CN207985156U - A kind of small underwater aerodone suitable for basin test - Google Patents
A kind of small underwater aerodone suitable for basin test Download PDFInfo
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- CN207985156U CN207985156U CN201820092885.6U CN201820092885U CN207985156U CN 207985156 U CN207985156 U CN 207985156U CN 201820092885 U CN201820092885 U CN 201820092885U CN 207985156 U CN207985156 U CN 207985156U
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- aerodone
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- Aerodynamic Tests, Hydrodynamic Tests, Wind Tunnels, And Water Tanks (AREA)
Abstract
The utility model discloses a kind of small underwater aerodones suitable for basin test, basin test is carried out for carrying sensor and small-size experiment equipment that needs to be tested, including former dome, buoyancy adjustment unit, main control unit, flexible trailing edge wing, propulsion unit, rear kuppe, empennage and main nacelle, former dome and rear kuppe use Myring streamlined structures；Buoyancy adjustment unit includes Water sucking and draining device, feed screw nut and direct current generator A, and the net buoyancy size for adjusting aerodone entirety realizes the dive of aerodone and movement of floating；Propulsion unit is made of direct current generator B and propeller, and propeller is connected by shaft coupling with motor output end, and direct current generator B drives propeller rotational when rotating；Main control unit includes buoyancy adjustment unit, the motor control module of propulsion unit, six degree of freedom sensor, data memory module and remote control module.
Description
Technical field
The utility model is related to submarine navigation device field, especially a kind of small underwater suitable for basin test glides
Machine.
Background technology
Underwater glider is a kind of emerging observation platform, because of its small with noise, small, light weight, continuation of the journey
The features such as time is long has obtained the extensive attention in worldwide.Its monnolithic case is similar to torpedo, floating by adjusting itself
Power size drives complete machine to realize jagged gliding, by carrying different types of task sensor, with underwater gliding
Machine single machine or the form of multiple aircraft formation, collect various marine informations, such as the leaf in ocean temperature, salinity, dissolved oxygen and seawater
The information such as chlorophyll contents.In ocean national defence, due to the features such as its noise is small and concealment is strong, can be used for collecting coastal state
The valuable informations such as family's ocean landform, landforms and hydrological environment.Carry out underwater glider technical research for marine resources development
And ocean national defense construction is of great significance.Underwater glider is generally about 2 meters or so, weight about 70kg.Carry out test examination
When testing, need larger test site and more manpower and materials, testing efficiency low.
Utility model content
The purpose of this utility model is to overcome deficiencies in the prior art, provide a kind of suitable for the small of basin test
Type underwater glider can be used to carry sensor and small-size experiment equipment progress basin test that needs to be tested.It is suitable for
The aviette of basin test is small, light-weight, and buoyancy variation, more extra large underwater glider on probation are realized by discharging water
The manpower and materials of test can be saved, testing efficiency is improved.
The purpose of this utility model is achieved through the following technical solutions：
A kind of small underwater aerodone suitable for basin test, including former dome, buoyancy adjustment unit, master control list
Member, flexible trailing edge wing, propulsion unit, rear kuppe, empennage and main nacelle, the former dome and rear kuppe use
Myring streamlined structures, to reduce ship resistance；The buoyancy adjustment unit includes Water sucking and draining device, feed screw nut
And direct current generator A, the net buoyancy size for adjusting aerodone entirety, realize the dive of aerodone and movement of floating；It is described to push away
It is made of into unit direct current generator B and propeller, propeller is connected by shaft coupling with motor output end, direct current generator B rotations
When drive propeller rotational, provide thrust for aerodone；The main control unit includes the motor of buoyancy adjustment unit, propulsion unit
Control module, six degree of freedom sensor, data memory module and remote control module；When aerodone is in the water surface, pass through remote control module
Control signal is sent out, aerodone is made to carry out pitching or advancing movement；
In aerodone motion process, the six degree of freedom sensor can measure the 3-axis acceleration and three axis of aerodone in real time
Angular speed is calculated the attitude angle data of aerodone with this, and records test data by data memory module；The empennage is used
In the whole machine balancing for keeping aerodone；The flexible trailing edge wing controls the steering engine inside wing by main control unit and exports shaft rotation
Angle adjusts the overbending direction and angle of trailing edge.
