CN203958580U - A kind of tail groove-type thruster is controlled trailing type band cable remote-controlled water diving device - Google Patents
A kind of tail groove-type thruster is controlled trailing type band cable remote-controlled water diving device Download PDFInfo
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- CN203958580U CN203958580U CN201420306950.2U CN201420306950U CN203958580U CN 203958580 U CN203958580 U CN 203958580U CN 201420306950 U CN201420306950 U CN 201420306950U CN 203958580 U CN203958580 U CN 203958580U
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Abstract
The utility model discloses a kind of tail groove-type thruster and controls trailing type band cable remote-controlled water diving device; The main cavity that comprises torpedo buoyancy aid, the support of constant tilt aerofoil profile, fixing horizontal main wing, fixed vertical empennage, controlled angle of attack tailplane, tail groove-type thruster and can realize towing coursekeeping function; Main cavity is that vertical type square is to rudder profile; Two torpedo buoyancy aids are arranged in the both sides, device main cavity vertical symmetry plane top of diving, and fixing horizontal main wing two ends are provided with side plate and are connected with two torpedo buoyancy aids; Between fixing horizontal main wing middle part and main cavity, be provided with in the vertical direction and support arc short slab, constant tilt aerofoil profile supports torpedo buoyancy aid and main cavity top is coupled together; Controlled angle of attack tailplane and fixed vertical empennage are arranged on top, main cavity rear portion; Tail groove-type thruster is arranged at main cavity rear portion.This underwater hiding-machine control mechanism flexibility and reliability, towing course stability is better, and autonomous stabilizing power is strong, has higher business development and is worth.
Description
Technical field
The utility model relates to a kind of tail groove-type thruster and controls trailing type band cable remote-controlled water diving device, and it is a kind of trailing type band cable remote-controlled water diving device for tincture detection purposes such as the physics such as acousto-optic under water or water quality.
Background technology
Trailing type band cable remote-controlled water diving device is a kind of dynamically acoustics optical physics observation, dynamic underwater towing detection equipment of the chemical parameters such as water quality condition under water of being applied under water, and the device system of diving pulls implement underwater exploration operation by towing hawser to underwater hiding-machine by towing working mother boat conventionally.Main cavity is the chief component of underwater hiding-machine, in its body, can require to carry dissimilar monitoring equipment according to different detection missions.Operating personal on towing working mother boat can send specific control command to the attitude coutrol mechanism of underwater hiding-machine by control signal cable the track of underwater hiding-machine and attitude are handled.Monitoring equipment job specification in underwater hiding-machine body requires underwater hiding-machine in its towing process, to have good attitude stability and towing course stability, and possesses attitude maneuvering ability flexibly.How according to the job requirements of underwater hiding-machine realize to its attitude stablize, actv. controls, be trailing type band cable remote-controlled water diving device success apply to a key of actual underwater exploration operation.
In existing trailing type band cable remote-controlled water diving device, for the degree of depth and the TRAJECTORY CONTROL of the device of diving, be mainly to realize by changing the towing cable cable angle of attack long or that regulate underwater hiding-machine to compel heavy hydrofoil.From external form, the various forms trailing type band cable remote-controlled water diving device that different research institutions or enterprise develop is the form of copying aviation aircraft substantially, to fix or the heavy hydrofoil of compeling of the adjustable angle of attack adds that the single cylindricality main cavity that has loaded underwater monitoring equipment forms.The major defect of the single cylindricality main cavity of this class form underwater hiding-machine is: self-stability is poor, and towing course stability is bad, is difficult to the device of diving to carry out multiple degree of freedom Comprehensive Control flexibly.Cause therefrom latent device in its drag operation process, to be not easy to maintain its attitude stabilization and towing coursekeeping, be not easy to realize multiple degree of freedom, the transverse horizontal underwater observations on a large scale, while moving perpendicular to tow direction.For realizing underwater hiding-machine, can stablize, under-water operation on a large scale, existing trailing type band cable remote-controlled water diving device is mostly with reference to the control principle of aviation aircraft, adopts umbrella complex control mechanism to meet the requirement of its underwater exploration.On the other hand, on market, the light trailing type band cable remote-controlled water diving device of some commercializations is difficult to obtain satisfied application in reality towing observation operation because control action is single, be difficult for guaranteeing its attitude stabilization, control poor reliability.
Utility model content
The purpose of this utility model be to provide a kind ofly there is autonomous stabilization function, towing course stability is good, realizes the trailing type band cable remote-controlled water diving device that it is carried out to the control of track and attitude with the higher mode of efficiency.
