simple, mainly contains two main parts, and one is the cylindrical shell that the outside plays the guard action, and another is the paying out machine structure of inside cooperation probe transmission and data passback. The probe carrier that airborne jettison formula temperature and salinity depth measuring apparatu used is comparatively complicated, this type of flotation pontoon carrier need be gone into water, nevertheless need not bear water pressure, after the flotation pontoon carrier that carries on the probe is put in from the aircraft, in order to avoid going into the water speed and lead to the probe damage too fast, can generally design a decelerator of similar parachute, can release the probe after the carrier that carries the probe goes into water, self floats in the sea, with the probe measurement gained data through the wireless transmission equipment that the flotation pontoon carrier kind carried back to the data receiving terminal.
In the working process of the thermohaline depth measuring instrument, the motion posture of the probe in water has great influence on the measuring precision and the obtained data quality, the probe is thrown in a ship-borne mode, the maneuverability and the concealment are poor, and the thermohaline depth measuring instrument can only be used for simple scientific research tasks and is not suitable for some complex measuring tasks; the throwing is carried out by adopting an airplane-carried mode, although the maneuverability is better, the concealment is also poorer, and the throwing measuring instrument and the signal receiving end are thrown by adopting the airplane-carried mode, so that the signal quality is poorer. The underwater vehicle has a complex structure, the key action of the vehicle during operation needs to be provided with power from the outside, the working process of the vehicle is seriously influenced once leakage occurs, the underwater vehicle is not stable and reliable enough, and the existing underwater vehicle often lacks a special posture adjusting structure, so that the posture of the vehicle is unstable in the ascending process.
Disclosure of Invention
The invention provides an underwater unpowered buoy carrier capable of self-correcting attitude and a using method thereof, and solves the problem that the attitude of a probe of a submarine-launched type thermohaline depth measuring instrument in the prior art is unstable in the floating process
An underwater unpowered buoy carrier capable of self-correcting posture is long in strip shape and sequentially comprises a probe front end cover, a buoyancy cabin, an offshore surface posture stabilizing section, a posture adjusting section, a probe carrying section and a probe blocking plug along the length direction of the buoy carrier, wherein the buoyancy cabin and the posture adjusting section are sealing sections, and the offshore surface posture stabilizing section and the probe carrying section are of open structures with balanced internal and external pressures;
the front end cover of the probe is of a hemispherical structure, the buoyancy cabin sequentially comprises a front cavity, an expansion spring, a first end cover, a floating center adjusting pressure rod and a second end cover along the length direction of the buoyancy cabin, an expansion spring fixing groove is formed in the front cavity, one end of the expansion spring is connected with the expansion spring fixing groove, the other end of the expansion spring is connected with the first end cover, and two ends of the floating center adjusting pressure rod are respectively connected with the first end cover and the second end cover;
the sea surface-near attitude stabilizing section comprises a boss pull rod and attitude stabilizing fins, the boss pull rod is connected with the second end cover, semi-open type rectangular grooves are formed in the attitude stabilizing fins along the length of the second end cover, a rod body of the boss pull rod is located among the plurality of attitude stabilizing fins, and a plurality of bosses corresponding to the semi-open type rectangular grooves in position are arranged in the circumferential direction of the boss pull rod;
a circular opening is formed in the side wall of the cylindrical bobbin probe carrying section of the probe carrying section; a spring mechanism is arranged between the probe blocking plug and the probe carrying section, and the spring mechanism sequentially comprises a metal round table, a reset spring, an electromagnet mounting groove, a wire placing groove, a pressure switch placing hole and a rear end sealing cover along the length direction of the spring mechanism.
Four attitude stabilizing wings are uniformly distributed along the circumferential direction of the offshore surface attitude stabilizing section.
And the first end cover is provided with a vent hole for balancing the air pressure in the cabin.
Four boss baffles are uniformly distributed along the circumferential direction of the inner wall of the buoyancy chamber.
And a pendulum tuned mass damper for adjusting the motion attitude of the float carrier is arranged in the attitude adjusting section.
The wide bottom surface of the metal round table faces the probe carrying section, the narrow bottom surface is connected with one end of a return spring, and the other end of the return spring is connected with a spring fixing boss on a shell of the spring mechanism.
The elastic fixing pieces are arranged on the periphery of the metal round platform and are arranged along the axial direction of the metal round platform, and the inner wall of the shell of the spring mechanism is provided with a stop dog matched with the elastic fixing pieces.