Preferably, the remote control module includes that communication transmitting terminal and receiving terminal, receiving terminal are set to main control unit.
Compared with prior art, advantageous effect caused by the technical solution of the utility model is：
The utility model underwater glider is changed by suction water management buoyancy realizes zigzag gliding, can carry
Small-sized test device and sensor carry out underwater testing experiment, floating, dive and propulsion for simulating underwater glider
Direct route movement, tests hydrodynamic performance.It is light-weight since appearance and size is small, it can be tested in pond, save manpower object
Power improves testing efficiency.
Description of the drawings
Fig. 1 is the overall structure diagram of the utility model.
Fig. 2 is the decomposition state schematic diagram of each component part of the utility model.
Reference numeral：1, former dome；2, buoyancy adjustment unit；3 main control units；4, flexible trailing edge wing；4-1, right flank；
4-2, left wing；5, propulsion unit；6, rear kuppe；7, empennage；8, main nacelle.
Specific implementation mode
For that can further appreciate that the utility model content, feature and effect of the utility model, the following examples are hereby given, and
It is described in detail with the accompanying drawings as follows：
See Fig. 1 and Fig. 2, a kind of small underwater aerodone suitable for basin test, including former dome 1, buoyancy adjustment
Unit 2, main control unit 3, flexible trailing edge wing 4, propulsion unit 5, rear kuppe 6, empennage 7 and main nacelle 8.1 He of former dome
Kuppe 6 constitutes the subject shell portion of aerodone under test water with main nacelle 8 together afterwards, generally streamlined, for dropping
The ship resistance of low aerodone during exercise.
Buoyancy adjustment unit 2 is used to adjust the net buoyancy of aerodone entirety, including Water sucking and draining device, feed screw nut and directly
Galvanic electricity machine A etc., by controlling the rotating speed and rotation direction of direct current generator A motors, drive feed screw nut is moved forward or back, into
And Water sucking and draining device is made to complete the action of draining, water suction, adjust the net buoyancy size of complete machine.
Main control unit 3 includes motor control module, six degree of freedom sensor, data memory module and remote control module.This
Six degree of freedom sensor used in embodiment is the JY-61 of Shenzhen Wei Te intelligent technology limiteds production, wherein motor control
Molding block mainly controls two direct current generator B of buoyancy adjustment unit and propulsion unit, is controlled using PWM, can control direct current
The rotating speed and rotation direction of motor B.Six degree of freedom sensor can measure the 3-axis acceleration under underwater gliding body coordinate system
And angular speed, and its attitude angle is resolved, and test data is recorded by data memory module, convenient for subsequent processing and analysis.
Remote control module includes two parts of communication transmitting terminal and receiving terminal, and for receiving terminal in main control unit 3, transmitting terminal is people
For remote control part, different instruction can be sent out by transmitting terminal, control underwater glider carries out dive respectively, floating moves, is straight
Boat advancing movement and initialize these three motion modes.
Flexible trailing edge wing 4 can change bending angle and the direction of trailing edge, including right flank 4-1 and left wing 4-2, soft
Property rear wing inside carry driving device, the driving device inside wing can be controlled by main control unit and carry out becoming rear dynamic
Make.The used material of wing cover has good elasticity and ductility simultaneously, can be generated with the transformation of trailing edge corresponding
Deformation, to keep the ride comfort of entire aerofoil surface.The bending angle of trailing edge is with direction with underwater glider
The change of motor pattern and change, the variation of trailing edge can have an impact the movenent performance of aerodone.
It implements the dive of underwater glider and movement of floating may include following steps：
1. the motor rotation in buoyancy adjustment unit, makes Water sucking and draining device absorb water, the gravity of aerodone is set to be more than buoyancy, only
Buoyancy becomes as negative buoyancy force, aerodone dive；
2. after aerodone dive to certain depth, the Water sucking and draining device draining in buoyancy adjustment unit makes aerodone
Gravity be less than buoyancy, net buoyancy becomes positive buoyancy, and aerodone floats；
3. dive floats movement alternately, aerodone is made to complete to indulge the pitching movement in vertical plane；
4. in dive, floating motion process, six degree of freedom sensor measures the 3-axis acceleration of aerodone, angular speed in real time
And its attitude angle is resolved, test data is recorded by data memory module.
