CN210592376U - Towing and self-navigating dual-purpose multi-degree-of-freedom controlled underwater vehicle - Google Patents
Towing and self-navigating dual-purpose multi-degree-of-freedom controlled underwater vehicle Download PDFInfo
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- CN210592376U CN210592376U CN201921045180.XU CN201921045180U CN210592376U CN 210592376 U CN210592376 U CN 210592376U CN 201921045180 U CN201921045180 U CN 201921045180U CN 210592376 U CN210592376 U CN 210592376U
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Abstract
The utility model discloses a towing self-navigation dual-purpose multi-degree-of-freedom controlled underwater vehicle, which comprises a main cavity body, two fixed triangular horizontal wings, two fixed vertical wings, two oblique wing supports, two torpedo-shaped floating bodies, two propellers, an empennage and a gravity center adjusting mechanism; the gravity center adjusting mechanism is axially arranged in the main cavity, the two bases are respectively arranged at the front end and the rear end of the main cavity, the lower end of the shaft is connected with the bases through bearings, the upper end of the shaft is connected with the driving wheels, and the two driving wheels are connected through a driving belt; an orthogonal gear is arranged on one shaft in the base and is respectively connected with the stepping motor and the brake; the upper end of the loading vehicle is connected with the transmission belt, the bottom of the loading vehicle is provided with universal wheels, the universal wheels are movably connected with the track plate, and the loading vehicle is provided with an iron block for adjusting the gravity center. The utility model discloses can make full use of main cavity body length space, through the iron plate at the quick travel of main cavity body axial, realize the lift quick control to underwater vehicle.
Description
Technical Field
The utility model relates to an unmanned underwater vehicle especially relates to one kind and drags dual-purpose multi freedom manipulation underwater vehicle of autopilot, is that the unmanned underwater vehicle who has autopilot concurrently of carrying on underwater exploration equipment, drags the function.
Background
The underwater detection equipment is mainly divided into an unmanned underwater vehicle and a manned underwater vehicle. The unmanned underwater vehicle can be divided into three types according to operation and control modes: remote control, autonomous cruise, and tow. With the increasing demand for the utilization of marine resources, underwater vehicles are widely used in the exploration of marine resources, and with the scientific investigation of marine environments, underwater vehicles are also used in the detection and monitoring of submarine topography, submarine hydrology, marine life, and the like.
The underwater towing system consists of an underwater vehicle, a towing cable, a towing ship and various instruments required by exploration. The underwater vehicle is a carrying platform for various instruments required for detection and self-control instruments. Among them, towed underwater vehicles are an important component of marine towed systems, and autonomous navigation underwater vehicles are also advantageous tools for performing underwater scientific research activities. The underwater vehicle with the towing and self-navigation functions can not only realize the function of searching in a large range of the towed underwater vehicle, but also utilize the self-navigation function to accurately detect a certain fixed sea area.
And whether the underwater vehicle as an important component of the underwater towing system has good stability and maneuverability is an important index for evaluating the performance of the underwater vehicle. According to the existing research results, the effective control of the underwater vehicle can be mainly divided into two types: one is a streamer and the other is a hydrofoil. In the two modes, the towlines are controlled, so that the attitude and heading control of the underwater vehicle can only be realized on a large scale generally, and the control is rough and cannot realize point-to-point accurate control. The underwater vehicle is more accurately controlled by using the hydrofoil, and accurate attitude adjustment and course control of the underwater vehicle can be realized by changing the attack angle or the equivalent attack angle of the forced sinking hydrofoil.
In terms of the shape of the underwater vehicle, the underwater vehicle can be divided into a frame type, a fish type, a streamline type and the like according to the use purpose and the use mode of the underwater vehicle, wherein the streamline type is the design which is mainly adopted at present. The frame type is generally applied to low-speed towing due to poor hydrodynamic performance, namely, large resistance and low stability. The fish type has great processing difficulty, so that the wide application of the fish type is limited.
