CN209972751U - Automatic balancing device of wave glider - Google Patents
Automatic balancing device of wave glider Download PDFInfo
- Publication number
- CN209972751U CN209972751U CN201920504429.2U CN201920504429U CN209972751U CN 209972751 U CN209972751 U CN 209972751U CN 201920504429 U CN201920504429 U CN 201920504429U CN 209972751 U CN209972751 U CN 209972751U
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- hydrofoil
- wave glider
- steering engine
- rope
- submerged body
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Abstract
The utility model relates to a balancing unit, especially an automatic balancing unit of wave glider. It includes surface of water body, flexible hawser, submerged body and hawser connecting piece under water, the surface of water body includes hull, computer control system, radio antenna, battery and solar panel, the submerged body includes hydrofoil support under water, submerged body lower frame, jackshaft, hydrofoil pin, support bolt, rudder machine box, rudder cover, steering wheel, tail vane, connecting plate, connecting bolt, slide rail, slider, reset spring, motor, rope, reel, electro-magnet, clip, torsion spring and submerged body front shell, pass through bolted connection between surface of water body and the flexible hawser, pass through bolted connection between the submerged body under water and the hawser connecting piece, pass through bolted connection between flexible hawser and the hawser connecting piece. The wave glider underwater submerged body overcomes the defect that the underwater submerged body of the wave glider is unstable in the horizontal movement direction, and has certain beneficial effects.
Description
Technical Field
The utility model relates to a balancing unit, especially an automatic balancing unit of wave glider.
Background
The wave glider mainly comprises a water surface floating body, an underwater gliding body and a mooring rope. Corresponding sensors can be arranged on all three main parts so as to carry out various detection works. Corresponding sensors can be arranged in the gliding body to measure the oxygen content, the CO2 content, the PH value and the like of seawater, and a fish swarm tracker, a fish listener and the like can also be carried. The surface floating body can be used for tracking and surveying underwater fish swarms, plankton and the like and monitoring military underwater submerged bodies, related sensors can be carried to detect the distribution rule of various parameters of sea air and the salinity, temperature and density of sea water, and satellite communication equipment can be further arranged on the upper surface of the floating body for information transmission in military.
During the advancing process of the wave glider, the underwater submerged body of the underwater glider is ensured to be kept in a horizontal state as much as possible, and the current sailing resistance is reduced. However, since the underwater vehicle is provided with additional devices, such as a motor unit for driving the tail vane to rotate, various sensors for detection and information, respective cables, etc., the underwater vehicle of the underwater gliding vehicle is difficult to keep balance. Therefore, the research for solving the stability of the underwater submerged body of the wave glider in the horizontal direction is very critical.
SUMMERY OF THE UTILITY MODEL
The utility model aims at solving the above problem, provide an automatic balancing device of wave glider, it has overcome the unstable drawback of wave glider submerged body on the horizontal direction under water, and the technical scheme of its adoption is as follows:
the utility model provides an automatic balancing unit of wave glider which characterized in that: the underwater submersible comprises a hydrofoil support, a submersible lower frame, a middle shaft, hydrofoils, hydrofoil pins, support bolts, a rudder box, a rudder cover, a steering engine, a tail rudder, a connecting plate, connecting bolts, a cable connecting piece, a flexible cable, an underwater submersible body and a cable connecting piece, wherein the water surface floating body is connected with the underwater submersible body through the flexible cable, the water surface floating body is connected with the flexible cable through the bolts, the underwater submersible body is connected with the cable connecting piece through the bolts, the flexible cable is connected with the cable connecting piece through the bolts, the water surface floating body comprises a ship body, a computer control system, a radio antenna, a storage battery and a solar panel, the computer control system, the radio antenna, the storage battery and the solar panel are respectively connected with the ship body through the bolts, the solar panel is used for converting solar energy into electric energy and storing the electric energy, The underwater vehicle comprises a sliding rail, a sliding block, a reset spring, a motor, a rope, a winding drum, an electromagnet, a clamp, a torsion spring and a submerged body front shell, wherein the lower end of a hydrofoil support is connected with a submerged body lower frame through a bolt, the hydrofoil support is connected with a hydrofoil through an intermediate shaft, the intermediate shaft is connected with the hydrofoil through a hydrofoil pin, the hydrofoil pin is used for fixing the hydrofoil and the intermediate shaft, and the hydrofoil is used for converting wave energy into power for advancing of a wave glider.
