CN201882244U

CN201882244U - Open shelf type fluctuation towed vehicle close to sea bottom

Info

Publication number: CN201882244U
Application number: CN2010206232832U
Authority: CN
Inventors: 徐国华; 余琨; 申雄; 王善根; 李祖佳; 杨超
Original assignee: Huazhong University of Science and Technology
Current assignee: Huazhong University of Science and Technology
Priority date: 2010-11-24
Filing date: 2010-11-24
Publication date: 2011-06-29
Anticipated expiration: 2020-11-24

Abstract

The utility model discloses an open shelf type fluctuation towed vehicle close to sea bottom, which comprises a vehicle body, a rudder wing driver and an underwater control center, wherein the vehicle body is an open type regular hexahedron frame structure formed by supporting posts, a fore body and a stern, the fore body is in a tian-shaped structure formed by fixed wings, a stern rudder wing and the fixed wings form a square structure, two small rudder wings are further arranged on the fore body, and the vehicle can obtain better effects in set height, set depth and climbing angle control by controlling a motion combination of rudder wings on the fore body and the stern. The rudder wing driver and the underwater control center are installed inside the support posts, the whole device is light, small in size and has the advantages of modularization and replaceable parts, is capable of continuously working for a long time, and suitable for serving as a carrier of underwater detection equipment which is higher in requirements for depth, height from seabed and stability.

Description

Undulatory motion towed body at the bottom of a kind of open-shelf subsides

Technical field

The utility model relates to undulatory motion towed body at the bottom of a kind of open-shelf subsides, is specially adapted to the lift-launch platform as underwater detection equipment at the bottom of the subsides that need to keep the degree of precision degree of depth or height.

Background technology

Towed body is the detecting devices means of delivery that generally uses when the ocean large tracts of land is surveyed operation, is divided into fixedly Hai Shen and presses close to seabed two classes according to operating range.At present, the overwhelming majority is motorless framework in the subsides die bed towed body of domestic use, and position and the attitude of this class towed body in the underwater environment of complexity can not be controlled, makes its detecting devices that carries be difficult to be in desirable acquisition mode.And the towed body majority that has power is fixedly being worked among the Hai Shen, because it lays particular emphasis on the stationarity requirement, most bulk flow line styles for the band wing, given accuracy control when being difficult to realize towed body subsides end motion from end height so can only realize heel balance control and general depthkeeping control, the detecting devices of its lift-launch is in the fleetline towed body body, because the control of towed body, driving arrangement also is arranged in the towed body body, so the volume of its detecting devices that can carry is subjected to many restrictions, so mostly this class towed body is to design corresponding to particular device, ease for use and commonality are not ideal enough.Because the detected object of most underwater detection equipments is water-bed, need be maintained fixed from end height or keep the fixing degree of depth, so the commonality and the Ding Gao depthkeeping performance of subsides die bed towed body all need to be met.

The utility model content

The utility model provides undulatory motion towed body at the bottom of a kind of open-shelf subsides, satisfies commonality that existing underwater detection equipment carries towed body and to the demand of the fixed high controller performance of towed body depthkeeping.

Undulatory motion towed body at the bottom of a kind of open-shelf subsides comprises towed body main body, rudder wing actuator and control center under water.

Described towed body main body comprises four non-tight hollow support posts, and an end of four pillar stiffeners supports bow, and an other end supports stern, and described pillar stiffener, bow and stern constitute the hexahedron framed structure together; Bow constitutes the matrix pattern structure by six fixed-wings, and stern constitutes the square shape structure by the two diving rudder wings and two vertical fixed-wings; In bow, be respectively equipped with a small-sized rudder wing with the be relatively fixed two ends of the wing, one of them diving rudder wing position of stern; Be provided with a rudder wing actuator in each pillar stiffener, a rudder wing actuator is exclusively used in the driving of a rudder wing; Control center is positioned at any one pillar stiffener under water, is used to gather the degree of depth of towed body, from end height, inclination angle and course information and send external control center to.