In conclusion, the interference of the marine environment, the surface tug, the towing cable, the towing body and the internal equipment of the towing body jointly form a complex dynamic response system, so that the towing body has good stability, and the accurate, flexible and convenient control of the towing body in the towing process becomes the key for researching the towing system. Meanwhile, if the towed body has an autonomous navigation function, the application of the underwater vehicle in the aspects of ocean exploration, resource exploration, military application and the like can be more perfect.
SUMMERY OF THE UTILITY MODEL
The utility model aims to provide an adaptability is high, realization that can be quick is to the dual-purpose multi freedom of towing of the gesture of navigation ware and course control and is controled underwater vehicle of autopilot.
The utility model discloses the purpose is realized through following technical scheme:
a towing and self-navigating dual-purpose multi-degree-of-freedom controlled underwater vehicle mainly comprises a main cavity, two fixed triangular horizontal wings, two fixed vertical wings, two inclined wing supports, two torpedo-shaped floating bodies, two propellers, a tail wing and a gravity center adjusting mechanism; the two fixed triangular horizontal wings are symmetrically arranged on two sides of the front part of the main cavity, the two torpedo-shaped floating bodies are respectively positioned at the lower ends of the two fixed triangular horizontal wings, and each torpedo-shaped floating body is respectively connected with the fixed triangular horizontal wings and the main cavity through fixed vertical wings and inclined wing supports; the rear parts of the two torpedo-shaped floating bodies are provided with propeller propellers;
the gravity center adjusting mechanism is axially arranged in the main cavity and mainly comprises a track plate, a stepping motor, an orthogonal gear, a bearing, a shaft, a base, a brake, a loading vehicle, a transmission wheel and a transmission belt; the two bases are respectively arranged at the front end and the rear end of the main cavity, the lower end of the shaft is connected with the bases through bearings, the upper end of the shaft is connected with the driving wheels, and the two driving wheels are connected through a driving belt; an orthogonal gear is arranged on one shaft in the base and is respectively connected with the stepping motor and the brake; the upper end of the loading vehicle is connected with the transmission belt, the bottom of the loading vehicle is provided with universal wheels, the universal wheels are movably connected with the track plate, the track plate is arranged between the two bases, and the loading vehicle is provided with an iron block for adjusting the gravity center.
In order to further achieve the object of the present invention, preferably, the loading vehicle includes a first plate, a spring mounting plate, a rod, a first spring, a universal wheel and a permanent magnet; the five first plates form a frame structure with an opening at the upper end, iron blocks for adjusting the center of gravity are placed in the frame structure, and permanent magnets are arranged on each first plate arranged on the periphery; connect the member to have 8, every member one end is connected with a first panel, and the other end and a spring coupling, first spring and spring mounting board are connected, and spring mounting board is fixed to be set up in the first panel edge that the bottom set up, and the universal wheel setting is at the first panel lower extreme that the bottom set up.
Preferably, two connecting rod pieces are arranged on each first plate arranged around.
Preferably, the connection between the upper end of the loading vehicle and the transmission belt is realized by connecting one of the first plates arranged on the periphery with the transmission belt.
Preferably, the distance between the two bases is 600-800mm, and the diameter of the transmission wheel 22 is preferably 120-150 mm; the universal wheel adopts a 2-inch small caster.
Preferably, the brake mainly comprises an electromagnet, a second plate, a third plate and a second spring; the base is provided with a groove, a third plate is movably arranged in the groove and movably connected with the orthogonal gear, the second plate is vertically arranged at the upper end of the groove and fixedly connected with the third plate, a second spring is arranged in the groove, one end of the second spring is connected with the second plate, and the other end of the second spring is fixed at the end part of the groove; the electromagnets and the second plate are oppositely arranged at intervals.
Preferably, the second plate and the third plate are made of steel; the diameter of the spring wire of the second spring is 0.4mm-0.5mm, the thread pitch is 1mm-1.2mm, and the number of turns is 16-20.