The use method of the underwater unpowered buoy carrier capable of self-correcting the attitude comprises the following steps:
s1, preparing before transmitting;
placing a probe of the thermohaline depth measuring instrument into a probe carrying section, loading a buoy carrier into a launching cabin of the underwater vehicle, injecting water and pressurizing into the launching cabin of the underwater vehicle after loading, injecting seawater with the same depth as the underwater vehicle submerging depth into the launching cabin, simultaneously enabling high-pressure seawater to enter a near-sea attitude stabilizing section through a water permeable hole formed in an attitude stabilizing fin, and driving a floating center adjusting pressure rod to move towards the top of the carrier by a second end cover under the action of seawater pressure to raise the floating center height of an air chamber in a buoyancy cabin;
when the second end cover contacts the boss baffle, the second end cover is blocked to stop moving, the boss pull rod moves upwards under the driving of the floating center adjusting pressure rod, the boss enters the semi-open type rectangular groove, and the posture stabilizing wing panel is locked;
when the pressure switch is used for electrifying the electromagnet under the action of deep sea pressure, the metal round table moves towards the direction of the electromagnet under the action of magnetic force, and the elastic fixing sheet is pressed and deformed to gradually contact with the stop block in the moving process of the metal round table so as to prevent the probe blocking plug from falling off;
s2, transmitting and implementing;
pushing out the buoy carrier from a launching cabin of the underwater vehicle, releasing the signal transmission thin wire wound on the cylindrical spool from the circular opening and connecting the signal transmission thin wire with a signal receiving end carried on the underwater vehicle;
s3, establishing a coordinate system related to the float carrier;
coordinate system
Figure 818081DEST_PATH_IMAGE002
: origin of the coordinate system
Figure 407325DEST_PATH_IMAGE004
Located on the center of mass of the pontoon carrier;
Figure 124746DEST_PATH_IMAGE006
the axial direction points to the head of the float carrier along the longitudinal direction of the float carrier;
Figure 254376DEST_PATH_IMAGE008
axis perpendicular to
Figure 991386DEST_PATH_IMAGE006
A shaft within a plane of symmetry of the pontoon carrier;
Figure 282690DEST_PATH_IMAGE010
shaft and
Figure 752986DEST_PATH_IMAGE006
shaft and
Figure 420727DEST_PATH_IMAGE008
the axis being perpendicular to and in contact with
Figure 292868DEST_PATH_IMAGE006
Shaft and
Figure 253609DEST_PATH_IMAGE008
the axes form a right-hand rectangular coordinate system;
inertial frame
Figure 211201DEST_PATH_IMAGE012
: origin of the coordinate system
Figure 885895DEST_PATH_IMAGE014
The launching point is positioned on the carrying platform;
Figure 346964DEST_PATH_IMAGE016
the shaft is positioned in the horizontal plane of the emission point and points to the emission direction;
Figure 245650DEST_PATH_IMAGE018
axis perpendicular to
Figure 189073DEST_PATH_IMAGE016
An axis, the positive direction being upward along a plumb line at the launch point;
Figure 933038DEST_PATH_IMAGE020
shaft and
Figure 779771DEST_PATH_IMAGE016
shaft and
Figure 787041DEST_PATH_IMAGE018
the axis is perpendicular to
Figure 719225DEST_PATH_IMAGE016
Shaft and
Figure 499837DEST_PATH_IMAGE018
the axes form a right-hand rectangular coordinate system;
s4, lifting the carrier;
when the float bowl carrier is launched into water by the launching platform, the motion state of the float bowl carrier is regarded as free motion, the force borne in the motion process comprises gravity, buoyancy, hydrodynamic force and additional force, and in a launching inertia system, a dynamic model of the mass center translation and the rotation around the mass center of the float bowl carrier is respectively unfolded as follows:
Figure 466656DEST_PATH_IMAGE022
（1）；
Figure 910407DEST_PATH_IMAGE024
（2）；
in the formula (1)mThe total mass of the float carrier and the carried probe;
Figure 329887DEST_PATH_IMAGE026
the tilting linear velocity of the float carrier in each direction is obtained;
Figure 415655DEST_PATH_IMAGE028
the tilting angular speed of the buoy carrier in each direction;
Figure 236980DEST_PATH_IMAGE030
、
Figure 90448DEST_PATH_IMAGE032
、
Figure 997224DEST_PATH_IMAGE034
as an additional mass;
Figure 355524DEST_PATH_IMAGE036
is an additional force;
Figure 562514DEST_PATH_IMAGE038
is fluid power;
Figure 846603DEST_PATH_IMAGE040
is buoyancy;
Figure 771833DEST_PATH_IMAGE042
is gravity, in formula (2)
Figure 402666DEST_PATH_IMAGE044
Is the moment of inertia;
Figure 933005DEST_PATH_IMAGE046
、
Figure 420618DEST_PATH_IMAGE048
、
Figure 301986DEST_PATH_IMAGE050
adding rotational inertia;
Figure 500624DEST_PATH_IMAGE052
is an additional moment;
Figure 885469DEST_PATH_IMAGE054
is the hydrodynamic torque;
Figure 543983DEST_PATH_IMAGE056
above the variable for the moment of buoyancy
Figure 647069DEST_PATH_IMAGE058
Expressed as the first derivative of the variable;
the additional force and the additional moment spread out as:
Figure 416441DEST_PATH_IMAGE060
（3）；
Figure 186951DEST_PATH_IMAGE062
（4）；
wherein the content of the first and second substances,
Figure 718165DEST_PATH_IMAGE064
、
Figure 308546DEST_PATH_IMAGE066
、
Figure 147189DEST_PATH_IMAGE068
as an additional mass;
Figure 975468DEST_PATH_IMAGE070
、
Figure 202881DEST_PATH_IMAGE072
is an additional static moment;
Figure 14979DEST_PATH_IMAGE074
、
Figure 860576DEST_PATH_IMAGE076
、
Figure 340099DEST_PATH_IMAGE078
for additional moment of inertia, the buoy carrier is a smooth axisymmetric body with:
Figure 511317DEST_PATH_IMAGE080
、
Figure 574826DEST_PATH_IMAGE082
、
Figure 489692DEST_PATH_IMAGE084
equations (3) and (4) are simplified as:
Figure 558142DEST_PATH_IMAGE086
（5）；
Figure 165841DEST_PATH_IMAGE088
（6）；
s5, releasing the offshore surface probe;
the pressure in the offshore attitude stabilization section is continuously reduced along with the reduction of the depth of seawater along with the continuous rising of the carrier, at the moment, the floating center adjusting pressure rod starts to gradually move downwards under the action of the telescopic spring, when the floating center adjusting pressure rod reaches a certain depth close to the sea surface, the floating center adjusting pressure rod restores to the initial position, the boss slides out of the semi-open type rectangular groove under the pushing of the second end cover, the attitude stabilization wing piece bounces off under the action of the spring fixing structure to realize the speed reduction of the floating tail end, and the water outlet attitude of the buoy carrier is stabilized;
along with the downward movement of the floating center adjusting pressure rod, the air chamber in the buoyancy section is increased, when the probe blocks the disconnection of a pressure switch arranged on a sealing cover at the rear end of the plug when the probe reaches the sea, the electromagnet loses magnetism, the metal circular truncated cone is restored to the original position under the pushing of the reset spring, the elastic fixing piece is separated from the stop block, and the probe blocks the plug to spring to release the probe of the thermohaline depth measuring instrument.
