CN201010037Y - Disomic placement towed body with empennage control - Google Patents
Disomic placement towed body with empennage control Download PDFInfo
- Publication number
- CN201010037Y CN201010037Y CNU2007201072290U CN200720107229U CN201010037Y CN 201010037 Y CN201010037 Y CN 201010037Y CN U2007201072290 U CNU2007201072290 U CN U2007201072290U CN 200720107229 U CN200720107229 U CN 200720107229U CN 201010037 Y CN201010037 Y CN 201010037Y
- Authority
- CN
- China
- Prior art keywords
- empennage
- control
- towed body
- tail
- tracting
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Lifetime
Links
Images
Landscapes
- Toys (AREA)
Abstract
The utility model relates to a two-action arranged tracting body with a tail controller. The tracting body mainly comprises a parallel-type two-action arranged tracting body and a tail controlling and driving system. Wherein, the parallel-type two-action arranged tracting body is combined in parallel into one horizontal plane through a left rotary casing and a right rotary casing via a connecting device between the casing; a vertical tail and a horizontal tail are respectively equipped on the ends of the two rotary casing; a height adjustable tail is equipped respectively outside and behind the horizontal tail; the tail controlling and driving system can be used to command to change the attack angle of the height adjustable tail. The utility model has the the advantages that the two-action structure on the tracting body can relatively increase the rotary inertia of the tracting body, so that longer swing period but smaller swing amplitude value can be guarnateed; meanwhile, manual regulation on the wing panel is not necessary, but the attack angle of the wing panel can be altered for automatic trimming, for which high efficiency can be ensured.
Description
Technical field
The utility model relates to the tow platform technology that is used for underwater exploration, mainly is the binary layout towed body of a kind of magnetic tape trailer wing control, can be used on the towing carrier that needs certain fortune to allocate stability and the platform attitude is adjusted in real time.
Background technology
In modern underwater exploration, towed body has a very wide range of applications as the platform of various acoustics of carrying and non-sonic transducer.As the platform that moves under water, unavoidably can be subjected to various external force disturbs, can be subjected to the water surface wave influence such as water currents, in shallow water, the dull motion of the revolution of towboat and afterbody also can have very big interference to towed body stability of motion in addition, and therefore can keep certain stability of motion when being subjected to various external interference is one of towed body design-calculated key issue.Some sensor has certain requirement to the towed body athletic posture such as trim, heel in when work, and this just requires to be provided with specialized agency and comes the towed body attitude is carried out to a certain degree control on towed body.
What present towed body adopted mostly is unitary construction, the all devices arrangement space is concentrated, make that the rotor inertia of towed body is less relatively,, for conventional unitary construction towed body, be difficult for reaching because a lot of sonars require tow platform to have bigger rolling period and the less amplitude of waving.
Because Mismachining tolerance and design error and outside stressed influence, towed body has intrinsic angle of heel and casterangle when underwater exercise, this just need be provided with the fin of similar diving rudder or steering rudder on towed body, common this fin is the moving adjustment of armrest, promptly drag the roughly rule of grasping the towed body inclination angle by examination, towed body reclaims the back fin angle of attack is carried out hand adjustment, comes the towed body inclination angle is corrected by the hydrodynamic force that fin is subjected to.When towed speed changed, because the hydrodynamic force that is subjected to of fin can change, so the inclination angle of towed body also can respective change, and might need different towed speeds is carried out the different fin angle of attack settings this moment, and usefulness is very low.
Summary of the invention
The utility model will solve the shortcoming of above-mentioned prior art, and a kind of binary layout towed body of magnetic tape trailer wing control is provided.
The utility model solves the technical scheme that its technical matters adopts: the binary layout towed body of this magnetic tape trailer wing control, mainly comprise control of block form binary layout towed body and empennage and driving system, block form binary layout towed body by about two revolving shells be combined in side by side on the same horizontal surface by middle connecting device, end at two revolving shells is respectively arranged with fixing vertical tail and tailplane, is provided with an adjustable empennage of level respectively at the rear of outside tailplane; Empennage control and driving system are used to send the angle of attack that instruction comes the adjustable empennage of change level.