Preferably, the depth of the groove is 10 mm.
Preferably, the main cavity be torpedo-shaped, main cavity upper surface middle part front end be provided with drag part and rings.
Preferably, the distance between the tail part of the fixed triangular horizontal wing and the tail end of the main cavity is 120-150 mm; the distance between the tail part of the fixed vertical wing and the tail end of the main cavity is 550-560mm, and the distance between the fixed vertical wing and the outermost end of the fixed triangular horizontal wing is 300-350 mm; the other end of the fixed vertical wing is welded with the torpedo-shaped floating body, and the distance between the tail part of the fixed vertical wing and the tail end of the torpedo-shaped floating body is 130-150 mm.
The utility model discloses fixed triangle level wing ray shape
Compared with the prior art, the utility model, following advantage and beneficial effect have:
(1) and the lifting of the underwater vehicle is quickly controlled. The utility model discloses utilize quadrature gear, drive belt and universal wheel directly to make the iron plate transmission, remove on the track board through the universal wheel, sliding friction becomes the roll, and the iron plate removes more fast, because the track board axial setting in the main cavity body, can make full use of main cavity body length space, through the iron plate at main cavity body axial quick travel, realize the lift quick control to underwater vehicle.
(2) High adaptability and wide application range. The utility model discloses a focus adjustment mechanism adopts the loading wagon that has the spring to load the iron plate of equidimension not to make adjustment mechanism adjust the iron plate of different weight, with the navigation state that adapts to multiple speed of a ship or plane, multiple load state, multiple towing depth, enlarged the application range of navigation ware, improved its adaptability. The propeller propellers arranged at the stern parts of the two torpedo-shaped floating bodies can be used as a stem turning controller and a propeller to provide thrust to help the underwater vehicle to realize self-navigation, so that the underwater vehicle is converted from a towed type to an autonomous navigation type, and the conversion of the use mode of wide-range wide-detection and small-range accurate detection is completed.
(3) The operation structure is simple. The utility model discloses only need the rotation of 3 motors of control, two watertight motors of the step motor that the focus moved, screw propeller promptly, just can realize multi freedom's manipulation. Specifically, the stepping motor rotates and drives the iron block to move through the driving belt, the gravity center of the aircraft is changed, the bow or the stern of the whole aircraft is enabled to change, the fixed horizontal attack angle is enabled to change, the lift force and the forced sinking force are generated, and the heaving motion of the whole aircraft is realized; the left watertight motor and the right watertight motor drive the propellers to rotate, and simultaneously control different rotating speeds or rotating speeds of the two propellers, so that the propellers generate thrust in different sizes or directions, the whole aircraft generates a bow turning, the attack angles of the two fixed vertical wings are changed, and the left force and the right force are generated, and the bow turning motion of the whole aircraft is realized.
(4) The self-stability is high. For underwater vehicles, ensuring the stability of the motion of the underwater vehicle is critical. The utility model discloses have two fixed triangle horizontal wings, two perpendicular wings, two oblique wings and fin and can guarantee under the certain speed, the stability in course. Simultaneously, the two fixed triangular horizontal wings and the main cavity ensure the height of the floating center of the aircraft, the two torpedo-shaped floating bodies can be loaded with heavier instruments or directly weight iron blocks to reduce the height of the center of gravity, and meanwhile, the two fixed triangular horizontal wings have larger fixed triangular horizontal wings, increase the rolling force arm and ensure the stability of the aircraft. All components of the aircraft adopt streamline shapes, the control mechanism is arranged in the main cavity, no redundant additional structure is arranged except the main wing, and the uniformity of a flow field on the surface of the aircraft is ensured, so that the water resistance is reduced, the tension born by the towrope is reduced, and the risk of fracture or slippage of the towrope is reduced. Meanwhile, the disturbance of water flow is reduced by the aid of the airfoil shape, vortexes are avoided, the water flow flows through the aircraft stably, and the aircraft attitude stabilization maintaining device is favorable for maintaining the attitude stability of the aircraft.