Described rudder wing actuator comprises motor-drive circuit, motor, retarder and the Transmission that joins successively, and Transmission connects the described rudder wing.

Described Transmission adopts gear transmission structure.

Described control center under water comprises sensor, signal processing module and communication module, sensor comprises double-shaft tilt angle sensor, depth transducer, electronic compass and altimeter, sensor sends the information of gathering to signal processing module, sends external control center to by communication module after filtering, processing and amplifying and A/D conversion.

Technique effect of the present utility model is embodied in: the structure of described towed body is open-shelf, for the lift-launch of detecting devices and corresponding buoyancy material leaves bigger space.Adopt the configuration of two less parallel rudder wings of bow and two large-scale rudder wings of stern, can make towed body obtain fixed preferably height, depthkeeping and the angle of climbing control effect by the motion combination of controlling the four rudder wings.With rudder wing actuator and under water control center be installed in the hollow pillar stiffener, actv. has alleviated the towed body deadweight and has increased the towed body mechanical strength, also towed body itself and user's detecting devices are separated, promoted the ease for use of towed body as simple detecting devices carrier with this.Rudder wing actuator and under water control center be modular assembly, the circuit layout of its miniaturization and compact space layout make it can only take narrow space in the post, each assembly uses the underwater electrical connector of same size externally to connect, and makes each assembly to replace easily after fault.Whole device is in light weight than same device, volume is little; The property held to detecting devices is good; Through evidence, cooperate supporting software can realize the fixed high depthkeeping control of degree of precision; And equipment work is reliable, and modular assembly is easy to change, and can realize the long-time continuous operation, should be used for the lift-launch platform as underwater detection equipment at the bottom of the subsides of the needs maintenance degree of precision degree of depth or height.

Description of drawings

Fig. 1 is a undulatory motion towed body scheme drawing at the bottom of the open-shelf subsides;

Fig. 2 is a undulatory motion towed body birds-eye view at the bottom of the open-shelf subsides;

Fig. 3 is a undulatory motion towed body left view at the bottom of the open-shelf subsides;

Fig. 4 is a undulatory motion towed body cutaway view at the bottom of the open-shelf subsides;

Fig. 5 is control center's structural representation under water.

The specific embodiment

Below in conjunction with accompanying drawing the utility model is further specified.

Fig. 1, Fig. 2, Fig. 3 and Fig. 4 are a kind of exemplary embodiment of the present utility model, and the utility model comprises towed body main body, rudder wing actuator 7 and control center 8 under water.

The towed body main body comprises that an end of 1, four pillar stiffener 1 of four unsealed hollow PVC pillar stiffeners supports bow, and an other end supports stern; Stern constitutes the matrix pattern structure by six bow fixed-wings 4, stern by the stern rudder wing 5 and two of two levels longitudinally stern fixed-wing 6 constitute the square shape structure, the two ends of a bow fixed-wing 4 relative with the stern rudder wing 5 positions are respectively equipped with the bow rudder wing 3 that an area is about bow fixed-wing 1/4 in bow, and this face is decided to be the towed body top, described pillar stiffener 1, bow and stern constitute the hexahedron framed structure together, and the required detecting devices that carries can be fixed in the framework.The fixed-wing and the rudder wing can process for carbon fiber global formation or timber, inside is equipped with stainless steel shaft to gain in strength, all fixed-wings are fixing by outstanding internally steel axle and pillar stiffener 1, whole four rudder wings are by outstanding internally steel axle, coupler, be located at pillar stiffener 1 in the spur bevel gear group in output shaft link to each other; The spur bevel gear group comprises gear cluster frame, a pair of intermeshing spur bevel gear, with input, the output shaft of gear matched be installed on coupler on the axle, above-mentioned parts have played the effect of transmission commutation together, after power commutation, pass to the rudder wing by 7 outputs of rudder wing actuator.