Compared with the prior art, the invention has the beneficial effects that: the designed buoy carrier can be carried and thrown in through the underwater vehicle, can keep stable in posture in the floating process, and has the advantages of small volume, simple structure, stable water outlet and floating posture and the like.
Drawings
FIG. 1 is a flow chart of a method of using a self-attitude-correcting underwater unpowered pontoon vehicle according to the invention;
FIG. 2 is an external structural view of an underwater unpowered buoy carrier with self-correcting attitude according to the present invention;
FIG. 3 is an internal structural view of FIG. 2;
FIG. 4 is a block diagram of a spring mechanism;
FIG. 5 is a block diagram of a pendulum tuned mass damper;
FIG. 6 is a block diagram of an attitude stabilization section near the sea surface;
FIG. 7 is a block diagram of an attitude stabilizer blade;
FIG. 8 is a view showing the structure of a metal circular table;
FIG. 9 is a position view of the stop;
FIG. 10 is a schematic view of a carriage coordinate;
the reference numerals include: 1-probe front end cap, 2-buoyancy module, 3-off-shore attitude stabilization segment, 4-attitude stabilization tab, 5-attitude adjustment segment, 6-probe carry-on segment, 21-probe block stopper, 7-pendulum tuned mass damper, 8-connection between head end cap and buoyancy module, 9-extension spring, 10-extension spring fixation groove, 11-floating center adjustment strut, 12-boss baffle, 13-second end cap, 14-semi-open rectangular groove, 15-boss pull rod, 16-water permeable hole, 17-pendulum tuned mass damper pendulum mount, 18-pendulum, 19-permanent magnet fixation groove, connection between 20-attitude adjustment segment and probe carry-on segment, 23-spring fixation mechanism, 24-front cavity, 25-first end cap, 26-air vent, 27-cylindrical bobbin, 28-circular opening, 29-metal circular table, 30-elastic fixation sheet, 31-housing of spring mechanism, 32-mounting groove, 33-rear end seal cap, 34-pressure switch placement hole, 35-metal spool mount, 35-spring placement groove, 37-boss fixation hole, 38-return spring placement groove, 39-tab, 38-return hole, 39-return spring fixation groove, and 39-boss fixation groove.
Detailed Description
The following embodiments are further illustrated in the following description:
an underwater unpowered buoy carrier capable of self-correcting postures is shown in figure 2, the buoy carrier is long in strip shape and sequentially comprises a probe front end cover 1, a buoyancy cabin 2, an offshore surface posture stabilizing section 3, a posture adjusting section 5, a probe carrying section 6 and a probe blocking plug 21 along the length direction of the buoy carrier, the buoyancy cabin 2 and the posture adjusting section 5 are sealing sections, the offshore surface posture stabilizing section 3 and the probe carrying section 6 are open structures with balanced internal and external pressures, and the probe carrying section 6 carries a temperature and salt depth measuring instrument probe 40;
as shown in fig. 3, the probe front end cover 1 is of a hemispherical structure, the probe front end cover 1 and the buoyancy chamber 2 are combined and connected through threads and a sealing ring, the buoyancy chamber 2 sequentially comprises a front cavity 24, a telescopic spring 9, a first end cover 25, a floating center adjusting pressure rod 11 and a second end cover 13 along the length direction of the buoyancy chamber, the front cavity 24 is provided with a telescopic spring fixing groove 10, one end of the telescopic spring 9 is connected with the telescopic spring fixing groove 10, the other end of the telescopic spring 9 is connected with the first end cover 25, and two ends of the floating center adjusting pressure rod 11 are respectively connected with the first end cover 25 and the second end cover 13; the connecting piece 8 between the head end cover and the buoyancy cabin is used for fixing the buoyancy cabin 2, and the connecting piece 20 between the posture adjusting section and the probe carrying section is used for fixing the probe carrying section 6.
As shown in fig. 6 and 7, the offshore surface attitude stabilization section 3 includes a boss pull rod 15 and attitude stabilization fins 4, the boss pull rod 15 is connected to the second end cover 13, a semi-open rectangular groove 14 is formed along the length of the attitude stabilization fin 4, the rod body of the boss pull rod 15 is located between the plurality of attitude stabilization fins 4, and a plurality of bosses corresponding to the positions of the semi-open rectangular grooves 14 are formed along the circumferential direction of the boss pull rod 15;
the probe carrying section 6 comprises a probe 40 and a cylindrical spool 27, one end of the cylindrical spool 27 is connected with an inner spool of the probe 40, the other end of the cylindrical spool 27 is connected with a signal receiving end in the underwater vehicle, a number-limiting transmission thin wire is wound on the cylindrical spool 27, a circular opening 28 is formed in the side wall of the probe carrying section 6, and the number-limiting transmission thin wire penetrates through the circular opening 28;
as shown in fig. 4, a spring mechanism is arranged between the probe blocking plug 21 and the probe carrying section 6, and the spring mechanism sequentially comprises a metal circular truncated cone 29, a return spring 36, an electromagnet mounting groove 32, a lead placing groove 37, a pressure switch placing hole 34 and a rear end sealing cover 33 along the length direction of the spring mechanism.
