CN209051572U - Foldable wing sail and ocean current promote underwater unmanned platform - Google Patents
Foldable wing sail and ocean current promote underwater unmanned platform Download PDFInfo
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- CN209051572U CN209051572U CN201821964949.3U CN201821964949U CN209051572U CN 209051572 U CN209051572 U CN 209051572U CN 201821964949 U CN201821964949 U CN 201821964949U CN 209051572 U CN209051572 U CN 209051572U
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- wing
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- wing sail
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Abstract
The utility model provides a kind of foldable wing sail and ocean current promotes underwater unmanned platform, the foldable wing sail is mounted on the outside of the fixed-wing of hull, and fold mechanism and steering mechanism are arranged between fixed-wing and wing sail, fold mechanism is used to switch the flexible or plumbness of wing sail and fixed-wing, and steering mechanism adjusts the inflow angle degree of wing sail under wing sail and fixed-wing plumbness.The ocean current promotes underwater unmanned platform, is by the ship wing by folding and expanding into the state perpendicular to aircraft hull, to form wing sail.The utility model is that AUV generates the power promoted using ocean current, solves the propulsion Power Autonomy problem of AUV, enhances the continuation of the journey and survival ability of AUV.
Description
Technical field
The utility model relates to underwater operation equipment, and in particular to a kind of foldable wing sail and ocean current promote that underwater nobody is flat
Platform.
Background technique
Unmanned Autonomous Underwater Vehicle (Autonomous underwater vehicle, AUV), is underwater robot
One kind managing and controlling oneself by the capacity of self-government of itself to complete assigned mission.Underwater unmanned platform is foldable
Wing sail ocean current Push Technology is on the basis of existing underwater unmanned platform, and in the sea area for having appropriate ocean current, wing sail passes through folding
It folds and expands into the state perpendicular to aircraft body to form wing sail.According to course, ocean current direction and flow velocity, wing sail is adjusted
The angle of attack, to obtain ideal thrust power and auxiliary drive AUV.
AUV target is small, underwater concealment is stronger, in detailed seafari, early warning search investigation, antisubmarine, Controlled Mine Countermeasures, prevents
Imperial, combat support etc. has immeasurable potential using value.Accordingly it is contemplated that replacing Ocean Surveying using AUV
The collection of ship progress off-lying sea information.Our times various countries be unfolded the underwater unmanned platform such as AUV, Glider, HUG research and
Exploitation.
Inventor and cooperates the utilization of scientific principle based on the practical experience and professional knowledge of being engaged in field research and development, actively plus
It is set to have more practicability to found the underwater unmanned platform of a kind of new structure and propulsion mode with research and innovation.By not
Disconnected research, calculates design, and after model is verified and is improved, creates the utility model having practical value finally.
Summary of the invention
Goal of the invention: in order to overcome the deficiencies in the prior art, the utility model provides a kind of foldable wing sail, with
And ocean current promotes underwater unmanned platform.
Technical solution: in order to solve the above technical problems, foldable wing sail provided by the invention, including wing sail, fold motor,
Worm type of reduction gearing, connecting rod and steering motor, the wing sail are fixedly connected with steering motor, the output of the steering motor
Axis is fixed on connecting rod one end, and the output shaft of the worm type of reduction gearing is fixed on the other end of connecting rod, the worm gear snail
The input shaft of bar retarder is fixedly connected with motor output shaft is folded, and the folding motor is for being connected and fixed the wing.
Preferably, the fixed-wing includes being mounted on the first fixed-wing, the second fixed-wing, third of hull two sides to fix
The wing and the 4th fixed-wing, first fixed-wing is symmetrical as the axis of symmetry using hull central axes with third fixed-wing, described
First fixed-wing is parallel with the second fixed-wing.
Preferably, the wing sail includes the first wing sail connecting with the first fixed-wing, connect with the second fixed-wing
Two wing sails, the third wing sail being connect with third fixed-wing, the 4th wing sail being connect with the 4th fixed-wing, first wing sail and
Three wing sails are folded up, and second wing sail and the 4th wing sail are folded down.