The utility model is achieved through the following technical solutions:
Tail groove-type thruster is controlled a trailing type band cable remote-controlled water diving device, comprises torpedo buoyancy aid, fixing horizontal main wing, the support of constant tilt aerofoil profile, controlled angle of attack tailplane, fixed vertical empennage, thruster screw propeller assembly and main cavity; Described main cavity be vertical type square to the housing structure of rudder profile, its top cover front end be provided with towing hole, middle part is provided with operation suspension ring; Main cavity front end has cable hole; Main cavity end is provided with the tail thruster conduit of lateral direction penetrating, and thruster screw propeller assembly is arranged in tail thruster conduit; Thruster screw propeller assembly comprises watertight motor and screw propeller; Main cavity inner and upper is provided with the auxiliary water supply conduit of the tail groove-type thruster of longitudinal perforation, auxiliary water supply catheter tip is communicated with two shunt catheters, lead to respectively tail groove-type thruster both sides in tail thruster conduit, on two shunt catheters, be provided with electromagnetic valve switch, auxiliary water supply water injection through pipe mouth is positioned at main cavity front end;
Two torpedo buoyancy aids are arranged in both sides, main cavity vertical symmetry plane top, and torpedo buoyancy aid inner side surface wall rear portion is provided with anchor shaft and tightens up sleeve pipe, and anchor shaft is through fixing horizontal main wing rear portion, two ends with tighten up sleeve pipe and be connected; Fixing horizontal main wing adopts symmetrical airfoil, by anchor shaft level connection joint two torpedo buoyancy aids; Between fixing horizontal main wing front portion and main cavity, be provided with two and support short slab; One to support short slab affixed with fixing horizontal wing lower surface front end, and another piece support short slab is fixed on main cavity; Supporting short slab is all circular arc, and the axle center of take on anchor shaft with the support short slab of fixing horizontal wing welding is the center of circle, supports on short slab and has a plurality of circular holes, and two support short slab is flexibly connected; Constant tilt aerofoil profile support arrangement, between torpedo buoyancy aid and main cavity, adopts symmetrical airfoil, and its one end is connected with torpedo buoyancy aid, and the other end is connected with main cavity top;
Described controlled angle of attack tailplane and fixed vertical empennage are arranged on main cavity rear portion, all adopt symmetrical airfoil; Controlled angle of attack tailplane is arranged at a pair of fixed vertical empennage top, and fixed vertical empennage top is provided with circular arc bearing with holes, and controlled angle of attack tailplane lower surface afterbody is provided with circular arc bearing with holes equally, and two groups of bearings are hinged by an overbolt; Controlled angle of attack tailplane can be around bolt rotary, and tailplane corner driver train comprises watertight linear electric motors, push rod, articulated joint, minor axis and chute; Watertight linear electric motors are vertically arranged in main cavity, and push rod one end is connected with the axle of watertight linear electric motors, and the other end is connected with articulated joint, and the joint other end is hinged by minor axis and chute, and chute is arranged at controlled angle of attack tailplane lower surface front end.
For further realizing the utility model object, preferably, described towing hole magnitude setting is 4～7, diameter is 8～10mm, spacing 15～20mm, and described cable hole diameter is 30～40mm, main cavity inside is provided with instrument compartment and a plurality of separation, and main cavity below is provided with seawater and imports and exports conduit.Main cavity top is provided with the tail groove-type thruster auxiliary water supply conduit of longitudinal perforation, and conduit diameter is 40～50mm.
Described main cavity height is 400～450mm, and width is 200～220mm, and length is 1200～1300mm.
Distance between described two torpedo buoyancy aids is 600mm～700mm, and the vertical distance of torpedo buoyancy aid and main cavity upper surface is 250～300mm, and two torpedo buoyancy aid diameters are 180～200mm, and length is 600～750mm.
Described fixing horizontal main wing two ends arrange respectively side plate; Large 50～the 60mm of chord length of the Length Ratio fixing horizontal main wing of side plate, the large 40～60mm of maximum ga(u)ge of aspect ratio fixing horizontal main wing, the thickness of side plate is 3～4mm; Tightening up casing diameter is 10～15mm, and anchor shaft diameter is 8～10mm.
The chord length of described fixing horizontal main wing is 200～250mm, and maximum ga(u)ge is 20～25mm.
The chord length that described constant tilt aerofoil profile supports is 200～250mm, and maximum ga(u)ge is 35～50mm.
Described controlled angle of attack tailplane adopts sweepback form, and two ends are provided with side plate, the large 50～60mm of the controlled angle of attack tailplane of side plate Length Ratio wing tip chord length, and the large 40～50mm of the controlled angle of attack tailplane of aspect ratio wing tip maximum ga(u)ge, side plate thickness is 3～4mm.
The maximum chord length of described controlled angle of attack tailplane is 200～250mm, wing tip chord length 90～100mm, and the span is 450～500mm, and maximum ga(u)ge is 12～18mm, and fixed vertical empennage height is 220～250mm, and maximum ga(u)ge is 12～18mm.
Described electromagnetic valve switch is anti-water solenoid valve.
The utility model main cavity be vertical type square to rudder profile, the effect that adopts this profile on the one hand can so that instrument and equipment vertically place or horizontal positioned; Adopt on the other hand such main cavity contour structures can be than being easier to maintain the towing coursekeeping of underwater hiding-machine in operation process.The utility model buoyancy aid adopts torpedo profile, and the water resistance being subject in towing process to reduce underwater hiding-machine, meets drag operation to the buoyancy of underwater hiding-machine and stability requirement; Two float structures increase the transverse metacentric radius of underwater hiding-machine, and rolling damping increases, thereby lateral stability improves, and than traditional single cylindricality main cavity, its autonomous stabilizing power improves greatly.