(5) The instrument is arranged flexibly. The utility model discloses have three cavity, be the main cavity body and two torpedo form bodies respectively, can be used to arrange in a flexible way and use required equipment and instrument, simultaneously because the cavity space is big, carry out good subdivision back, two torpedo form bodies not only can regard as equipment instrument cabin to use, still can regard as the ballast tank to use, the main cavity body not only can regard as the control cabin to use simultaneously, also can mark off sufficient buoyancy tank and improve the floating heart in order to help the navigation ware, increase self course, gesture stability.
Drawings
FIG. 1 is a schematic perspective view of a towed autonomous, dual-purpose, multi-degree-of-freedom, steerable underwater vehicle;
FIG. 2 is a left side view of the form construction of FIG. 1;
FIG. 3 is a front view of the form construction of FIG. 1;
FIG. 4 is a top view of the form construction of FIG. 1;
FIG. 5 is a schematic view of the interior of the loader vehicle of the center of gravity adjustment mechanism of FIG. 1;
FIG. 6 is a bottom schematic view of the loader vehicle of the center of gravity adjustment mechanism of FIG. 1;
FIG. 7 is a schematic illustration of the brake of the center of gravity adjustment mechanism of FIG. 1;
fig. 8 is a perspective view of the center of gravity adjusting mechanism in fig. 1.
The figures show that: the device comprises a main cavity 1, a fixed triangular horizontal wing 2, a fixed vertical wing 3, an inclined wing support 4, a torpedo-shaped floating body 5, a propeller 6, a dragging part 7, a hanging ring 8, a track plate 9, a stepping motor 10, an electromagnet 11, an orthogonal gear 12, a permanent magnet 13, a first spring 14, a bearing 15, a rod piece 16, a first plate 17, a universal wheel 18, a spring mounting plate 19, a brake 20, a loading vehicle 21, a transmission wheel 22, a transmission belt 23, a tail wing 24, a second spring 25, a shaft 26, a second plate 27, a third plate 28 and a base 29.
Detailed Description
For a better understanding of the present invention, the following description of the present invention is provided with reference to the accompanying drawings, but the embodiments of the present invention are not limited to the following description.
As shown in fig. 1-4, the towed autonomous underwater vehicle with dual-purpose multiple degrees of freedom comprises: the device comprises a main cavity 1, two fixed triangular horizontal wings 2, two fixed vertical wings 3, two inclined wing supports 4, two torpedo-shaped floating bodies 5, two propellers 6, a tail wing 24 and a gravity center adjusting mechanism. The two fixed triangular horizontal wings 2 are symmetrically arranged at two sides of the front part of the main cavity 1, the two torpedo-shaped floating bodies 5 are respectively positioned at the lower ends of the two fixed triangular horizontal wings 2, and each torpedo-shaped floating body 5 is respectively connected with the fixed triangular horizontal wings 2 and the main cavity 1 through the fixed vertical wings 3 and the oblique wing supports 4; the rear parts of the two torpedo-shaped floats 5 are provided with propeller propellers 6;
the gravity center adjusting mechanism is axially arranged in the main cavity 1, and as shown in fig. 5-8, the gravity center adjusting mechanism mainly comprises a track plate 9, a stepping motor 10, an orthogonal gear 12, a bearing 15, a shaft 26, a base 29, a brake 20, a loading vehicle 21, a driving wheel 22 and a driving belt 23; the two bases 29 are respectively arranged at the front end and the rear end of the main cavity 1, the lower end of the shaft 26 is connected with the bases 29 through the bearing 15, the upper end of the shaft 26 is connected with the driving wheels 22, and the two driving wheels 22 are connected through the transmission belt 23; an orthogonal gear 12 is arranged on one shaft 26 in the base 29, and the orthogonal gear 12 is also respectively connected with the stepping motor 10 and the brake 20; the upper end of the loading vehicle 21 is connected with a transmission belt 23, the bottom of the loading vehicle 21 is provided with a universal wheel 18, the universal wheel 18 is movably connected with a track plate 9, and the track plate 9 is arranged between two bases 29.