Preferably, four attitude stabilizer blades 4 are evenly distributed along the circumference of the offshore attitude stabilizer section 3.
Preferably, the first end cover 25 is provided with a vent hole 26 for balancing the air pressure in the cabin, and the second end cover 13 is provided with a sealing groove designed in a dynamic sealing calculation mode.
Preferably, four boss baffles 12 are uniformly distributed along the circumferential direction of the inner wall of the buoyancy chamber 2.
Preferably, as shown in fig. 5, the attitude adjusting section 5 is internally provided with a pendulum tuned mass damper 7 for adjusting the motion attitude of the pontoon carrier.
Preferably, as shown in fig. 8, the wide bottom surface of the metal circular truncated cone 29 faces the probe carrying section 6, the narrow bottom surface is connected with one end of a return spring 36, and the other end of the return spring 36 is connected with a spring fixing boss 38 on the shell 31 of the spring mechanism.
Preferably, as shown in fig. 9, an elastic fixing piece 30 is disposed around the metal circular truncated cone 29, the elastic fixing piece 30 is disposed along the axial direction of the metal circular truncated cone 29, and a stopper 41 engaged with the elastic fixing piece 30 is disposed on an inner wall of the housing 31 of the spring mechanism. The electromagnet is placed in the electromagnet mounting groove 32, the metal circular truncated cone 29 is fixed by the fixing piece 35 of the metal circular truncated cone, and each wire is placed in the wire placing groove 37.
The posture stabilizing wing piece 4 is arranged in the posture stabilizing wing piece mounting groove 39, the elastic fixing piece 30 is provided with a stop block matching hole 42, and the stop block 41 can be inserted into the stop block matching hole 42 along with the movement of the metal circular truncated cone 29.
Referring to fig. 1, a method for using an underwater unpowered pontoon vehicle capable of self-correcting posture comprises the following steps:
s1, preparing before transmitting;
placing a probe 40 of the thermohaline depth measuring instrument into a probe carrying section 6, loading a buoy carrier into a launching cabin of the underwater vehicle, injecting water and pressurizing into the launching cabin of the underwater vehicle after loading, injecting seawater with the same depth as the underwater vehicle submergence depth into the launching cabin, simultaneously enabling high-pressure seawater to enter a near-sea attitude stabilizing section 3 through a water permeable hole 16 formed in an attitude stabilizing wing 4, and driving a floating center adjusting pressure rod 11 to move towards the top of the carrier by a second end cover 13 under the action of seawater pressure so as to raise the floating center height of an air chamber in a buoyancy cabin 2;
when the second end cover 13 contacts the boss baffle 12, the second end cover is blocked to stop moving, the boss pull rod 15 moves upwards under the driving of the floating center adjusting pressure rod 11, the boss enters the semi-open rectangular groove 14, and the posture stabilizing wing piece 4 is locked;
when the pressure switch energizes the electromagnet under the action of deep sea pressure, the metal round platform 29 moves towards the direction of the electromagnet under the action of magnetic force, the elastic fixing sheet 30 is pressed and deformed in the moving process of the metal round platform 29 and is gradually contacted with the stop block 41, wherein the stop block 41 is fixed on the probe blocking plug 21, and as shown in fig. 9, the stop block 41 is inserted into the stop block matching hole 42, so that the probe blocking plug 21 can be prevented from falling off;
s2, transmitting and implementing;
the buoy carrier is pushed out from a launching cabin of the underwater vehicle, and the signal transmission thin lead wound on the cylindrical spool 27 is released from the circular opening 28 and is connected with a signal receiving end carried on the underwater vehicle;
s3, as shown in the figure 10, establishing a coordinate system related to the float carrier;
coordinate system
Figure 952531DEST_PATH_IMAGE002
: origin of the coordinate system
Figure 671089DEST_PATH_IMAGE004
Is positioned on the center of mass of the float carrier;
Figure 827001DEST_PATH_IMAGE006
the axial direction points to the head of the float carrier along the longitudinal direction of the float carrier;
Figure 340022DEST_PATH_IMAGE008
axis perpendicular to
Figure 82850DEST_PATH_IMAGE006
A shaft within a plane of symmetry of the pontoon carrier;
Figure 339519DEST_PATH_IMAGE010
shaft and
Figure 349938DEST_PATH_IMAGE006
shaft and
Figure 299440DEST_PATH_IMAGE008
the axis being perpendicular to and in contact with
Figure 795143DEST_PATH_IMAGE006
Shaft and
Figure 121082DEST_PATH_IMAGE008
the axes form a right-hand rectangular coordinate system;
inertial frame
Figure 18631DEST_PATH_IMAGE012
: origin of the coordinate system
Figure 846691DEST_PATH_IMAGE090
The launching point is positioned on the carrying platform;
Figure 95270DEST_PATH_IMAGE016
the shaft is positioned in the horizontal plane of the emission point and points to the emission direction;
Figure 959320DEST_PATH_IMAGE018
axis perpendicular to
Figure 445796DEST_PATH_IMAGE016
An axis, the positive direction being upward along a plumb line at the launch point;
Figure 268259DEST_PATH_IMAGE020
shaft and
Figure 738555DEST_PATH_IMAGE016
shaft and
Figure 904831DEST_PATH_IMAGE018
the axis being perpendicular to and in contact with
Figure 511393DEST_PATH_IMAGE016
Shaft and
Figure 973599DEST_PATH_IMAGE018
the axes form a right-hand rectangular coordinate system;
s4, lifting the carrier;
when the float bowl carrier is launched into water by the launching platform, the motion state of the float bowl carrier is regarded as free motion, the force borne in the motion process comprises gravity, buoyancy, hydrodynamic force and additional force, and in a launching inertia system, a dynamic model of the mass center translation and the rotation around the mass center of the float bowl carrier is respectively unfolded as follows:
Figure 196770DEST_PATH_IMAGE092
（1）；
Figure 605885DEST_PATH_IMAGE094
（2）；
in the formula (1)mThe total mass of the float carrier and probe 40;