The utility model fixing horizontal main wing adopts symmetrical airfoil structure, be fixedly connected with two torpedo buoyancy aids, can provide the required heavy power of compeling for underwater hiding-machine dive, two ends arrange side plate, to increase effective aspect ratio of hydrofoil, improve 1ift-drag ratio, from structure, consider to play the effect of strengthening structural stability.Fixed vertical empennage and controlled angle of attack tailplane all adopt symmetrical airfoil structure, and fixed vertical empennage also contributes to keep towing coursekeeping; Controlled angle of attack tailplane two ends are provided with side plate equally, by level of control empennage corner driver train, regulate the angle of attack of controlled angle of attack tailplane, the device afterbody of diving under water produces an extra lift up or down, and then induce the fixing horizontal main wing angle of attack that is arranged on the device stem position of diving to change, make whereby underwater hiding-machine obtain dive to the urgent heavy power of the required degree of depth.
The utility model has tail thruster conduit at main cavity end, horizontally set thruster screw propeller assembly in passage, thruster screw propeller assembly is comprised of watertight motor and screw propeller, tail thruster conduit and thruster screw propeller assembly have formed tail groove-type thruster, in main cavity inner and upper, be provided with tail groove-type thruster auxiliary water supply conduit, water supply conduit is longitudinally arranged, about being divided near main cavity tail position, be in charge of for two, be in charge of and lead to tail thruster conduit, by electromagnetic valve switch, control two and be in charge of water outlet, for screw propeller forward or reverse provides the auxiliary current that produce lateral control power, induction has vertical type square to the main cavity hydrodynamic force angle of attack change of rudder profile, make it produce manipulation underwater hiding-machine and do the side force that turns bow and swaying motion, with this, realize and handle the motion of underwater hiding-machine in horizontal surface.
Compared with prior art, tool has the following advantages and beneficial effect the utility model:
(1) driving efficiency is high, attitude control is flexible.Swaying and heave movement manipulation that tail groove-type thruster described in the utility model is controlled trailing type band cable remote-controlled water diving device are to be mainly arranged on the tail groove-type thruster of underwater hiding-machine afterbody and the actuating force that controlled angle of attack tailplane sends by control, induction has vertical type square to the main cavity of rudder profile and function or the change of the hydrodynamic force angle of attack of fixing horizontal main wing respectively, makes their produce side force or the urgent heavy power that underwater hiding-machine is done swaying or heave movement of handling.Because the distance of tail groove-type thruster and controlled angle of attack tailplane and towpoint is longer, the actuating force that they produce is longer to the arm of force between towpoint, can produce larger control torque with the actuating force compared with little thus, thereby can implement swaying flexibly and heave movement control to trailing type band cable remote-controlled water diving device.A kind of maneuverability pattern like this overcome existing trailing type band cable remote-controlled water diving device often because control arm is short, cause need to be very large actuating force could realize underwater hiding-machine is carried out to the defect that actv. track and attitude are controlled, reached with less actuating force and higher driving efficiency trailing type band cable remote-controlled water diving device carried out to the object of track and attitude manipulation flexibly.
(2) steering maneuver demand is low, control convenience is simple.Control mechanism described in the utility model comprises Liang Ge steering maneuver mechanism and two water pipe water supply control mechanisms.Steering maneuver mechanism is respectively tailplane corner driver train and the tail groove-type thruster control mechanism of the level of control empennage angle of attack, and water pipe water supply control mechanism is the electromagnetic valve switch being arranged on left and right distributive pipe.Just the motion that can realize accordingly heave to described underwater hiding-machine, turns the modes such as bow and swaying is handled.Because trailing type band cable remote-controlled water diving device described in the utility model has control effort brachium between actuating force that steering maneuver mechanism sends and towpoint, it can realize the manipulation to the large operating torque of underwater hiding-machine with smaller linear electric motors and tail thruster driving power.Version by with a kind of like this caudal action Induction Control trailing type band cable remote-controlled water diving device, can realize the manipulation on a large scale to underwater hiding-machine with smaller steering maneuver and less control power plant.
(3) possesses the two advantage of the good and manoeuvrable of course and attitude stability simultaneously.Underwater hiding-machine integral structure described in the utility model has adopted two torpedo buoyancy aid+vertical type squares to the version of the latent device main cavity of rudder profile.By adopting two, to be arranged on restoring moment that buoyancy that vertical type square provides to the torpedo buoyancy aid of the latent device main cavity top of rudder profile and latent device main cavity gravity forms be that underwater hiding-machine can be returned to the attitude of top-uping while there is canting in its operation process rapidly.In conjunction with torpedo buoyancy aid, there is the line motion feature little with angular motion damping, the design that the torpedo buoyancy aid that the utility model adopts and vertical type square match to the latent device main cavity housing structure of rudder profile, both guaranteed that underwater hiding-machine had good course and the stability of top-uping, guaranteed again by regulating the change of the hydrodynamic force angle of attack and the control action of tail groove-type thruster of the corner induction fixing horizontal main wing of controlled angle of attack tailplane to implement the underwater hiding-machine degree of depth, swaying and the alerting ability that turns bow manipulation.By torpedo buoyancy aid and vertical type square, to the two organic assembling of the latent device main cavity of rudder profile, overcome that existing trailing type band cable remote-controlled water diving device is difficult to possess course simultaneously and attitude stability is good and the defect of the two advantage of manoeuvrable.