As shown in fig. 5 and 6, the loader 21 mainly includes the first plate 17, the spring mounting plate 19, the rod 16, the first spring 14, the universal wheel 18, and the permanent magnet 13. The first plate 17 has five pieces, including a first plate 17 set up at the bottom and four first plates 17 connected with first plate of bottom all around separately, the five first plates 17 make up the open-ended frame structure of upper end, place the iron block used for centre of gravity adjustment in the frame structure, there are permanent magnets 13 on every first plate 17 set up all around; 8 connecting rod pieces 16 are provided, one end of each rod piece 16 is connected with a first plate 17, the other end of each rod piece is connected with a first spring 14, the first spring 14 is connected with a spring mounting plate 19, the spring mounting plate 19 is fixedly arranged at the edge of the first plate 17 arranged at the bottom, and preferably, two connecting rod pieces 16 are arranged on each first plate 17 arranged at the periphery; the universal wheel 18 is arranged at the lower end of the first plate 17 arranged at the bottom. Iron blocks with different sizes and different masses can be arranged through the extension and contraction of the first spring 14 so as to adapt to different loading and navigation states. In addition, the permanent magnet 13 on each first plate 17 can well lock the iron block, and the stability of the iron block in the navigation process is ensured. One of the first plates 17 arranged on the periphery is connected with a transmission belt 23, so that the upper end of the loading vehicle 21 is connected with the transmission belt 23.
The distance between the two bases 29 is preferably 600-800mm, and the distance between the two bases 29 can be adjusted through different loading and navigation conditions; the diameter of the shaft 26 is preferably 8-10mm, and the length is preferably 120-150 mm; the diameter of the transmission wheel 22 is preferably 120-150 mm; the material of the first plate 17 is preferably steel, the size of the first plate 17 is preferably 100mm multiplied by 5mm, and the size of the spring mounting plate 19 is preferably 10mm multiplied by 5 mm; the number of the rod members 16 is 8, the diameter is preferably 8-10mm, and the length is preferably 90-100 mm; the number of the first springs 14 is preferably 8, the diameter of the spring wire is preferably 0.8-1mm, the thread pitch is preferably 4-5 mm, and the number of turns is preferably 20-25; the permanent magnet 13 is a square magnetic sheet with the specification of preferably 100mm multiplied by 50mm multiplied by 5mm, and the universal wheel 18 adopts a 2-inch small caster.
As shown in fig. 7, the brake 20 mainly includes an electromagnet 11, a second plate 27, a third plate 28, and a second spring 25; a groove is formed in the base 29, a third plate 28 is movably arranged in the groove, the third plate 28 is movably connected with the orthogonal gear 12, the second plate 27 is vertically arranged at the upper end of the groove, the second plate 27 is fixedly connected with the third plate 28, preferably, the second plate 27 is welded in the middle of the third plate 28, the second spring 25 is arranged in the groove, one end of the second spring is connected with the second plate 27, and the other end of the second spring is fixed at the end part of the groove; preferably, the depth of the groove is 10 mm; the electromagnet 11 and the second plate 27 are arranged at an interval, and the electromagnet is electrified and deenergized to attract and release the second plate 27, so that the connection between the third plate 28 and the orthogonal gear 12 is controlled, and the brake control is realized. The material of the second plate 27 and the third plate 28 is preferably steel; the diameter of the spring wire of the second spring 25 is preferably 0.4mm to 0.5mm, the pitch is preferably 1mm to 1.2mm, and the number of turns is preferably 16 to 20.
The main cavity 1 is torpedo-shaped, and the front end of the middle part of the upper surface of the main cavity is provided with a dragging part 7 and a hanging ring 8.