On the basis of the technical scheme, support bolts are arranged on two sides of the hydrofoil support and used for limiting the deflection angle of the hydrofoil to be within 45 degrees.
On the basis of the technical scheme, the tail end of the hydrofoil support is fixedly connected with a steering engine box, the steering engine box is used for storing a steering engine, the steering engine box is connected with a steering engine cover through bolts, the steering engine is connected with a tail rudder through a rotating shaft, the steering engine box and the steering engine cover are used for protecting the steering engine, and the tail rudder is used for controlling the motion direction of the wave glider and preventing the motion direction of the wave glider from deviating from a preset track.
On the basis of the technical scheme, the hydrofoil support is connected with the slide rail through the connecting plate, the hydrofoil support and the connecting plate and the slide rail and the connecting plate are connected through the connecting bolts, the slide block is arranged on the slide rail in a penetrating mode and can horizontally slide along the slide rail, and the slide block is connected with the water surface floating body through the flexible cable and the cable connecting piece.
On the basis of the technical scheme, the slide rail is provided with a return spring, and the return spring is used for restoring the position of the slide block.
On the basis of the technical scheme, the submerged body lower frame is of a hollow structure, the motor is fixedly connected to the interior of the front end of the submerged body lower frame, the winding drum is connected with the interior of the front end of the submerged body lower frame through a rotating shaft, one end of the rope is connected to the sliding block, the other end of the rope is wound on the rotating shaft of the motor around the winding drum, the motor pulls the position of the rope control sliding block through the rotating shaft, and the winding drum is used for storing the rope.
On the basis of the technical scheme, the electro-magnet links firmly inside latent body lower frame front end, the clip is connected with latent body lower frame front end through the pivot, be provided with torsion spring between clip and the latent body lower frame front end, pass through bolted connection between latent body lower frame and the latent body front shell, the clip is iron, the clip is used for pressing from both sides tight rope, attract the clip to loosen the rope after the electro-magnet circular telegram, when the electro-magnet does not circular telegram, torsion spring makes the clip compress tightly the rope and fix the rope.
On the basis of the technical scheme, the steering engine and the motor are respectively connected with the storage battery through leads, the radio antenna, the storage battery, the steering engine and the motor are respectively connected with the computer control system through leads, the computer control system is connected with the electromagnet through the driving element, the computer control system is used for controlling the steering engine, the motor and the electromagnet, and the storage battery is used for supplying power to other equipment.
The utility model has the advantages of as follows: the underwater submerged body of the wave glider moves stably in the horizontal direction, and the computer control system can control the motor to pull the rope in time according to the condition of the underwater submerged body, so that the underwater submerged body of the wave glider is ensured to be always kept horizontal, and the movement stability of the wave glider in the horizontal direction is improved.
Drawings
FIG. 1: the utility model discloses a spatial structure schematic diagram.
FIG. 2: the utility model discloses a three-dimensional structure schematic diagram of surface of water body.
FIG. 3: the utility model discloses a spatial structure sketch map of submerged body under water.
FIG. 4: the utility model discloses a local structure schematic diagram of submerged body under water.
FIG. 5: the utility model discloses an explosion picture of submerged body under water.
FIG. 6: the utility model discloses a local structure schematic diagram of submerged body front end under water.
FIG. 7: the utility model discloses a motion process diagram.
Description of the symbols
1. The system comprises a water surface floating body, 11 a ship body, 12 a computer control system, 13 a radio antenna, 14 a storage battery, 15 a solar panel, 2 flexible cables, 3 an underwater submerged body, 31 a hydrofoil support, 32 a submerged body lower frame, 33 an intermediate shaft, 34 hydrofoils, 35 hydrofoil pins, 36 support bolts, 37 a rudder box, 38 a rudder cover, 39 a steering engine, 310 a tail rudder, 311 a connecting plate, 312 connecting bolts, 313 sliding rails, 314 sliding blocks, 315 a return spring, 316 a motor 317, ropes, 318 a winding drum, 319 an electromagnet, 320 clamps, 321 a torsion spring, 322 a submerged body front shell and 4 cable connecting pieces.