Accompanying drawing explanation
Fig. 1 is the contour structures schematic side view that tail groove-type thruster is controlled trailing type band cable remote-controlled water diving device;
Fig. 2 is the contour structures schematic top plan view that tail groove-type thruster is controlled trailing type band cable remote-controlled water diving device;
Fig. 3 is the contour structures front-view schematic diagram that tail groove-type thruster is controlled trailing type band cable remote-controlled water diving device;
Figure 4 ?1 are the fixing horizontal main wing anchor shaft position view that tail groove-type thruster is controlled trailing type band cable remote-controlled water diving device;
Figure 4 ?2 be figure 4 ?1 A ?A to cutaway view;
Fig. 5 is the fixing horizontal main wing support short slab schematic diagram that tail groove-type thruster is controlled trailing type band cable remote-controlled water diving device;
Fig. 6 is the controlled angle of attack tailplane profile schematic diagram that tail groove-type thruster is controlled trailing type band cable remote-controlled water diving device;
Fig. 7 is the controlled angle of attack tailplane control mechanism schematic diagram that tail groove-type thruster is controlled trailing type band cable remote-controlled water diving device;
Fig. 8 is the controlled angle of attack tailplane support position schematic diagram that tail groove-type thruster is controlled trailing type band cable remote-controlled water diving device;
Figure 9 ?1 are chute and the push rod articulated joint schematic diagram that tail groove-type thruster is controlled trailing type band cable remote-controlled water diving device;
Figure 9 ?2 be figure 9 ?2 B ?B to cutaway view;
Figure 10 is the thruster screw propeller assembly position view that tail groove-type thruster is controlled trailing type band cable remote-controlled water diving device;
Figure 11 is the tail groove-type thruster auxiliary water supply conduit schematic diagram that tail groove-type thruster is controlled trailing type band cable remote-controlled water diving device;
The specific embodiment
Below in conjunction with drawings and Examples, the utility model is further described, but embodiment of the present utility model is not limited to this.
As shown in Figure 1, 2, 3, tail groove-type thruster is controlled a trailing type band cable remote-controlled water diving device, comprises torpedo buoyancy aid 1, fixing horizontal main wing 2, constant tilt aerofoil profile support 3, controlled angle of attack tailplane 4, fixed vertical empennage 5, thruster screw propeller assembly 6 and main cavity 7; Main cavity 7 be vertical type square to the housing structure of rudder profile, its top cover front end is provided with 4～7 and drags hole 13, middle part is provided with suspension ring 14; Main cavity front end has cable hole 15, end is provided with the tail thruster conduit 8 of lateral direction penetrating main cavity both sides, main cavity 7 middle parts are provided with instrument and equipment cabin 11, main cavity 7 belows are provided with seawater and import and export conduit 12, main cavity 7 is highly preferably 400～450mm, width is preferably 200～220mm, and length is preferably 1300～1400mm.
Two torpedo buoyancy aids 1 are arranged in main cavity 7 both sides, vertical symmetry plane top, torpedo buoyancy aid 1 is preferably 250～300mm with the vertical distance of main cavity 7 upper surfaces, distance between two torpedo buoyancy aids 1 is preferably 600mm～700mm, its maximum gauge is preferably 180～200mm, and length is preferably 600～750mm, fixing horizontal main wing 2 is symmetrical airfoil, connect in the horizontal direction two torpedo buoyancy aids 1, between fixing horizontal main wing 2 middle parts and main cavity 7, be provided with in the vertical direction two with the support short slab 21 of some circular holes, fixing horizontal main wing 2 two ends are respectively arranged with the first side plate 17 and anchor shaft 20, anchor shaft on anchor shaft 20 and torpedo buoyancy aid 1 madial wall tightens up sleeve pipe 19 and is fastenedly connected, anchor shaft 20 diameter 8～10mm, large 50～the 60mm of chord length of the Length Ratio fixing horizontal main wing 3 of the first side plate 17, large 40～the 60mm of maximum ga(u)ge of aspect ratio fixing horizontal main wing 3, the thickness of the first side plate 17 is preferably 3～4mm, constant tilt aerofoil profile supports 3 and is arranged between torpedo buoyancy aid 1 and main cavity 7, adopts symmetrical airfoil, and its one end is connected with torpedo buoyancy aid 1, and the other end is connected with main cavity 7 tops, the chord length of constant tilt aerofoil profile support 3 is 200～250mm, and maximum ga(u)ge is 35～50mm,
As figure 4 ?1 and 4 ?as shown in 2, torpedo buoyancy aid 1 inner side surface wall is provided with and is welded and fixed with it anchor shaft being connected and tightens up sleeve pipe 19, fixing horizontal main wing 2 rear portions arrange one to adjust the fixedly anchor shaft 20 of the angle of attack of horizontal main wing 2, anchor shaft 20 is nested in anchor shaft and tightens up in sleeve pipe 19, by bolt tightening, the diameter that tightens up sleeve pipe 19 is 10～15mm, and anchor shaft 20 diameters are 8～10mm.