Figure 129270DEST_PATH_IMAGE096
the tilting linear speed of the buoy carrier in each direction is set;
Figure 729754DEST_PATH_IMAGE098
the tilting angular speed of the buoy carrier in each direction;
Figure 174642DEST_PATH_IMAGE099
、
Figure 449765DEST_PATH_IMAGE100
、
Figure 765340DEST_PATH_IMAGE101
as an additional mass;
Figure DEST_PATH_IMAGE103
is an additional force;
Figure DEST_PATH_IMAGE105
is fluid power;
Figure DEST_PATH_IMAGE107
is buoyancy;
Figure DEST_PATH_IMAGE109
is gravity, in formula (2)
Figure DEST_PATH_IMAGE111
Is the moment of inertia;
Figure 615353DEST_PATH_IMAGE046
、
Figure 16379DEST_PATH_IMAGE112
、
Figure DEST_PATH_IMAGE113
is an additional moment of inertia;
Figure DEST_PATH_IMAGE115
is an additional moment;
Figure DEST_PATH_IMAGE117
is the hydrodynamic torque;
Figure DEST_PATH_IMAGE119
above the variable for the moment of buoyancy
Figure DEST_PATH_IMAGE121
Expressed as the first derivative of the variable;
the additional force and the additional moment spread out as:
Figure DEST_PATH_IMAGE123
（3）；
Figure DEST_PATH_IMAGE125
（4）；
wherein, the first and the second end of the pipe are connected with each other,
Figure 735940DEST_PATH_IMAGE064
、
Figure 702759DEST_PATH_IMAGE066
、
Figure 880931DEST_PATH_IMAGE068
as an additional mass;
Figure 267788DEST_PATH_IMAGE070
、
Figure 822397DEST_PATH_IMAGE072
is an additional static moment;
Figure 378143DEST_PATH_IMAGE074
、
Figure 992795DEST_PATH_IMAGE076
、
Figure 132527DEST_PATH_IMAGE078
the float carrier is smooth for adding moment of inertiaThe axisymmetric body of (1) has:
Figure 21986DEST_PATH_IMAGE080
、
Figure 697818DEST_PATH_IMAGE082
、
Figure 217792DEST_PATH_IMAGE084
equations (3) and (4) are simplified as:
Figure DEST_PATH_IMAGE127
（5）；
Figure DEST_PATH_IMAGE129
（6）；
s5, releasing the offshore surface probe 40;
along with the continuous rising of the carrier, the pressure in the offshore attitude stabilization section 3 is continuously reduced along with the reduction of the depth of seawater, at the moment, the floating center adjusting pressure rod 11 starts to move downwards gradually under the action of the telescopic spring 9, when the floating center adjusting pressure rod 11 is restored to the initial position when the certain depth close to the sea surface is reached, the boss slides out of the semi-open rectangular groove 14 under the pushing of the second end cover 13, the attitude stabilization wing piece 4 bounces off under the action of the spring fixing structure to realize the speed reduction of the floating tail end, and the water outlet attitude of the floating buoy carrier is stabilized;
along with the downward movement of the floating center adjusting pressure rod 11, the air chamber in the buoyancy section is increased, when the sea surface is reached, the pressure switch arranged on the sealing cover 33 at the rear end of the probe blocking plug 21 is switched off, the electromagnet loses magnetism, at the moment, the metal round table 29 is restored to the original position under the pushing of the return spring 36, the elastic fixing piece 30 is separated from the stop block 41, and the probe blocking plug 21 bounces to release the probe 40 of the thermohaline depth measuring instrument.
In the following description, certain details are set forth in order to provide a thorough understanding of the present invention. The invention adopts the working principle of the pendulum type tuned mass damper 7 to design the posture adjustment structure of the underwater unpowered carrier. When the carrier deflects in a certain direction under the action of hydrodynamic force, the pendulum bob 18 of the pendulum tuned mass damper 7 swings in the opposite direction under the action of inertia to offset (reduce) the swing amplitude of the carrier in the swing direction, and similarly, in order to obtain a better damping effect, the pendulum bob 18 cannot swing too freely in the process, so that the present invention adopts a magnetic damping system, which can be simply understood as: an invisible force (magnetic force) always pointing to the center of the permanent magnet is applied to the pendulum bob 18, the force (magnetic force) does not affect the swinging direction of the pendulum bob 18 in the actual working process, but the pendulum bob 18 can be restrained so as to play a corresponding vibration damping role, and when the whole carrier tends to be stable, the pendulum bob 18 can be quickly stabilized, the random swinging of the carrier is limited, and unnecessary damage is avoided. The pendulum tuned mass damper 7 comprises a pendulum bob 18, a pendulum bob fixing piece 17 of the pendulum tuned mass damper and a damping system, wherein the pendulum bob 18 is suspended in the air to swing like a pendulum bob, and if no measures are taken, the swinging pendulum bob 18 can be slowly stopped under the action of air resistance and friction force, but the process is too slow, so that a damping system needs to be added to the pendulum bob. The damping system of the pendulum tuned mass damper 7 is simply understood as a system generating a static magnetic field, when a conductor plate (pendulum 18) moves at a certain relative speed in the static magnetic field, the magnetic flux in the conductor plate (pendulum 18) changes, and an induced current, i.e. an eddy current, is generated, which can generate a magnetic field (induced electric field) opposite to the static magnetic field to hinder the relative movement between the conductor plate (pendulum 18) and the static magnetic field. Under the interaction of the induced magnetic field and the permanent magnet magnetic field, the swinging mass block can quickly convert kinetic energy into internal energy and dissipate the energy. In the present design, the pendulum tuned mass damper 7 is applied in a small mass device, so its structure is not as complicated as a damper in a high-rise building or a bridge, and the damping system can be simplified as a permanent magnet mounted in a cylindrical groove below the mass block and generating a magnetic field. That is, when the pontoon carrier swings with the influence of water currents, the pendulum bob 18 swings in the opposite direction due to its own inertia, thereby offsetting the float's sway to some extent.