The propeller comprises a watertight motor and a duct propeller, and the watertight motor and the propeller are arranged at the 5 tail parts of the two torpedo-shaped floating bodies through transmission shafts. The two propeller propellers 6 are controlled to have different rotating speeds and steering directions, so that differential control is realized, the aircraft can rotate a small angle by the mode, the equivalent attack angle change of the fixed vertical wing 3 is induced, pressure difference is generated on two sides of the fixed vertical wing 3, the aircraft can generate fore-rotating force, and fore-rotating movement of the aircraft is realized.
There are no excess mechanisms and components remaining outside the aircraft, thereby reducing water drag. The fixed triangular horizontal wings 2 are arranged on two sides of the main cavity and are arranged symmetrically left and right, and the distance between the tail part of the fixed triangular horizontal wings 2 and the tail end of the main cavity 1 is preferably 120-150 mm. One end of the fixed vertical wing is vertically connected with the fixed triangular horizontal wing 2, the distance between the tail part of the fixed vertical wing 3 and the tail end of the main cavity 1 is preferably 550-560mm, and the distance between the fixed vertical wing 3 and the outermost end of the fixed triangular horizontal wing 2 is preferably 300-350 mm. The other end of the fixed vertical wing is welded with the torpedo-shaped floating body 5, and the distance between the tail part of the fixed vertical wing 3 and the tail end of the torpedo-shaped floating body 5 is preferably 130-150 mm.
The stepping motor 10 and the brake 20 are arranged on one side, the stepping motor 10 is axially connected with one orthogonal gear 12, the other orthogonal gear 12 (positioned on the upper surface of the base) is axially connected with the shaft 26, and the two joints are in key connection to prevent relative sliding. The third plate 28 is inserted into the tooth gap of the orthogonal gear 12 under the elastic force of the spring 14, so that the rotation is locked, the loading vehicle 21 and the iron block inside are fixed at a position, the electromagnet 11 is electrified to generate attraction to attract the second plate 27 and the third plate 28 to leave the tooth gap, and the rotation is recovered. The loading vehicle 21 is placed in the belt 23, and one side of the loading vehicle 21 is connected to the belt 23. The stepping motor 10 and the electromagnet 11 are connected in parallel, and the switch is arranged on a main circuit of the circuit to ensure synchronous opening and closing of the stepping motor and the electromagnet.
Heave operation of an underwater vehicle is as follows: firstly, selecting a required iron block to be placed in a loading vehicle 21, controlling an electromagnet 11 to attract two orthogonally connected second plates 27 and third plates 28, enabling the third plates 28 to be separated from a tooth seam, recovering rotation, enabling a stepping motor 10 to rotate, driving a driving wheel 22 to rotate through transmission of an orthogonal gear 12, further driving the loading vehicle 21 and the iron block to move on a track plate 9 through a driving belt 23, and finally realizing movement of the integral gravity center. After the center of gravity moves, the whole aircraft generates heading or stern inclination due to the movement of the center of gravity, the attack angle of the fixed triangular horizontal wing 2 is changed, and then lift force and forced sinking force are generated to enable the aircraft to ascend and descend.
When a mother ship is required to stop in a certain area and accurately detect in a small area during detection in a small area, the towing cables do not provide towing force any more, and a traditional aircraft can not navigate autonomously, so that detection and exploration activities in the small area can not be carried out. The towed autonomous underwater vehicle is controlled by multiple degrees of freedom to provide electric energy through an umbilical cable, thrust is provided through a propeller 6 at the tail of the torpedo-shaped floating body 5, the autonomous underwater vehicle is enabled to achieve autonomous navigation, the towed autonomous navigation type of the underwater vehicle is converted into the autonomous navigation type, and therefore the conversion of the use mode of small-range accurate detection from large-range wide detection is achieved.
The utility model discloses drag dual-purpose multi freedom of autopilot and control underwater vehicle in the course of the work:
according to different detection tasks, devices such as ocean chemical element detectors and physical detection sensors of corresponding types are arranged in the main cavity 1 and the torpedo-shaped floating body 5. The towing member 7 is provided with a towing hole at a suitable position, and a towing cable is connected to the towing hole for towing. And according to the towing situation, adjusting the balance weight inside the torpedo-shaped floating body 5 to keep the aircraft in a good and stable towing attitude.