As shown in Figure 5, between fixing horizontal main wing 2 front portions and main cavity 7, be provided with two and support short slabs 21; One is supported short slab and the welding of fixing horizontal wing lower surface front end, and another piece supports short slab and is welded on main cavity; Support short slab is circular arc, the axle center of take on anchor shaft 20 with the support short slab of fixing horizontal wing welding is the center of circle, supports on short slab 21 and has a plurality of circular holes, and the fixing horizontal wing forwards the angle of attack needing to along anchor shaft 20, two circular holes that support on short slab 21 are overlapped, then pin with bolt; Can establish adjacent small sircle hole is 3 ° around the corner of anchor shaft 20.
As shown in Figure 6, controlled angle of attack tailplane 4 and fixed vertical empennage 5 are arranged on main cavity 7 rear portions, all adopt symmetrical airfoil, controlled angle of attack tailplane adopts sweepback form, two ends are provided with the second side plate 18, large 50～the 60mm of the controlled angle of attack tailplane 4 two ends chord length of Length Ratio of the second side plate 18, large 40～the 50mm of the controlled angle of attack tailplane 4 two ends maximum ga(u)ge of aspect ratio, the maximum chord length of controlled angle of attack tailplane 4 is 200～250mm, wing tip chord length 90～100mm, maximum ga(u)ge is 12～18mm, the span is 450～500mm, the height of fixed vertical empennage 5 is 220～250mm, maximum ga(u)ge is 12～18mm.As Fig. 8,9 ?1,9 ?as shown in 2, controlled angle of attack tailplane 4 is arranged at two fixed vertical empennages 5 tops, fixed vertical empennage 5 tops are provided with the first circular arc bearing 28 with holes, controlled angle of attack tailplane lower surface afterbody is provided with the second circular arc bearing 27 with holes, two groups of bearings are hinged by screw rod 26, and the second circular arc bearing 27 with holes is arranged on the first circular arc bearing with holes 28 inner sides; Controlled angle of attack tailplane 4 can rotate around screw rod 26.
As shown in Figure 7, the control mechanism of controlled angle of attack tailplane 4 comprises watertight linear electric motors 9, push rod 22, articulated joint 23, chute 24 and minor axis 25; Watertight linear electric motors 9 are vertically arranged in main cavity 7, push rod 22 one end are connected with the axle of watertight linear electric motors 9, the other end is connected with articulated joint 23, and joint 23 other ends are hinged by minor axis 25 and chute 24, and chute 24 is arranged at controlled angle of attack tailplane 4 lower surface front ends.Watertight linear electric motors 9 drive push rod 19 to move up or down, drive controlled angle of attack tailplane 4 around the certain angle of the second circular arc bearing 27 deflections with holes, with this, change the angle of attack and produce lift, for the device of diving provides trim induction moment, add the effect of fixing horizontal main wing 2, force underwater hiding-machine dive or floating, thereby realize the severity control to underwater hiding-machine.
As shown in figure 10, thruster screw propeller assembly 6 is arranged at main cavity 7 ends, watertight motor 30 and screw propeller 31, consists of, and watertight motor 30 is installed in tail thruster conduit 8 supported underneath sleeve pipes 29, by tightening screw, reinforced, screw propeller 31 is positioned at the midway location of tail thruster conduit 8.As the actuating device of controlled angle of attack tailplane 4, the preferred model of watertight linear electric motors 9 is Model218 (Tecnadyne company); The preferred model of thruster screw propeller assembly 6 is Model260 (Tecnadyne company).
As shown in figure 11, the auxiliary water supply conduit 32 of tail groove-type thruster is communicated with two shunt catheters endways, they are respectively right conduit 33 and left conduit 34, on right conduit 33, be provided with the first electromagnetic valve switch 35, on left conduit 34, be provided with the second electromagnetic valve switch 36, current by auxiliary water supply conduit 32 from be positioned at main cavity foremost catheter opening flow into; Auxiliary water supply conduit 32 is imported and exported conduit 12 with seawater and is communicated with; When needing thruster screw propeller assembly 6 to produce to the propelling current of right and side thrust, close the first electromagnetic valve switch 35, current are only entered in tail thruster conduit 8 by left conduit 34, be that screw propeller 31 supplies water; When needing thruster screw propeller assembly 6 to produce the propelling current of direction left and side thrust, close the second electromagnetic valve switch 36, current are only entered in tail thruster conduit 8 by right conduit 33, be that screw propeller 31 supplies water; When not needing tail groove-type thruster to produce side force, close the first electromagnetic valve switch 35 and the second electromagnetic valve switch 36 simultaneously.Take and a kind ofly like this by tail groove-type thruster auxiliary water supply conduit is set, carry out the mode supplying water as screw propeller 31, can significantly improve the propulsion coefficient of thruster screw propeller assembly, to produce enough large side thrust, thereby reach the object of handling neatly underwater hiding-machine motion.