Described empennage control and driving system mainly comprise: the empennage control computer, be used for trim and heel parameter by cable reception towed body attitude sensor, and send the empennage control command to the PLC in the empennage control electrical equipment according to required attitude; PLC in the empennage control electrical equipment is used for control command and converts the required electric signal of stepper motor driver to, drives empennage control motor again; Empennage control motor is used for outputing power to the adjustable empennage of level by empennage gearing structure; Empennage control power transfer module is used to provide control and the required power supply of transmission.
Two revolving shell inside are provided with bearing about described, are used to hold sonar transducer array and various electronics, mains connection set; Inside is equipped with buoyancy compartment and clump weight, is used to regulate gravity, buoyancy, center of gravity, centre of buoyancy.Connecting device is a kind of beam shape steel structure in the middle of described, and two conventional revolving shells about connection are fixed with on it and drag a little.
The effect that the utility model is useful is: the couple structure that towed body adopts, make that the rotor inertia of towed body is relatively large, and have bigger rolling period and the less amplitude of waving; Do not need the hand adjustment fin, can move the fin angle of attack and carry out automatic compensation, usefulness is very high.
Description of drawings
Fig. 1 is that the two towed bodys of block form are arranged scheme drawing;
Fig. 2 is empennage control and driving system scheme drawing.
Description of reference numerals: revolving shell 11, middle connecting device 12, level is adjustable empennage 13, empennage control computer 21, empennage control electrical equipment 22, PLC equipment 221, stepper motor driver 222, empennage control power transfer module 23, empennage control motor 24, towed body heading sensor 25, towed body heading sensor 26.
The specific embodiment
The utility model is described in further detail below in conjunction with drawings and Examples:
As shown in the figure, the binary layout towed body of this magnetic tape trailer wing control, mainly comprise control of block form binary layout towed body and empennage and driving system, block form binary layout towed body by about two revolving shells 11 be combined in side by side on the same horizontal surface by middle connecting device 12, end at two revolving shells 11 is respectively arranged with fixing vertical tail and tailplane, be provided with an adjustable empennage 13 of level respectively at the rear of outside tailplane, can be by sending the angle of attack that instruction comes the adjustable empennage 13 of change level to empennage control and driving system.
About two revolving shell 11 inside be provided with various bearings, to hold sonar transducer array and various electronics, mains connection set, inside also is equipped with buoyancy compartment and clump weight, is used to regulate gravity, buoyancy, center of gravity, centre of buoyancy.Middle connecting device 12 is a kind of beam shape steel structures, and two conventional revolving shells about connection are fixed with on it and drag a little.Level is adjustable, and empennage 13 is fins of a kind of similar elevating rudder, accepts moment of torsion that the transmission of empennage rotating shaft bevel gear comes and around self rotating shaft rotation.
Empennage control computer 21 comprises a pocket computer or industrial computer; Empennage control electrical equipment 22 comprises FPGA (Field Programmable Gate Array) control PLC equipment 221, stepper motor driver 222; Empennage control power transfer module 23 comprises the power transfer module of 220V alternating-current voltage/AC voltage conversion 24V, 36V vdc; Empennage control motor 24 comprises dc stepper motor; Empennage gearing mechanism 25 comprises motor output bevel gear, empennage rotating shaft bevel gear; Towed body heading sensor 26 comprises three Shaft angle sensors; The subsea equipment gas-tight silo has comprised the metallic seal storehouse of empennage electrical equipment 22, empennage control power transfer module 23, empennage control motor 24 and towed body heading sensor 25.
Empennage control and driving system 2 principles are empennage control computer 21 receives towed body attitude sensor 26 by cable trim and heel parameters, send the empennage control command to the PLC221 in the empennage control electrical equipment 22 according to required attitude, PLC221 converts control command to stepper motor driver 222 required electric signal, drive empennage control motor 24 again, empennage control motor 24 outputs power to the adjustable empennage 13 of level by empennage gearing structure 25.
Empennage control power transfer module 23 provides control and the required power supply of transmission, empennage control power transfer module 23 receives the 220V alternating-current voltage/AC voltage of the water surface from cable, convert PLC221 and stepper motor driver 222 required 24V, 36V vdc to, be transferred to empennage electrical control equipment 22 then.