Detailed Description
The invention will be further described with reference to the following figures and examples:
as shown in fig. 1, the utility model discloses an automatic balancing device of wave glider, including surface of water body 1, flexible hawser 2, submerged body 3 and hawser connecting piece 4 under water, surface of water body 1 is connected with submerged body 3 under water through flexible hawser 2, through bolted connection between surface of water body 1 and the flexible hawser 2, through bolted connection between submerged body 3 and the hawser connecting piece 4 under water, through bolted connection between flexible hawser 2 and the hawser connecting piece 4.
As shown in fig. 2, the water surface floating body 1 comprises a ship body 11, a computer control system 12, a radio antenna 13, a storage battery 14 and a solar panel 15, wherein the computer control system 12, the radio antenna 13, the storage battery 14 and the solar panel 15 are respectively connected with the ship body 11 through bolts, and the solar panel 15 is used for converting solar energy into electric energy and storing the electric energy in the storage battery 14.
As shown in fig. 3, 4, 5 and 6, the underwater vehicle 3 includes a hydrofoil bracket 31, a lower vehicle frame 32, an intermediate shaft 33, a hydrofoil 34, a hydrofoil pin 35, a bracket bolt 36, a steering engine box 37, a steering engine cover 38, a steering engine 39, a tail rudder 310, a connecting plate 311, a connecting bolt 312, a sliding rail 313, a sliding block 314, a return spring 315, a motor 316, a rope 317, a winding drum 318, an electromagnet 319, a clamp 320, a torsion spring 321 and a front vehicle shell 322, the lower end of the hydrofoil bracket 31 is connected with the lower vehicle frame 32 through a bolt, the hydrofoil bracket 31 is connected with the hydrofoil 34 through the intermediate shaft 33, the intermediate shaft 33 is connected with the hydrofoil 34 through the hydrofoil pin 35, the hydrofoil pin 35 is used for fixing the hydrofoil 34 with the intermediate shaft 33, and the hydrofoil 34 is used for converting wave energy into power for advancing the wave glider.
As shown in fig. 3, the hydrofoil bracket 31 is connected with the slide rail 313 through the connecting plate 311, the hydrofoil bracket 31 and the connecting plate 311 and the slide rail 313 and the connecting plate 311 are connected through the connecting bolt 312, the sliding block 314 is mounted on the slide rail 313 in a penetrating manner and can horizontally slide along the slide rail 313, and the sliding block 314 is connected with the water surface floating body 1 through the flexible cable 2 and the cable connecting piece 4.
As shown in fig. 4, support bolts 36 are disposed on two sides of the hydrofoil support 31, and the support bolts 36 are used for limiting the deflection angle of the hydrofoil 34 within 45 °.
As shown in fig. 3 and 4, the slide rail 313 is provided with a return spring 315, and the return spring 315 is used for restoring the position of the slider 314.
As shown in fig. 5, the tail end of the hydrofoil bracket 31 is fixedly connected with a steering engine box 37, the steering engine box 37 is used for storing a steering engine 39, the steering engine box 37 is connected with a steering engine cover 38 through a bolt, the steering engine 39 is connected with a tail rudder 310 through a rotating shaft, the steering engine box 37 and the steering engine cover 38 are used for protecting the steering engine 39, and the tail rudder 310 is used for controlling the motion direction of the wave glider and preventing the motion direction of the wave glider from deviating from a predetermined track.
As shown in fig. 6, the submersible body frame 32 is a hollow structure, the motor 316 is fixedly connected to the inside of the front end of the submersible body frame 32, the reel 318 is connected with the inside of the front end of the submersible body frame 32 through a rotating shaft, one end of the rope 317 is connected to the sliding block 314, the other end of the rope 317 is wound on the rotating shaft of the motor 316 after being wound on the reel 318, the motor 316 pulls the rope 317 through the rotating shaft to control the position of the sliding block 314, and the reel 318 is used for storing the rope 317.
The steering engine 39 and the motor 316 are respectively connected with the storage battery 14 through wires, the radio antenna 13, the storage battery 14, the steering engine 39 and the motor 316 are respectively connected with the computer control system 12 through wires, the computer control system 12 is connected with the electromagnet 319 through a driving element, the computer control system 12 is used for controlling the steering engine 39, the motor 316 and the electromagnet 319, and the storage battery 14 is used for supplying power to other equipment.