When the utility model tail groove-type thruster is controlled the work of trailing type band cable remote-controlled water diving device:
First according to different detection missions, hydrospace detection sensor equipment in the interior layout respective type of instrument compartment 11, due to varying in weight of dissimilar instrument and equipment, and the placement of different instruments requirement is also different, and these factors all can have influence on the center of gravity of the device integral body of diving.So should can add adjusting slider according to actual conditions, regulate its center-of-gravity position according to the concrete weight distribution of underwater hiding-machine.Consider point of action and the direction of towing cable, generally tend to the center of gravity of trailing type band cable remote-controlled water diving device in slightly forward position.In a word, consider, so that underwater hiding-machine center of gravity and centre of buoyancy are in suitable position.In main cavity 7, be provided with other separations, be used for placing control circuit board, power supply and counterweight, or directly as buoyancy compartment, provide buoyancy.
After adjusting the weight center of gravity position and position, centre of buoyancy of the device of diving, select a certain hole 13 of dragging, towing cable is lain in to this and drag place, hole, communication cable stretches out from cable hole 15, lies on towing cable, and cable slack, is not subject to pulling force, then tries towing.According to examination, drag situation, adjust or change and drag hole to proceed towage, according to test situation, can adjust at any time the center-of-gravity position of the device of diving, so that dive, device keeps good stable towage attitude, also can to the angle of attack of fixing horizontal main wing 2, carry out inching at any time, to meet the requirement of underwater hiding-machine severity control.Record counterweight and the attitude situation of change of different condition diving device, for later experiment provides reference.
In towing process, by regulating the corner of controlled angle of attack tailplane 4, the change of the induction fixing horizontal main wing 2 hydrodynamic force angles of attack, thus make the needed power of sinking of compeling of underwater hiding-machine, with this, realize the control to underwater hiding-machine towing depth.Underwater hiding-machine all constituents all adopts streamlined contour, with the water resistance that reduces to dive in device towing process, has also just reduced the tension force burden that towing cable bears; Fixing horizontal main wing 2 supports 3 with constant tilt aerofoil profile and forms a del, torpedo buoyancy aid 1 is leg-of-mutton three summits with main cavity 7, this form is guaranteed the structure integrity of whole underwater hiding-machine, aerofoil profile profile has reduced the disturbance of current simultaneously, avoid producing whirlpool, make current cross underwater hiding-machine by steady flow, this is favourable for keeping underwater hiding-machine attitude stabilization; The two ends of fixing horizontal main wing 2 are respectively arranged with the first side plate 17, to increase effective aspect ratio of fixing horizontal main wing 2, improve the lift effect of hydrofoil.By fixed vertical empennage 5 is set, in straight line drag operation, for underwater hiding-machine direction is stable, provide safeguard; By controlling the rotating of screw propeller 31 in thruster screw propeller assembly 6, underwater hiding-machine is produced to a tail and survey thrust, thereby underwater hiding-machine is produced to the induction moment on horizontal surface, make underwater hiding-machine produce lateral deflection, at vertical type square under the effect of rudder profile main cavity 7, can be easier to resist the pulling force of towing cable, realize horizontal motion.Keeping under the prerequisite of attitude stabilization, with less control action, realize to underwater hiding-machine carry out on a large scale, multivariant manipulation.
Trailing type band cable remote-controlled water diving device described in the utility model be a kind of by towing cable by towing working mother boat towing transmission of power to underwater hiding-machine, make it can implement under water to observe a kind of trailing type underwater exploration device of operation, in underwater hiding-machine main cavity, can carry temperature according to different purposes, salt, press, nutritive salt and other marine element acquisition sensor, the job specification of these acquisition sensors requires underwater hiding-machine conventionally when having reasonable towing course stability, possesses the more efficient of ratio, sensitive towing attitude maneuvering ability, to meet these acquisition sensors, obtain the requirement of high quality detecting parameter.The utility model adopts tail groove-type thruster and controlled angle of attack tailplane mode to carry out the manipulation that turn bow, swaying and heave movement of underwater hiding-machine in operation process to underwater hiding-machine.Wherein turn bow and the swaying motion of underwater hiding-machine produce thrust to the left or to the right by controlling tail groove-type thruster, induction has vertical type square and produces and turn bow action to the latent device main cavity of rudder profile and function, and then produces the required side force of underwater hiding-machine cross motion and realize the manipulation that the device of diving is turned to bow and swaying motion.The heave movement of underwater hiding-machine is by regulating the corner of controlled angle of attack tailplane, the variation of the induction fixing horizontal main wing hydrodynamic force angle of attack, to produce, underwater hiding-machine is carried out to the needed urgent heavy power of severity control, and then reach the object of the heave movement of controlling underwater hiding-machine.Described in the utility modelly thisly by tail structure, control, induce, with this, regulate and there is vertical type square and to the latent device main cavity of rudder profile and the hydrodynamic force angle of attack of fixing horizontal main wing, change to produce the needed transverse force of underwater hiding-machine and the mode of compeling heavy power have been promoted to the control ability of operator to trailing type band cable remote-controlled water diving device track and attitude effectively.