Claims (4)
1. the binary layout towed body of magnetic tape trailer wing control, mainly comprise control of block form binary layout towed body and empennage and driving system, it is characterized in that: block form binary layout towed body by about two revolving shells (11) be combined in side by side on the same horizontal surface by middle connecting device (12), wood end at two revolving shells (11) is respectively arranged with fixing vertical tail and tailplane, is provided with an adjustable empennage of level (13) respectively at the rear of outside tailplane; Empennage control and driving system are used to send the angle of attack that instruction comes the adjustable empennage of change level (13).
2. the binary layout towed body of magnetic tape trailer wing control according to claim 1 is characterized in that: described empennage control and driving system mainly comprise:
Empennage control computer (21) is used for receiving by cable the trim and the heel parameter of towed body attitude sensor (26), sends the empennage control command according to required attitude and controls PLC (221) in the electrical equipment (22) to empennage;
PLC (221) in the empennage control electrical equipment (22) is used for control command and converts the required electric signal of stepper motor driver (222) to, drives empennage control motor (24) again;
Empennage control motor (24) is used for outputing power to the adjustable empennage of level (13) by empennage gearing structure (25);
Empennage control power transfer module (23) is used to provide control and the required power supply of transmission.
3. the binary layout towed body of magnetic tape trailer wing control according to claim 1, it is characterized in that: two revolving shells (11) inside is provided with bearing about described, is used to hold sonar transducer array and various electronics, mains connection set; Inside is equipped with buoyancy compartment and clump weight, is used to regulate gravity, buoyancy, center of gravity, centre of buoyancy.
4. the binary layout towed body of magnetic tape trailer wing control according to claim 1 is characterized in that: connecting device (12) is a kind of beam shape steel structure in the middle of described, and two conventional revolving shells about connection are fixed with on it and drag a little.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU2007201072290U CN201010037Y (en) | 2007-03-12 | 2007-03-12 | Disomic placement towed body with empennage control |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU2007201072290U CN201010037Y (en) | 2007-03-12 | 2007-03-12 | Disomic placement towed body with empennage control |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN201010037Y true CN201010037Y (en) | 2008-01-23 |
Family
ID=39044974
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNU2007201072290U Expired - Lifetime CN201010037Y (en) | 2007-03-12 | 2007-03-12 | Disomic placement towed body with empennage control |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN201010037Y (en) |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102351032A (en) * | 2011-08-22 | 2012-02-15 | 中国船舶重工集团公司第七○二研究所 | Twin submersible |
| CN102485589A (en) * | 2010-12-03 | 2012-06-06 | 中国科学院沈阳自动化研究所 | Underwater towed body for carrying image sonar |
| CN102887214A (en) * | 2012-10-08 | 2013-01-23 | 大连理工大学 | Pull-type self-adaption posture-controlled underwater navigation device |
| CN103144752A (en) * | 2013-02-05 | 2013-06-12 | 华南理工大学 | Underwater towed body with multiple degrees of manipulation freedom |
| CN105151255A (en) * | 2015-10-25 | 2015-12-16 | 宁波市鄞州发辉机械科技有限公司 | Underwater monitoring system |
| CN106394837A (en) * | 2016-09-20 | 2017-02-15 | 中国船舶科学研究中心（中国船舶重工集团公司第七0二研究所） | Submarine pipeline transporting and loading boat |
| CN107140161A (en) * | 2017-06-28 | 2017-09-08 | 舟山遨拓海洋工程技术有限公司 | A kind of binary AUV loading device equipped systems based on detection target under water |
| CN108791768A (en) * | 2018-07-12 | 2018-11-13 | 广州海洋地质调查局 | It is a kind of to be used for underwater depthkeeping towed body |
| CN109459755A (en) * | 2018-12-16 | 2019-03-12 | 中交广州航道局有限公司 | A kind of multi-functional towed body raft assistance platform dragging operation based on side scan sonar tail |