The floating center adjusting pressure rod 11 between the floating section and the offshore surface attitude stabilizing section 3 can dynamically adjust the position of the floating center of the carrier in a certain range by utilizing the pressure change of different seawater depths, so that the carrier can reach a stable state as soon as possible aiming at a complex working environment; the semi-open type rectangular groove 14 on the attitude stabilizing wing piece 4 is matched with a boss pull rod 15 connected with a second end cover 13 at the bottom of the floating center adjusting pressure rod 11, and the floating center adjusting pressure rod 11 moves to drive the boss pull rod 15 to move by utilizing the pressure change of different seawater depths, so that a boss can enter or separate from the semi-open type rectangular groove 14, and the locking and releasing of the attitude stabilizing wing piece 4 in different working steps are realized; the pendulum tuned mass damper 7 is simply designed in the attitude adjusting section 5 and then introduced into the design of an underwater unpowered pontoon carrier, so that the motion attitude of the pontoon carrier can be corrected in the floating process of the carrier, and the working stability of the pontoon carrier is greatly improved; the probe blocking plug 21 can realize locking and releasing by utilizing pressure changes of different seawater depths, and is matched with the float carrier to complete carrying and releasing of the probe 40 of the thermohaline depth measuring instrument; the underwater unpowered buoy carrier capable of self-correcting the posture completely works from a preparation section before launching, a launching implementation section to a carrier ascending section and an offshore probe releasing section. The permanent magnets are placed in the permanent magnet fixing grooves 19.
The buoy carrier is in the nature state (not pressurized state) in the semi-open type rectangular groove 14 on the lower pull rod's of pull rod's below the pull rod's of not pressurized ' protruding ' shape structure does not get into the gesture and stabilizes the fin 4, gesture is stabilized the fin 4 and is pasted tight carrier cabin body under external force (with the restraining force of submarine vehicle cooperation launching mechanism) effect this moment before the transmission, after preparing section water injection pressurization, second end cover 13 moves up under the water pressure with floating center adjusting pressure pole 11 together, boss pull rod 15 also moves up under the drive of second end cover 13, boss pull rod 15 below "protruding" shape structure gets into the semi-open type rectangular groove 14 of gesture and stabilizes fin 4, accomplish the locking to the fin. When the carrier floats to the offshore surface, the seawater pressure is reduced, the floating center adjusting pressure rod 11 and the second end cover 13 pull rod move downwards under the push of the telescopic spring 9 in the buoyancy cabin 2, and the convex structure is pushed out of the wing groove to complete unlocking. At this time, the spring fixing mechanism 23 at the joint of the posture stabilizing wing piece 4 will eject the posture stabilizing wing piece 4, so as to achieve the purpose of stabilizing the buoy carrier.
The boss baffle 12 is: on the basis of a complete circular baffle plate which is 2.5mm higher than the upper edge of the attitude stabilizing wing piece mounting groove 39 on the inner wall of the cabin body, in order to reduce the weight of the cabin body, the complete circular boss baffle plate 12 is equally divided into eight sections by taking the center of a circle as the center and taking 45 degrees as one part, and then four parts left after cutting one part at 45 degrees are cut off.
The metal round platform 29 is a cylinder with a wide upper part and a narrow lower part, and is used for moving the extrusion elastic fixing sheet 30 downwards (close to the electromagnet) under the action of magnetic force after the electromagnet is powered on under the action of deep sea pressure by a pressure switch, at the moment, because the upper part of the metal round platform 29 is wide, the extrusion elastic fixing sheet is pressed and deformed in the moving process, specifically, the extrusion elastic fixing sheet is deformed towards the direction close to the inner wall of a carrier, so that the blocking boss 39 arranged on the inner wall of the carrier probe carrying section 6 is blocked, and the purpose that the fixed probe blocking plug 21 is prevented from falling is achieved.
When the pressure switch arranged on the sealing cover 33 at the rear end of the probe blocking plug 21 is switched off when the probe reaches the sea level, the electromagnet loses magnetism, the metal cylinder 29 is restored to the original position under the pushing of the return spring 36, the elastic fixing piece 30 is separated from the blocking boss 39 on the inner wall of the probe carrying section 6, and the probe blocking plug 21 is bounced to release the probe 40 of the thermohaline depth measuring instrument.
Under the natural state, the cylindrical air chamber volume on second end cover 13 upper portion is great, and the centre of buoyancy position is on the lower side, after preparation section water injection pressurization before the transmission, second end cover 13 receives sea water pressure, drives centre of buoyancy under the sea water pressure effect and adjusts depression bar 11 and remove to the carrier top, can compress the volume of the cylindrical air chamber in second end cover 13 top to the upper portion to a certain extent like this, and meanwhile, the centre of buoyancy also by original position rebound, increase carrier matter, centre of buoyancy distance to more stabilize the come-up gesture in the deep complex environment of big water.