The utility model provides ocean current simultaneously and promotes underwater unmanned platform, including hull and fixed-wing, it is characterised in that:
The outside installation of fixed-wing folds motor, worm type of reduction gearing, connecting rod, steering motor and wing sail, wing sail and steering motor
It is fixedly connected, the output shaft of steering motor is fixed on connecting rod one end, and the output shaft of worm type of reduction gearing is fixed on connecting rod
The other end, the input shaft of worm type of reduction gearing and fold motor output shaft and be fixedly connected, fold motor and be mounted on fixed-wing
On.
Preferably, the fixed-wing includes the first fixed-wing for being mounted on hull two sides, the second fixed-wing, third
Fixed-wing and the 4th fixed-wing, the wing sail include the first wing sail, the second wing sail, third wing sail and the 4th wing sail.
Preferably, the platform includes battery energy storage module, tradition propulsion subsystem, foldable wing sail subsystem, positioning
With the subsystem that tests the speed, intelligent detecting and control subsystem, data storage subsystem and communication subsystem.
In use, when hull navigates by water direction and ocean current angular separation between -90- to 90 °, by adjusting the angle of wing sail
Degree makes AUV advance towards specified course angle；When hull navigation direction and ocean current orientation angle are greater than 90 °, hull navigates by water certainly
Power promotes subsystem to provide by battery energy storage module and tradition.The sun for the characteristic that has protective coloration can be laid on hull surface
Can generate electricity film, in hull adverse current, then float up to the water surface and carry out solar recharging, lay in navigating power.
The utility model has the advantages that the present invention is underwater unmanned Platform Designing novel foldable wing sail, pass through fold mechanism and steering
Mechanism is mounted on the outside of fixed-wing, and fold mechanism is used to switch the flexible or plumbness of wing sail and fixed-wing, steering mechanism
For adjusting the inflow angle degree of wing sail.It is that AUV generates the power promoted using ocean current, to solve the propulsion energy of AUV certainly
Problem is controlled, its survival ability under hostile or adverse circumstances is enhanced.It since its target is small, is not easy to be detected, take action hidden, together
When use Power Autonomy technology, do not need lash ship or equipment of plugging into etc. carries out recycling or close to charging, cruise duration is long.Cause
This may make more hidden and lasting using AUV progress target acquisition and information collection.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the utility model embodiment；
Fig. 2 is wing sail expansion and connected mode schematic diagram in Fig. 1；
Fig. 3 is that foldable wing sail holds up working state figure；
Fig. 4 is the system architecture diagram of the utility model embodiment；
In figure: captain boat body 1, fixed-wing 2, wing sail 3 fold motor 4-1, worm type of reduction gearing 4-2, connecting rod 4-3, turn
To motor 5.
Specific embodiment
Embodiment:
The present embodiment it is as shown in Figure 1 using the self-propelled unit model unmanned under water of foldable wing sail.Model has four
3, four fixed-wings 2 of a wing sail and captain boat body 1.The chord length 0.2m of wing sail 3, camber 0.1, with a thickness of 15mm, length 0.2m,
Head and the tail use arc transition；Since wing sail 3 is stretched out from fixed-wing 2,2 appearance of fixed-wing and wing sail 3 keep one substantially
It causes, only thickness direction has more 5mm outward；The length of captain boat body 1 is 0.6m.
Its mounting structure is as shown in Figures 2 and 3, and wing sail 3 and steering motor 5 are solid by mounting fixing parts and screw installation
Fixed, the output shaft of steering motor 5 is fixedly connected by connecting rod 4-3 and the output shaft of worm type of reduction gearing 4-2, worm and gear
The input shaft of retarder 4-2 is fixedly connected with the power output shaft for folding motor 4-1, folds motor 4-1 and fixed-wing 2 and passes through admittedly
Determine mounting fixing parts, screw installation fixation, worm type of reduction gearing 4-2 realizes the folding of 90 ° of 3 up/down of wing sail, wing sail
3 rotate freely (direction is navigated by water in adjustment) along its central axes is exported by the steering motor 5 being fixedly mounted on connecting rod 4-3
What axis was realized.Interference fit can be used in the above installation fixed form, folds motor 4-1 and steering motor 5 is all made of waterproof construction
Design.
As shown in figure 4, underwater unmanned platform model machine mainly promotes subsystem, flexible wing by battery energy storage module, tradition
Sail subsystem positions and the subsystem that tests the speed, intelligent detecting and control subsystem, data storage subsystem and communication subsystem
It constitutes.