When the wave glider encounters a wave crest during navigation, the water surface floating body 1 rises and pulls the underwater submerged body 3 to move upwards through the flexible cable 2, at the moment, water flow acts on the upper part of the hydrofoil 34 to generate a downward acting force, the acting force is decomposed into a horizontal component and a vertical component, and the horizontal component pushes the wave glider to navigate forwards. When the wave glider encounters a wave valley, the water surface floating body 1 and the underwater submerged body 3 move downwards under the action of gravity, at the moment, water flow acts below the hydrofoil 34 to generate an upward acting force which is decomposed into a horizontal component force and a vertical component force, and the horizontal component force pushes the wave glider to sail forwards. Under the action of the bracket bolt 36, the deflection angle of the hydrofoil 34 is not more than 45 degrees.
In the sailing process, when the acting force applied on the hydrofoil 34 is too large, the wave glider underwater submerged body does not move stably in the horizontal direction, at the moment, the computer control system 12 judges whether the underwater submerged body 3 is in the horizontal position or not through an inclination angle sensor arranged on the underwater submerged body 3 and controls the control motor 316 and the electromagnet 319, when the wave glider underwater submerged body 3 is not in the horizontal position, namely, the movement is not stable, the computer control system 12 energizes the electromagnet 319, adsorbs the clamp 320, loosens the rope 317, meanwhile, the computer control system 12 controls the motor 316 to rotate, pulls the sliding block 314 through the rope 317, compresses the return spring 315, and adjusts the underwater submerged body 3 to be in the horizontal position again. When the submersible vehicle 3 is in the horizontal position, the computer control system 12 controls the motor 316 to stop rotating and at the same time controls the electromagnet 319 to be powered off, and at this time, the clamp 320 clamps the rope 317 again to fix the rope, so that the submersible vehicle 3 is maintained in the horizontal position.
When the resetting is needed, the electromagnet 319 is electrified, the rope 317 is loosened, the return spring 315 pushes the slide block 314 and resets the slide block 314, and when the slide block 314 returns to the original position and the underwater vehicle 3 is in the horizontal position, the computer control system 12 controls the electromagnet 319 to be powered off, and the clamp 320 clamps the rope 317 again.
The present invention has been described above by way of example, but the present invention is not limited to the above-mentioned embodiments, and any modification or variation based on the present invention is within the scope of the present invention.
Claims (8)
1. The utility model provides an automatic balancing unit of wave glider which characterized in that: the underwater floating body comprises a water surface floating body (1), a flexible cable (2), an underwater submerged body (3) and a cable connecting piece (4), wherein the water surface floating body (1) is connected with the underwater submerged body (3) through the flexible cable (2), the water surface floating body (1) is connected with the flexible cable (2) through bolts, the underwater submerged body (3) is connected with the cable connecting piece (4) through bolts, the flexible cable (2) is connected with the cable connecting piece (4) through bolts, the water surface floating body (1) comprises a ship body (11), a computer control system (12), a radio antenna (13), a storage battery (14) and a solar panel (15), the computer control system (12), the radio antenna (13), the storage battery (14) and the solar panel (15) are respectively connected with the ship body (11) through bolts, and the underwater submerged body (3) comprises a hydrofoil bracket (31), latent body lower frame (32), jackshaft (33), hydrofoil (34), hydrofoil pin (35), support bolt (36), rudder box (37), steering wheel lid (38), steering wheel (39), tail rudder (310), connecting plate (311), connecting bolt (312), slide rail (313), slider (314), reset spring (315), motor (316), rope (317), reel (318), electro-magnet (319), clip (320), torsion spring (321) and latent body preceding shell (322), hydrofoil support (31) lower extreme is connected through the bolt with latent body lower frame (32), hydrofoil support (31) are connected with hydrofoil (34) through jackshaft (33), jackshaft (33) are connected through hydrofoil pin (35) with hydrofoil (34).
2. The automatic wave glider balancing device according to claim 1, wherein the support bolts (36) are provided on both sides of the hydrofoil support (31), and the support bolts (36) are used to limit the hydrofoil deflection angle within 45 °.