It is to be understood that the above description is not intended to limit the present invention, and the present invention is not limited to the above examples, and those skilled in the art may make various changes, modifications, additions and substitutions within the spirit and scope of the present invention.

Claims (8)

1. An underwater unpowered buoy carrier capable of self-correcting postures is characterized in that the buoy carrier is long-strip-shaped and sequentially comprises a probe front end cover, a buoyancy cabin, an offshore surface posture stabilizing section, a posture adjusting section, a probe carrying section and a probe blocking plug along the length direction of the buoy carrier, wherein the buoyancy cabin and the posture adjusting section are sealing sections, and the offshore surface posture stabilizing section and the probe carrying section are of an open structure with balanced internal and external pressures;
the front end cover of the probe is of a hemispherical structure, the buoyancy cabin sequentially comprises a front cavity, an expansion spring, a first end cover, a floating center adjusting pressure rod and a second end cover along the length direction of the buoyancy cabin, an expansion spring fixing groove is formed in the front cavity, one end of the expansion spring is connected with the expansion spring fixing groove, the other end of the expansion spring is connected with the first end cover, and two ends of the floating center adjusting pressure rod are respectively connected with the first end cover and the second end cover;
the sea surface-near attitude stabilizing section comprises a boss pull rod and attitude stabilizing fins, the boss pull rod is connected with the second end cover, semi-open type rectangular grooves are formed in the attitude stabilizing fins along the length of the second end cover, a rod body of the boss pull rod is located among the plurality of attitude stabilizing fins, and a plurality of bosses corresponding to the semi-open type rectangular grooves in position are arranged in the circumferential direction of the boss pull rod;
a circular opening is formed in the side wall of the cylindrical bobbin probe carrying section of the probe carrying section; a spring mechanism is arranged between the probe blocking plug and the probe carrying section, and the spring mechanism sequentially comprises a metal round table, a reset spring, an electromagnet mounting groove, a lead placing groove, a pressure switch placing hole and a rear end sealing cover along the length direction of the spring mechanism.
2. The self-attitude modifying underwater unpowered spar carrier of claim 1, wherein four attitude stabilizing fins are evenly distributed circumferentially around the off-shore attitude stabilizing section.
3. The self-attitude-correcting underwater unpowered buoy carrier as claimed in claim 2, wherein the first end cover is provided with a vent for equalizing air pressure in the tank.
4. The underwater unpowered pontoon carrier capable of self-posture correction as claimed in claim 3, wherein four boss baffles are uniformly arranged along the circumference of the inner wall of the buoyancy chamber.
5. The self-righting underwater unpowered pontoon carrier as recited in claim 4, wherein the attitude adjustment section is internally provided with a pendulum tuned mass damper for adjusting the attitude of the pontoon carrier.
6. The underwater unpowered buoy carrier capable of self-correcting posture as claimed in claim 5, wherein the wide bottom surface of the metal circular truncated cone faces the probe carrying section, the narrow bottom surface is connected with one end of a return spring, and the other end of the return spring is connected with a spring fixing boss on a shell of the spring mechanism.
7. The underwater unpowered buoy carrier capable of self-correcting posture as claimed in claim 6, wherein the metal truncated cone is provided with elastic fixing pieces around the circumference, the elastic fixing pieces are arranged along the axial direction of the metal truncated cone, and the inner wall of the housing of the spring mechanism is provided with a stopper matched with the elastic fixing pieces.
8. A method for using the self-attitude-correcting underwater unpowered buoy carrier, characterized in that the self-attitude-correcting underwater unpowered buoy carrier as claimed in claim 7 is used, and comprises the following steps:
s1, preparing before launching;
placing a probe of the thermohaline depth measuring instrument into a probe carrying section, loading a buoy carrier into a launching cabin of the underwater vehicle, injecting water and pressurizing into the launching cabin of the underwater vehicle after loading, injecting seawater with the same depth as the underwater vehicle submerging depth into the launching cabin, simultaneously enabling high-pressure seawater to enter a near-sea attitude stabilizing section through a water permeable hole formed in an attitude stabilizing fin, and driving a floating center adjusting pressure rod to move towards the top of the carrier by a second end cover under the action of seawater pressure to raise the floating center height of an air chamber in a buoyancy cabin;
when the second end cover contacts the boss baffle, the second end cover is blocked to stop moving, the boss pull rod moves upwards under the driving of the floating center adjusting pressure rod, the boss enters the semi-open type rectangular groove, and the posture stabilizing wing panel is locked;
when the pressure switch is used for electrifying the electromagnet under the action of deep sea pressure, the metal round table moves towards the direction of the electromagnet under the action of magnetic force, and the elastic fixing sheet is pressed and deformed in the moving process of the metal round table and gradually contacts with the stop block to prevent the probe blocking plug from falling off;