Battery energy storage module provides electrical energy source for entire underwater unmanned platform, and it is each that major function is to provide other
The firm power energy source of a module or subsystem.
Tradition promotes subsystem to be mainly responsible for and provides required power for the navigation of underwater unmanned platform, under water nobody
When platform navigates by water, the power promoted is generated using screw propeller, provides power with the normal/cruise for underwater unmanned platform.
Mainly it is made of propeller control module, screw propeller, energy consumption control module etc..Foldable wing sail promotes subsystem main
The navigation for being responsible for underwater unmanned platform provides required power, can using ocean current driving when unmanned platform navigates by water under water
The power that wing sail directly generates propulsion is folded, provides auxiliary power with the navigation for underwater unmanned platform.Mainly controlled by folding
Module, rotation control module, locking and unlock control module composition.
The subsystem that positions and test the speed, which mainly passes through the module synthesis such as satellite positioning, inertial navigation, depth measurement, carries out AUV
Positioning and real time speed measuring.Mainly it is made of satellite positioning module, inertial navigation module, depth measuring module, speed measuring module
Intelligent detecting and control subsystem mainly pass through the initial data that the means such as sonar, underwater camera obtain target object
So that detection control kernel module is handled and obtains information.
Data storage subsystem mainly collects the various data of above-mentioned module when AUV navigation, and stores, so as to suitable
Opportunity is sent to test data collecting device by communication subsystem.
Communication subsystem is underwater unmanned platform and extraneous other systems (referred to herein generally test data collecting device)
The infrastructure of information exchange is carried out, is communicated for underwater unmanned platform with remote control center and necessary module of software and hardware is provided.
In use, the bilayer wing sail can use stacked folding and unfolding sail mode, every layer of the double-deck wing sail in left and right is both designed as
Cascading style.When wing sail does not work, in the foldable income main wing of wing sail.In the suitable situation in ocean current flow field, every layer of wing sail
Sail extend to designated position to the left and right, subsequent wing sail again to collapse when plane edge as axis, upper and lower level wing sail respectively to
Opposite direction rotation.Then, the wing sail of upper left --- bottom right two holds up surface central axes rotation 180 degree along respective respectively, so that
The circular arc bumps of all wing sails so far complete deformation towards unanimously.Subsequent all wing sails initially enter working condition, can pass through
It adjusts suitable inflow angle degree and generates optimal thrust effect.When encounter stream it is improper need to receive wing sail when, need to be by the above process
It is reverse to develop, namely: firstly, two wing sails of lower-left-upper right hold up surface central axes rotation 180 degree along respective respectively；Secondly,
The edge of plane when by the upper and lower level wing sail holded up along gathering, respectively rotation is turn 90 degrees round about, becomes horizontal stretching shape
State；The wing of horizontal stretching state is finally withdrawn into cascading style.
When course angle is between -90 ° to 90 °, AUV can be made towards before specified course angle by adjusting the angle of wing sail
Into；When hull navigation direction and ocean current orientation angle are greater than 90 °, hull is pushed away from navigating power by battery energy storage module and tradition
There is provided into subsystem, and have protective coloration the solar power generation film of characteristic in the laying of hull surface, in hull adverse current, then on
Solar recharging is carried out floating to the water surface, lays in navigating power.
The underwater unmanned foldable wing sail of platform of the present embodiment utilizes ocean current Push Technology, is in existing underwater unmanned platform
On the basis of, in the sea area for having appropriate ocean current, the ship wing is by folding and expanding into the state perpendicular to aircraft hull, with shape
At wing sail.According to AUV navigational duty, ocean current direction and flow velocity, ocean current direction and speed, ship trajectory of making rational planning for is made rational planning for
Ship trajectory, adjustment sail is to angle, to obtain ideal thrust power, driving AUV navigation.
Claims (6)
1. a kind of foldable wing sail, it is characterised in that: including wing sail, fold motor, worm type of reduction gearing, connecting rod and steering
Motor, the wing sail are fixedly connected with steering motor, and the output shaft of the steering motor is fixed on connecting rod one end, the worm gear
The output shaft of worm reducer is fixed on the other end of connecting rod, and the input shaft and folding motor of the worm type of reduction gearing are defeated
Shaft is fixedly connected, and the folding motor is for being connected and fixed the wing.