The utility model is not limited to embodiments described above.Above the description of specific implementation mode is intended to describe
With illustrate the technical solution of the utility model, the above mentioned embodiment is only schematical, is not restrictive.
In the case of not departing from the utility model aims and scope of the claimed protection, those skilled in the art are in this practicality
The specific transformation of many forms can be also made under novel enlightenment, these are belonged within the scope of protection of the utility model.
Claims (2)
1. a kind of small underwater aerodone suitable for basin test, which is characterized in that including former dome, buoyancy adjustment list
Member, main control unit, flexible trailing edge wing, propulsion unit, rear kuppe, empennage and main nacelle, the former dome and rear water conservancy diversion
Cover uses Myring streamlined structures, to reduce ship resistance；The buoyancy adjustment unit includes Water sucking and draining device, silk
Thick stick nut and direct current generator A, the net buoyancy size for adjusting aerodone entirety realize the dive of aerodone and movement of floating；
The propulsion unit is made of direct current generator B and propeller, and propeller is connected by shaft coupling with motor output end, direct current generator
B drives propeller rotational when rotating, and thrust is provided for aerodone；The main control unit includes buoyancy adjustment unit, propulsion unit
Motor control module, six degree of freedom sensor, data memory module and remote control module；When aerodone is in the water surface, by distant
Control module sends out control signal, and aerodone is made to carry out pitching or advancing movement；
In aerodone motion process, the six degree of freedom sensor can measure the 3-axis acceleration and three shaft angles speed of aerodone in real time
Degree, the attitude angle data of aerodone is calculated with this, and record test data by data memory module；The empennage is for protecting
Hold the whole machine balancing of aerodone；The flexible trailing edge wing controls the steering engine output shaft angle inside wing by main control unit,
Adjust the overbending direction and angle of trailing edge.
2. a kind of small underwater aerodone suitable for basin test according to claim 1, which is characterized in that the remote control
Module includes that communication transmitting terminal and receiving terminal, receiving terminal are set to main control unit.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820092885.6U CN207985156U (en) | 2018-01-19 | 2018-01-19 | A kind of small underwater aerodone suitable for basin test |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820092885.6U CN207985156U (en) | 2018-01-19 | 2018-01-19 | A kind of small underwater aerodone suitable for basin test |
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| Publication Number | Publication Date |
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| CN207985156U true CN207985156U (en) | 2018-10-19 |
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| CN201820092885.6U Active CN207985156U (en) | 2018-01-19 | 2018-01-19 | A kind of small underwater aerodone suitable for basin test |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108382552A (en) * | 2018-01-19 | 2018-08-10 | 天津大学 | A kind of small underwater aerodone suitable for basin test |
| CN109823502A (en) * | 2019-03-25 | 2019-05-31 | 浙江大学 | A method of underwater robot buoyancy is controlled using the software driving rudder wing |
-
2018
- 2018-01-19 CN CN201820092885.6U patent/CN207985156U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108382552A (en) * | 2018-01-19 | 2018-08-10 | 天津大学 | A kind of small underwater aerodone suitable for basin test |
| CN109823502A (en) * | 2019-03-25 | 2019-05-31 | 浙江大学 | A method of underwater robot buoyancy is controlled using the software driving rudder wing |
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| TR01 | Transfer of patent right |
Effective date of registration: 20231218 Address after: 300392 East 1st and 2nd floors of Building 2, No. 2 Haitai Huake Fourth Road, Huayuan Industrial Zone (Outer Ring), Binhai New Area, Tianjin City Patentee after: Tianjin Huiyang Intelligent Equipment Co.,Ltd. Address before: 300350 Haijing garden, Haihe Education Park, Jinnan, Tianjin, 135, Tianjin University. Patentee before: Tianjin University |