s2, launching implementation;
pushing out the buoy carrier from a launching cabin of the underwater vehicle, releasing the signal transmission thin wire wound on the cylindrical spool from the circular opening and connecting the signal transmission thin wire with a signal receiving end carried on the underwater vehicle;
s3, establishing a coordinate system related to the float carrier;
coordinate system
Figure 970590DEST_PATH_IMAGE001
: origin of the coordinate system
Figure 654512DEST_PATH_IMAGE003
Located on the center of mass of the pontoon carrier;
Figure 884636DEST_PATH_IMAGE004
the axial direction points to the head of the float carrier along the longitudinal direction of the float carrier;
Figure 679417DEST_PATH_IMAGE006
axis perpendicular to
Figure 904862DEST_PATH_IMAGE004
A shaft within a plane of symmetry of the pontoon carrier;
Figure 494106DEST_PATH_IMAGE007
shaft and
Figure 945947DEST_PATH_IMAGE004
shaft and
Figure 606735DEST_PATH_IMAGE006
the axis being perpendicular to and in contact with
Figure 93212DEST_PATH_IMAGE004
Shaft and
Figure 384516DEST_PATH_IMAGE006
the axes form a right-hand rectangular coordinate system;
inertial coordinate system
Figure 789565DEST_PATH_IMAGE008
: origin of the coordinate system
Figure 519623DEST_PATH_IMAGE010
The launching point is positioned on the carrying platform;
Figure 860606DEST_PATH_IMAGE011
the shaft is positioned in the horizontal plane of the emission point and points to the emission direction;
Figure 57232DEST_PATH_IMAGE013
axis perpendicular to
Figure 14824DEST_PATH_IMAGE011
An axis, the positive direction being upward along the plumb line at the launch point;
Figure 892781DEST_PATH_IMAGE015
shaft and
Figure 619429DEST_PATH_IMAGE011
shaft and
Figure 314852DEST_PATH_IMAGE013
the axis being perpendicular to and in contact with
Figure 228581DEST_PATH_IMAGE011
Shaft and
Figure 175809DEST_PATH_IMAGE013
the axes form a right-hand rectangular coordinate system;
s4, lifting the carrier;
when the float carrier is launched into water by the launching platform, the motion state of the float carrier is regarded as free motion, the force born in the motion process comprises gravity, buoyancy, hydrodynamic force and additional force, and in a launching inertia system, a dynamic model of the mass center translation and the rotation around the mass center of the float carrier are respectively unfolded as follows:
Figure 19612DEST_PATH_IMAGE017
（1）；
Figure 620358DEST_PATH_IMAGE019
（2）；
in the formula (1)mThe total mass of the float carrier and the carried probe;
Figure 755804DEST_PATH_IMAGE021
the tilting linear velocity of the float carrier in each direction is obtained;
Figure 37881DEST_PATH_IMAGE023
the tilting angular speed of the buoy carrier in each direction;
Figure 207962DEST_PATH_IMAGE024
、
Figure 182872DEST_PATH_IMAGE025
、
Figure 336773DEST_PATH_IMAGE026
as an additional mass;
Figure 156961DEST_PATH_IMAGE028
is an additional force;
Figure 712707DEST_PATH_IMAGE030
is fluid power;
Figure 590009DEST_PATH_IMAGE032
is buoyancy;
Figure 168889DEST_PATH_IMAGE034
is gravity, in formula (2)
Figure 527189DEST_PATH_IMAGE036
Is the moment of inertia;
Figure 203021DEST_PATH_IMAGE037
、
Figure 988574DEST_PATH_IMAGE038
、
Figure 444964DEST_PATH_IMAGE039
is an additional moment of inertia;
Figure 810217DEST_PATH_IMAGE041
is an additional moment;
Figure 340555DEST_PATH_IMAGE043
is the hydrodynamic torque;
Figure 562589DEST_PATH_IMAGE045
above the variable for the moment of buoyancy
Figure 240695DEST_PATH_IMAGE047
Is expressed as one of the variableA first derivative;
the additional force and the additional moment spread out as:
Figure 203448DEST_PATH_IMAGE049
（3）；
Figure 525976DEST_PATH_IMAGE051
（4）；
wherein the content of the first and second substances,
Figure 184490DEST_PATH_IMAGE024
、
Figure 21996DEST_PATH_IMAGE025
、
Figure 119265DEST_PATH_IMAGE026
as an additional mass;
Figure 296300DEST_PATH_IMAGE052
、
Figure 125715DEST_PATH_IMAGE053
is an additional static moment;
Figure 778414DEST_PATH_IMAGE037
、
Figure 289160DEST_PATH_IMAGE038
、
Figure 648598DEST_PATH_IMAGE039
for additional moment of inertia, the buoy carrier is a smooth axisymmetric body with:
Figure 711232DEST_PATH_IMAGE054
、
Figure 520400DEST_PATH_IMAGE055
、
Figure 100417DEST_PATH_IMAGE056
equations (3) and (4) are simplified as:
Figure 376678DEST_PATH_IMAGE058
（5）；
Figure 547896DEST_PATH_IMAGE060
（6）；
s5, releasing the offshore surface probe;
the pressure in the offshore attitude stabilization section is continuously reduced along with the reduction of the depth of seawater along with the continuous rising of the carrier, at the moment, the floating center adjusting pressure rod starts to gradually move downwards under the action of the telescopic spring, when the floating center adjusting pressure rod reaches a certain depth close to the sea surface, the floating center adjusting pressure rod restores to the initial position, the boss slides out of the semi-open type rectangular groove under the pushing of the second end cover, the attitude stabilization wing piece bounces off under the action of the spring fixing structure to realize the speed reduction of the floating tail end, and the water outlet attitude of the buoy carrier is stabilized;
along with the downward movement of the floating center adjusting pressure rod, the air chamber in the buoyancy section is increased, when the probe blocks that the pressure switch installed on the bottom sealing end cover of the plug is disconnected when the probe reaches the sea, the electromagnet loses magnetism, the metal circular truncated cone returns to the original position under the pushing of the reset spring, the elastic fixing piece is separated from the stop block, and the probe blocks that the plug bounces to release the probe of the thermohaline depth measuring instrument.
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