The utility model has a mind to the control mechanism (tail groove-type thruster and controlled angle of attack tailplane) of handling underwater hiding-machine attitude to be arranged on and to have vertical type square to the latent device main cavity afterbody of rudder profile and function, to wish to utilize the actuating force producing at main cavity afterbody longer to the arm of force between towpoint, can produce larger control torque with the actuating force compared with little thus, and then realize by a kind of more efficient mode the manipulation of trailing type band cable remote-controlled water diving device being implemented to turn flexibly bow, swaying and heave movement.Adopt so a kind of control mechanism and maneuverability pattern to overcome that existing trailing type band cable remote-controlled water diving device attitude control efficiency is not high, the inflexible defect of control action.
The utility model has adopted to utilize and has been positioned at main cavity auxiliary water supply catheter opening introduction current foremost, by electromagnetic valve switch 35 and 36, controlled, via right conduit 33 or left conduit 34 guiding current screw propeller in tail groove-type thruster, accelerate, high-velocity flow is sprayed by main cavity side and the mode that produces actuating force reaches and controls the object that underwater hiding-machine turns bow and swaying motion.The current that the maneuverability pattern of tail thruster has utilized auxiliary water supply conduit to introduce like this increase main cavity side ejection current speed, also increased the lateral control power to underwater hiding-machine, overcome thus conventional groove-type thruster in the weakness that has thruster poor effect under speed of a ship or plane condition.
The utility model has adopted two torpedo buoyancy aid+vertical type squares to make this class underwater hiding-machine possess good course and attitude stability is good to the overall structure form of the latent device main cavity of rudder profile, by being arranged in the control mechanism induction vertical type square of afterbody, to latent device main cavity and the deflection of the fixing horizontal main wing angle of attack of rudder profile, implements that the manipulation of trailing type band cable remote-controlled water diving device track and attitude has been possessed to maneuverable feature.Possess stability number is feature again of the present utility model with controlling advantage flexibly simultaneously.
Claims (10)
1. tail groove-type thruster is controlled a trailing type band cable remote-controlled water diving device, it is characterized in that: comprise torpedo buoyancy aid, fixing horizontal main wing, the support of constant tilt aerofoil profile, controlled angle of attack tailplane, fixed vertical empennage, thruster screw propeller assembly and main cavity; Described main cavity be vertical type square to the housing structure of rudder profile, its top cover front end be provided with towing hole, middle part is provided with operation suspension ring; Main cavity front end has cable hole; Main cavity end is provided with the tail thruster conduit of lateral direction penetrating, and thruster screw propeller assembly is arranged in tail thruster conduit; Thruster screw propeller assembly comprises watertight motor and screw propeller; Main cavity inner and upper is provided with the auxiliary water supply conduit of the tail groove-type thruster of longitudinal perforation, auxiliary water supply catheter tip is communicated with two shunt catheters, lead to respectively tail groove-type thruster both sides in tail thruster conduit, on two shunt catheters, be provided with electromagnetic valve switch, auxiliary water supply water injection through pipe mouth is positioned at main cavity front end;
Two torpedo buoyancy aids are arranged in both sides, main cavity vertical symmetry plane top, and torpedo buoyancy aid inner side surface wall rear portion is provided with anchor shaft and tightens up sleeve pipe, and anchor shaft is through fixing horizontal main wing rear portion, two ends with tighten up sleeve pipe and be connected; Fixing horizontal main wing adopts symmetrical airfoil, by anchor shaft level connection joint two torpedo buoyancy aids; Between fixing horizontal main wing front portion and main cavity, be provided with two and support short slab; One to support short slab affixed with fixing horizontal wing lower surface front end, and another piece support short slab is fixed on main cavity; Supporting short slab is all circular arc, and the axle center of take on anchor shaft with the support short slab of fixing horizontal wing welding is the center of circle, supports on short slab and has a plurality of circular holes, and two support short slab is flexibly connected; Constant tilt aerofoil profile support arrangement, between torpedo buoyancy aid and main cavity, adopts symmetrical airfoil, and its one end is connected with torpedo buoyancy aid, and the other end is connected with main cavity top;
Described controlled angle of attack tailplane and fixed vertical empennage are arranged on main cavity rear portion, all adopt symmetrical airfoil; Controlled angle of attack tailplane is arranged at a pair of fixed vertical empennage top, and fixed vertical empennage top is provided with circular arc bearing with holes, and controlled angle of attack tailplane lower surface afterbody is provided with circular arc bearing with holes equally, and two groups of bearings are hinged by an overbolt; Controlled angle of attack tailplane can be around bolt rotary, and tailplane corner driver train comprises watertight linear electric motors, push rod, articulated joint, minor axis and chute; Watertight linear electric motors are vertically arranged in main cavity, and push rod one end is connected with the axle of watertight linear electric motors, and the other end is connected with articulated joint, and the joint other end is hinged by minor axis and chute, and chute is arranged at controlled angle of attack tailplane lower surface front end.