Four rudder wing actuator 7 supported respectively post cover plates 2 are fixed in each pillar stiffener 1, be the tubular hermetically-sealed construction, comprised the aluminum alloy cylindrical case, cable outlet end end cover, output axle head end cover, motor-drive circuit, motor, retarder, coupler, output shaft and some O RunddichtringOs, in this exemplary embodiment, from being provided with the cable outlet end end cover of underwater electrical connector, the stepper motor driving circuit plate has been installed in the aluminum alloy cylindrical case successively, stepping motor, planetary reduction gear, coupler and corrosion-resistant steel output shaft, at last by exporting axle head end cover and cable outlet end end cover together, above-mentioned parts are sealed in the aluminum alloy cylindrical case, be the radially static seal that uses the O RunddichtringO between cable outlet end end cover and shell and between output axle head end cover and shell wherein, output shaft is stretched out by the hole at output shaft end cover center, between the two for using the dynamic seal of O type circle.Control signal and electric power are by the input of the underwater electrical connector on cable outlet end end cover stepper motor driving circuit plate, the circuit card drive stepping motor produces power, this power is imported above-mentioned spur bevel gear group after through planetary reduction gear, coupler, output shaft.

Control center 8 is fixed in any one pillar stiffener 1 in two pillar stiffeners of towed body bottom by towed body cover plate 2 under water, be the tubular hermetically-sealed construction, double-shaft tilt angle sensor wherein has been equipped with integrated, the circuit card of depth transducer and electronic compass, altimeter 9 is contained on the pillar stiffener 1 at control center place under water, by underwater electrical connector altitude signal is transferred in the circuit card in the control center under water, this circuit card is used to gather double-shaft tilt angle sensor, depth transducer, the data of electronic compass and altimeter, and by filtering, after processing and amplifying and the A/D conversion, by the degree of depth of communication module with towed body, from end height, inclination angle and course information send the external control center on the water surface to.During use, elder generation is fixed on required detecting devices on four pillar stiffeners 1 and integral body places in the towed body framework, by adding buoyancy material towed body integral body is adjusted to suspended state in water then, the depth desired curve of towed body or desirable from end altitude curve is set in external control center software, and the inclination, the trim by head maximal angle value that allow, can carry out towing trial afterwards.Drag towed body when moving under water at lash ship, external control center will assign the order of image data and assign to rudder wing actuator 7 and drive order to control center 8 under water, control center 8 is after the order of image data under water, with the double-shaft tilt angle sensor that collects, depth transducer, data upload such as electronic compass and altimeter 9 are to external control center, external control center draws rudder wing control command and is handed down to rudder wing actuator 7 by built-in towed body hydrodynamics math modeling and control algorithm, rudder wing actuator 7 executive commands make the rudder wing turn to new angle, the angle of attack of the rudder wing changes, thereby the attitude of the towed body in the motion changes, and above-mentioned steps is the towed body control cycle of an exemplary embodiment.By the control of a series of control cycles, towed body always can be moved along the attitude of preset requirement data.

The utility model is the open frame structure, with rudder wing actuator and under water control center be installed in the hollow pillar stiffener, alleviated towed body deadweight and increased mechanical strength, in light weight, volume is little; The property held to detecting devices is good; Can realize the fixed high depthkeeping control of towed body equipment degree of precision; Reliable and the modular assembly of equipment work is easy to change, and can realize the long-time continuous under-water operation.

Claims

1. undulatory motion towed body at the bottom of the open-shelf subsides comprises towed body main body, rudder wing actuator and control center under water;

2. undulatory motion towed body at the bottom of the open-shelf subsides according to claim 1 is characterized in that, described rudder wing actuator comprises motor-drive circuit, motor, retarder and the Transmission that joins successively, and Transmission connects the described rudder wing.

3. undulatory motion towed body at the bottom of the open-shelf subsides according to claim 2 is characterized in that, described Transmission adopts gear transmission structure.

4. undulatory motion towed body at the bottom of the open-shelf subsides according to claim 1, it is characterized in that, described control center under water comprises sensor, signal processing module and communication module, sensor comprises double-shaft tilt angle sensor, depth transducer, electronic compass and altimeter, sensor sends the information of gathering to signal processing module, sends external control center to by communication module after filtering, processing and amplifying and A/D conversion.