3. The automatic balancing device of a wave glider according to claim 1, characterized in that the tail end of the hydrofoil bracket (31) is fixedly connected with a steering engine box (37), the steering engine box (37) is used for storing a steering engine (39), the steering engine box (37) is connected with a steering engine cover (38) through bolts, the steering engine (39) is connected with a tail rudder (310) through a rotating shaft, and the tail rudder (310) is used for controlling the motion direction of the wave glider and preventing the motion direction of the wave glider from deviating from a preset track.
4. The automatic balancing device of a wave glider according to claim 1, wherein the hydrofoil support (31) is connected with the slide rail (313) through a connecting plate (311), the hydrofoil support (31) and the connecting plate (311) and the slide rail (313) and the connecting plate (311) are connected through a connecting bolt (312), and the sliding block (314) is mounted on the slide rail (313) in a penetrating manner and can horizontally slide along the slide rail (313).
5. The automatic balancing device of a wave glider according to claim 1, characterized in that the sliding rail (313) is provided with a return spring (315), the return spring (315) being used for the position return of the sliding block (314).
6. The automatic balancing device of a wave glider according to claim 1, wherein the diving body lower frame (32) is a hollow structure, the motor (316) is fixedly connected to the inside of the front end of the diving body lower frame (32), the reel (318) is connected with the inside of the front end of the diving body lower frame (32) through a rotating shaft, one end of the rope (317) is connected to the sliding block (314), the other end of the rope is wound around the reel (318) and then on the rotating shaft of the motor (316), the motor (316) pulls the rope (317) through the rotation of the rotating shaft, and the reel (318) is used for storing the rope (317).
7. The automatic balancing device of a wave glider according to claim 1, wherein the electromagnet (319) is fixedly connected to the inside of the front end of the submerged body lower frame (32), the clamp (320) is connected with the front end of the submerged body lower frame (32) through a rotating shaft, a torsion spring (321) is arranged between the clamp (320) and the front end of the submerged body lower frame (32), the submerged body lower frame (32) is connected with the submerged body front shell (322) through a bolt, the clamp (320) is used for clamping the rope (317), and the electromagnet (319) is used for loosening the clamp (320) from the rope (317) after being electrified.
8. The automatic balancing device of a wave glider according to claim 1, characterized in that the steering engine (39) and the motor (316) are respectively connected with the storage battery (14) through wires, the radio antenna (13), the storage battery (14), the steering engine (39) and the motor (316) are respectively connected with the computer control system (12) through wires, the computer control system (12) is connected with the electromagnet (319) through a driving element, the computer control system (12) is used for controlling the steering engine (39), the motor (316) and the electromagnet (319), and the storage battery (14) is used for supplying power to other devices.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920504429.2U CN209972751U (en) | 2019-04-15 | 2019-04-15 | Automatic balancing device of wave glider |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920504429.2U CN209972751U (en) | 2019-04-15 | 2019-04-15 | Automatic balancing device of wave glider |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209972751U true CN209972751U (en) | 2020-01-21 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201920504429.2U Expired - Fee Related CN209972751U (en) | 2019-04-15 | 2019-04-15 | Automatic balancing device of wave glider |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209972751U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112606976A (en) * | 2020-12-22 | 2021-04-06 | 国家海洋技术中心 | Submersible wave glider |
| CN114408146A (en) * | 2022-04-02 | 2022-04-29 | 青岛海舟科技有限公司 | Connecting beam and underwater tractor |
| WO2023082260A1 (en) * | 2021-11-15 | 2023-05-19 | 南方海洋科学与工程广东省实验室(广州) | Wave power generation glider and working method therefor |
-
2019
- 2019-04-15 CN CN201920504429.2U patent/CN209972751U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112606976A (en) * | 2020-12-22 | 2021-04-06 | 国家海洋技术中心 | Submersible wave glider |
| WO2023082260A1 (en) * | 2021-11-15 | 2023-05-19 | 南方海洋科学与工程广东省实验室(广州) | Wave power generation glider and working method therefor |
| CN114408146A (en) * | 2022-04-02 | 2022-04-29 | 青岛海舟科技有限公司 | Connecting beam and underwater tractor |
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| Date | Code | Title | Description |
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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: 20200121 Termination date: 20210415 |
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| CF01 | Termination of patent right due to non-payment of annual fee |