When in dragging, the stepping motor 10 and the electromagnet 11 in the gravity center adjusting mechanism are electrified, the blocking state is unlocked, the loading vehicle and the iron blocks in the loading vehicle are driven to move through the rotation of the stepping motor 10, the gravity center of the aircraft is changed, the aircraft generates forward inclination and backward inclination, the equivalent attack angle of the fixed triangular horizontal wing 2 is changed to realize the sinking and rising of the aircraft, and the depth control of the aircraft is realized. The differential control is realized by controlling the two propellers 6 to generate different rotating speeds and steering, the method is utilized to enable the aircraft to turn bow by a small angle, the equivalent attack angle change of the fixed vertical wing 3 is induced, the pressure difference is generated at the two sides of the fixed vertical wing 3, and therefore the fixed vertical wing 3 generates bow turning force, and bow turning movement of the aircraft is realized.
During self-navigation, the umbilical cable provides electric energy to enable the propellers at the tail part of the torpedo-shaped floating body to provide thrust, and during self-navigation, steering is needed, different rotating speeds and steering are generated by controlling the two propellers 6 to realize differential control, the craft is enabled to rotate a small angle in the fore direction by utilizing the mode, the equivalent attack angle change of the fixed vertical wing 3 is induced, pressure difference is generated at two sides of the fixed vertical wing 3, and therefore the fore-rotating force is generated, the fore-rotating movement of the craft is realized, and after the craft rotates to a target angle, the propellers 6 recover the same rotating speed and steering, and dragging is enabled to be propelled along the direction. Meanwhile, the gravity center adjusting mechanism enables the gravity center of the aircraft to move, the heading and the stern of the aircraft are enabled, the attack angle of the fixed triangular horizontal wing 2 is changed, and the aircraft generates heave motion. The multiple-degree-of-freedom autonomous navigation of the aircraft is realized through the method.
As described above, the towing and self-navigating dual-purpose double-side wing type multi-freedom-degree control unmanned underwater vehicle can well realize the function. The present invention is not limited to the above embodiments, and any other changes, modifications, substitutions, combinations, and simplifications which do not depart from the spirit and principle of the present invention should be construed as equivalents and are included in the scope of the present invention.
Claims (10)
1. A towing and self-navigating dual-purpose multi-degree-of-freedom controlled underwater vehicle mainly comprises a main cavity, two fixed triangular horizontal wings, two fixed vertical wings, two inclined wing supports, two torpedo-shaped floating bodies, two propellers, a tail wing and a gravity center adjusting mechanism; the two fixed triangular horizontal wings are symmetrically arranged on two sides of the front part of the main cavity, the two torpedo-shaped floating bodies are respectively positioned at the lower ends of the two fixed triangular horizontal wings, and each torpedo-shaped floating body is respectively connected with the fixed triangular horizontal wings and the main cavity through fixed vertical wings and inclined wing supports; the rear parts of the two torpedo-shaped floating bodies are provided with propeller propellers;
the gravity center adjusting mechanism is axially arranged in the main cavity and mainly comprises a track plate, a stepping motor, an orthogonal gear, a bearing, a shaft, a base, a brake, a loading vehicle, a transmission wheel and a transmission belt; the two bases are respectively arranged at the front end and the rear end of the main cavity, the lower end of the shaft is connected with the bases through bearings, the upper end of the shaft is connected with the driving wheels, and the two driving wheels are connected through a driving belt; an orthogonal gear is arranged on one shaft in the base and is respectively connected with the stepping motor and the brake; the upper end of the loading vehicle is connected with the transmission belt, the bottom of the loading vehicle is provided with universal wheels, the universal wheels are movably connected with the track plate, the track plate is arranged between the two bases, and the loading vehicle is provided with an iron block for adjusting the gravity center.