2. foldable wing sail according to claim 1, it is characterised in that: the fixed-wing includes being mounted on hull two sides
First fixed-wing, the second fixed-wing, third fixed-wing and the 4th fixed-wing, first fixed-wing and third fixed-wing are with hull
Central axes are that the axis of symmetry is symmetrical, and first fixed-wing is parallel with the second fixed-wing.
3. foldable wing sail according to claim 2, it is characterised in that: the wing sail includes connecting with the first fixed-wing
First wing sail, the second wing sail connecting with the second fixed-wing, the third wing sail connecting with third fixed-wing connect with the 4th fixed-wing
The 4th wing sail connect, first wing sail and third wing sail are folded up, and second wing sail and the 4th wing sail are folded down.
4. a kind of ocean current promotes underwater unmanned platform, including hull and fixed-wing, it is characterised in that: installed in the outside of fixed-wing
It folds motor, worm type of reduction gearing, connecting rod, steering motor and wing sail, wing sail to be fixedly connected with steering motor, steering motor
Output shaft be fixed on connecting rod one end, the output shaft of worm type of reduction gearing is fixed on the other end of connecting rod, worm and gear
The input shaft of retarder is fixedly connected with motor output shaft is folded, and folds motor and is mounted on fixed-wing.
5. underwater unmanned platform according to claim 4, it is characterised in that: the fixed-wing includes being mounted on hull two sides
The first fixed-wing, the second fixed-wing, third fixed-wing and the 4th fixed-wing, the wing sail include the first wing sail, the second wing sail,
Third wing sail and the 4th wing sail.
6. underwater unmanned platform according to claim 5, it is characterised in that: promote son including battery energy storage module, tradition
System, foldable wing sail subsystem, position and the subsystem that tests the speed, intelligent detecting and control subsystem, data storage subsystem with
And communication subsystem.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821964949.3U CN209051572U (en) | 2018-11-27 | 2018-11-27 | Foldable wing sail and ocean current promote underwater unmanned platform |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821964949.3U CN209051572U (en) | 2018-11-27 | 2018-11-27 | Foldable wing sail and ocean current promote underwater unmanned platform |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209051572U true CN209051572U (en) | 2019-07-02 |
Family
ID=67054309
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821964949.3U Expired - Fee Related CN209051572U (en) | 2018-11-27 | 2018-11-27 | Foldable wing sail and ocean current promote underwater unmanned platform |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110481737A (en) * | 2019-08-29 | 2019-11-22 | 浙江大学 | A kind of flexible foldable swing device applied to underwater robot |
| CN115258107A (en) * | 2022-07-21 | 2022-11-01 | 江苏科技大学 | Folding T-shaped wing with wing body integrated with underwater glider and working method of folding T-shaped wing |
| CN117963121A (en) * | 2024-04-01 | 2024-05-03 | 山东省科学院海洋仪器仪表研究所 | Wind-force water-gas interface aircraft suitable for conceal navigation |
| CN117963121B (en) * | 2024-04-01 | 2024-06-07 | 山东省科学院海洋仪器仪表研究所 | Wind-force water-gas interface aircraft suitable for conceal navigation |
-
2018
- 2018-11-27 CN CN201821964949.3U patent/CN209051572U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110481737A (en) * | 2019-08-29 | 2019-11-22 | 浙江大学 | A kind of flexible foldable swing device applied to underwater robot |
| CN115258107A (en) * | 2022-07-21 | 2022-11-01 | 江苏科技大学 | Folding T-shaped wing with wing body integrated with underwater glider and working method of folding T-shaped wing |
| CN115258107B (en) * | 2022-07-21 | 2023-11-21 | 江苏科技大学 | Folding T-shaped wing for wing body fusion underwater glider and working method thereof |
| CN117963121A (en) * | 2024-04-01 | 2024-05-03 | 山东省科学院海洋仪器仪表研究所 | Wind-force water-gas interface aircraft suitable for conceal navigation |
| CN117963121B (en) * | 2024-04-01 | 2024-06-07 | 山东省科学院海洋仪器仪表研究所 | Wind-force water-gas interface aircraft suitable for conceal navigation |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20190702 Termination date: 20191127 |
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| CF01 | Termination of patent right due to non-payment of annual fee |