2. tail groove-type thruster is controlled trailing type band cable remote-controlled water diving device according to claim 1, it is characterized in that: described towing hole magnitude setting is 4～7, diameter is 8～10mm, spacing 15～20mm, described cable hole diameter is 30～40mm, and main cavity inside is provided with instrument compartment and a plurality of separation, and main cavity below is provided with seawater and imports and exports conduit, main cavity top is provided with the tail groove-type thruster auxiliary water supply conduit of longitudinal perforation, and conduit diameter is 40～50mm.
3. tail groove-type thruster is controlled trailing type band cable remote-controlled water diving device according to claim 1, it is characterized in that: described main cavity height is 400～450mm, and width is 200～220mm, and length is 1200～1300mm.
4. tail groove-type thruster is controlled trailing type band cable remote-controlled water diving device according to claim 1, it is characterized in that: the distance between described two torpedo buoyancy aids is 600mm～700mm, the vertical distance of torpedo buoyancy aid and main cavity upper surface is 250～300mm, two torpedo buoyancy aid diameters are 180～200mm, and length is 600～750mm.
5. tail groove-type thruster is controlled trailing type band cable remote-controlled water diving device according to claim 1, it is characterized in that: described fixing horizontal main wing two ends arrange respectively side plate; Large 50～the 60mm of chord length of the Length Ratio fixing horizontal main wing of side plate, the large 40～60mm of maximum ga(u)ge of aspect ratio fixing horizontal main wing, the thickness of side plate is 3～4mm; Tightening up casing diameter is 10～15mm, and anchor shaft diameter is 8～10mm.
6. tail groove-type thruster is controlled trailing type band cable remote-controlled water diving device according to claim 1, it is characterized in that: the chord length of described fixing horizontal main wing is 200～250mm, and maximum ga(u)ge is 20～25mm.
7. tail groove-type thruster is controlled trailing type band cable remote-controlled water diving device according to claim 1, it is characterized in that: the chord length that described constant tilt aerofoil profile supports is 200～250mm, and maximum ga(u)ge is 35～50mm.
8. tail groove-type thruster is controlled trailing type band cable remote-controlled water diving device according to claim 1, it is characterized in that: described controlled angle of attack tailplane adopts sweepback form, two ends are provided with side plate, large 50～the 60mm of the controlled angle of attack tailplane of side plate Length Ratio wing tip chord length, large 40～the 50mm of the controlled angle of attack tailplane of aspect ratio wing tip maximum ga(u)ge, side plate thickness is 3～4mm.
9. tail groove-type thruster is controlled trailing type band cable remote-controlled water diving device according to claim 1, it is characterized in that: the maximum chord length of described controlled angle of attack tailplane is 200～250mm, wing tip chord length 90～100mm, the span is 450～500mm, maximum ga(u)ge is 12～18mm, fixed vertical empennage height is 220～250mm, and maximum ga(u)ge is 12～18mm.
10. tail groove-type thruster is controlled trailing type band cable remote-controlled water diving device according to claim 1, it is characterized in that: described electromagnetic valve switch is anti-water solenoid valve.
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| CN201420306950.2U CN203958580U (en) | 2014-06-10 | 2014-06-10 | A kind of tail groove-type thruster is controlled trailing type band cable remote-controlled water diving device |
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| CN201420306950.2U CN203958580U (en) | 2014-06-10 | 2014-06-10 | A kind of tail groove-type thruster is controlled trailing type band cable remote-controlled water diving device |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107741590A (en) * | 2017-01-17 | 2018-02-27 | 喻雯婷 | A kind of distributed water quality monitoring system and detection method |
| 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 |
| CN110254669A (en) * | 2019-07-05 | 2019-09-20 | 华南理工大学 | Bilateral aerofoil profile is pulled from the dual-purpose UAV navigation that navigates |
| CN110386238A (en) * | 2018-04-19 | 2019-10-29 | 中国科学院沈阳自动化研究所 | A kind of complete extra large depth ARV underwater robot structure |
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2014
- 2014-06-10 CN CN201420306950.2U patent/CN203958580U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107741590A (en) * | 2017-01-17 | 2018-02-27 | 喻雯婷 | A kind of distributed water quality monitoring system and detection method |
| CN107741590B (en) * | 2017-01-17 | 2021-06-25 | 喻雯婷 | Distributed water quality monitoring system and detection method |
| CN110386238A (en) * | 2018-04-19 | 2019-10-29 | 中国科学院沈阳自动化研究所 | A kind of complete extra large depth ARV underwater robot structure |
| 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 |
| CN110254669A (en) * | 2019-07-05 | 2019-09-20 | 华南理工大学 | Bilateral aerofoil profile is pulled from the dual-purpose UAV navigation that navigates |
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