| CN110053742A (en) * | 2019-04-26 | 2019-07-26 | 吉林大学 | A kind of adaptive Multi-functional disome underwater glider |
-
2007
- 2007-03-12 CN CNU2007201072290U patent/CN201010037Y/en not_active Expired - Lifetime
Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102485589A (en) * | 2010-12-03 | 2012-06-06 | 中国科学院沈阳自动化研究所 | Underwater towed body for carrying image sonar |
| CN102351032A (en) * | 2011-08-22 | 2012-02-15 | 中国船舶重工集团公司第七○二研究所 | Twin submersible |
| CN102887214A (en) * | 2012-10-08 | 2013-01-23 | 大连理工大学 | Pull-type self-adaption posture-controlled underwater navigation device |
| CN102887214B (en) * | 2012-10-08 | 2015-04-08 | 大连理工大学 | Pull-type self-adaption posture-controlled underwater navigation device |
| CN103144752A (en) * | 2013-02-05 | 2013-06-12 | 华南理工大学 | Underwater towed body with multiple degrees of manipulation freedom |
| CN103144752B (en) * | 2013-02-05 | 2015-09-02 | 华南理工大学 | A kind of multiple degree of freedom handles underwater towed vehicle, |
| CN105151255A (en) * | 2015-10-25 | 2015-12-16 | 宁波市鄞州发辉机械科技有限公司 | Underwater monitoring system |
| CN105151255B (en) * | 2015-10-25 | 2017-06-20 | 宁波市鄞州发辉机械科技有限公司 | A kind of underwater monitoring system |
| CN106394837A (en) * | 2016-09-20 | 2017-02-15 | 中国船舶科学研究中心（中国船舶重工集团公司第七0二研究所） | Submarine pipeline transporting and loading boat |
| CN107140161A (en) * | 2017-06-28 | 2017-09-08 | 舟山遨拓海洋工程技术有限公司 | A kind of binary AUV loading device equipped systems based on detection target under water |
| CN108791768A (en) * | 2018-07-12 | 2018-11-13 | 广州海洋地质调查局 | It is a kind of to be used for underwater depthkeeping towed body |
| CN109459755A (en) * | 2018-12-16 | 2019-03-12 | 中交广州航道局有限公司 | A kind of multi-functional towed body raft assistance platform dragging operation based on side scan sonar tail |
| CN109459755B (en) * | 2018-12-16 | 2024-03-15 | 中交广州航道局有限公司 | Multifunctional towed body raft auxiliary platform based on side-scan sonar tail towing operation |
| CN110053742A (en) * | 2019-04-26 | 2019-07-26 | 吉林大学 | A kind of adaptive Multi-functional disome underwater glider |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN201010037Y (en) | Disomic placement towed body with empennage control | |
| CN102963514B (en) | Portable underwater marine environmental monitoring aerodone | |
| CN109515651A (en) | A kind of modularization underwater robot based on integrated form vector propeller | |
| CN109878666A (en) | A kind of leading edge rotational circle column type wing control underwater towed vehicle, | |
| CN101654147B (en) | Pectoral fin push-type robotic fish of simulated cow-nosed ray | |
| CN207565812U (en) | Binary underwater robot with six degrees of freedom | |
| CN110282129A (en) | A kind of cross coaxial amphibious unmanned plane of tilting rotor | |
| CN107878712B (en) | Under-ice detection robot | |
| CN204979196U (en) | Multiaxis robot under water | |
| CN102887217B (en) | Autonomous underwater vehicle (AUV) vector thrust device | |
| CN107985537B (en) | Novel duct type amphibious underwater vehicle | |
| CN104627342A (en) | Gliding machine dolphin | |
| CN104369849A (en) | Tilt rotor submersible device | |
| CN111319738B (en) | Novel super-power-driven underwater helicopter and control method thereof | |
| CN104527952B (en) | Minitype autonomous underwater vehicle | |
| KR20090015248A (en) | Small autonomous underwater vehicle test-bed | |
| CN107284631A (en) | The submersible with vertical thrust device based on fluid lift force | |
| CN103625622A (en) | Vertical type operable underwater towed vehicle with stable course | |
| CN103144752A (en) | Underwater towed body with multiple degrees of manipulation freedom | |
| CN101628620A (en) | Underwater airplane | |
| CN110615083A (en) | Underwater robot based on binary vector propeller | |
| CN109591984A (en) | Underwater unmanned plane | |
| CN203581362U (en) | Underwater towing body of vertical wing-shaped main body | |
| CN110696574A (en) | Rotor wing air-sea amphibious robot capable of switching sailing postures | |
| CN110386239A (en) | A kind of rudder plate system of underwater robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CX01 | Expiry of patent term | ||
| CX01 | Expiry of patent term |
Granted publication date: 20080123 |