2. The towed autonomous multi-degree of freedom manipulation underwater vehicle of claim 1, wherein the loader vehicle comprises a first plate, a spring mounting plate, a rod, a first spring, a universal wheel and a permanent magnet; the five first plates form a frame structure with an opening at the upper end, iron blocks for adjusting the center of gravity are placed in the frame structure, and permanent magnets are arranged on each first plate arranged on the periphery; connect the member to have 8, every member one end is connected with a first panel, and the other end and a spring coupling, first spring and spring mounting board are connected, and spring mounting board is fixed to be set up in the first panel edge that the bottom set up, and the universal wheel setting is at the first panel lower extreme that the bottom set up.
3. The towed autonomous multi-degree-of-freedom steered underwater vehicle as recited in claim 2, wherein two connecting rods are provided on each of the first peripherally disposed panels.
4. The towed autonomous multi-degree-of-freedom-steering underwater vehicle as claimed in claim 2, wherein the upper end of the loader vehicle is connected to the belt by one of the first plates disposed around the loader vehicle.
5. The towed autonomous multi-degree-of-freedom operated underwater vehicle as claimed in claim 1, wherein the distance between the two pedestals is 600-800mm, and the diameter of the transmission wheel (22) is 120-150 mm; the universal wheel adopts a 2-inch small caster.
6. The towed autonomous multi-degree-of-freedom underwater vehicle as claimed in claim 1, wherein the brake mainly comprises an electromagnet, a second plate, a third plate and a second spring; the base is provided with a groove, a third plate is movably arranged in the groove and movably connected with the orthogonal gear, the second plate is vertically arranged at the upper end of the groove and fixedly connected with the third plate, a second spring is arranged in the groove, one end of the second spring is connected with the second plate, and the other end of the second spring is fixed at the end part of the groove; the electromagnets and the second plate are oppositely arranged at intervals.
7. The towed autonomous, multi-degree of freedom operated underwater vehicle of claim 6, wherein the second and third sheets are made of steel; the diameter of the spring wire of the second spring is 0.4mm-0.5mm, the thread pitch is 1mm-1.2mm, and the number of turns is 16-20.
8. The towed autonomous, multi-degree of freedom manipulation underwater vehicle of claim 6, wherein the depth of the grooves is 10 mm.
9. The towed autonomous underwater vehicle with multiple degrees of freedom as claimed in claim 1, wherein the main body is torpedo-shaped, and a towing part and a flying ring are arranged at the front end of the middle part of the upper surface of the main body.
10. The towed autonomous underwater vehicle with multiple degrees of freedom as recited in claim 1, wherein the distance between the tail of the fixed triangular horizontal wing and the end of the main cavity is 120-150 mm; the distance between the tail part of the fixed vertical wing and the tail end of the main cavity is 550-560mm, and the distance between the fixed vertical wing and the outermost end of the fixed triangular horizontal wing is 300-350 mm; the other end of the fixed vertical wing is welded with the torpedo-shaped floating body, and the distance between the tail part of the fixed vertical wing and the tail end of the torpedo-shaped floating body is 130-150 mm.
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| CN201921045180.XU CN210592376U (en) | 2019-07-05 | 2019-07-05 | Towing and self-navigating dual-purpose multi-degree-of-freedom controlled underwater vehicle |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN113277049A (en) * | 2021-06-25 | 2021-08-20 | 贵州大学明德学院 | Multifunctional bionic robot fish for water quality monitoring |
-
2019
- 2019-07-05 CN CN201921045180.XU patent/CN210592376U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN110254669B (en) * | 2019-07-05 | 2024-06-11 | 华南理工大学 | Double-sided wing type towing and self-propulsion dual-purpose unmanned underwater vehicle |
| CN113277049A (en) * | 2021-06-25 | 2021-08-20 | 贵州大学明德学院 | Multifunctional bionic robot fish for water quality monitoring |
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