CN210592380U

CN210592380U - Double-purpose rotary straight wing type multi-degree-of-freedom underwater towing body

Info

Publication number: CN210592380U
Application number: CN201921198813.0U
Authority: CN
Inventors: 吴家鸣; 侯晓琨
Original assignee: South China University of Technology SCUT
Current assignee: South China University of Technology SCUT
Priority date: 2019-07-29
Filing date: 2019-07-29
Publication date: 2020-05-22
Anticipated expiration: 2029-07-29

Abstract

The utility model discloses a double-purpose rotary straight wing type multi-degree-of-freedom underwater towed body, a main cavity body is vertically arranged between two torpedo-shaped floating bodies, two ends in the vertical direction are respectively connected with the two torpedo-shaped floating bodies, and the tail parts of the two torpedo-shaped floating bodies are provided with ducted propellers; the two ends of the upper torpedo-shaped floating body are symmetrically provided with fixed horizontal wings, the main cavity body is connected with the two fixed horizontal wings through inclined wing supports, the rear end of each fixed horizontal wing is provided with a horizontal flap, and the tail part of the main cavity body is provided with a vertical flap; the flap angle monitoring mechanism mainly comprises a rigid conductor, an arc resistor, a lead, a switch and a power supply; the power supply is connected with the switch through a lead, the switch is connected with the rigid conductor through a lead, the rigid conductor is vertically arranged at the top end of the transmission rod and is movably connected with the arc resistor, and the arc resistor is connected back to the power supply through a lead. The utility model discloses the stationarity is high, control mode is simple, control efficient, the construction is convenient has higher commercial and practical value.

Description

Double-purpose rotary straight wing type multi-degree-of-freedom underwater towing body

Technical Field

The utility model relates to a drag the body for surveying under water, especially relate to a straight wing type multi freedom of double-purpose rotation pulls the body under water.

Background

The underwater towed body is widely applied to the aspects of underwater detection, seabed investigation, ocean resource monitoring, ocean physicochemical property analysis and sampling and the like. Different types of equipment can be carried inside the carrier according to different engineering requirements, for example: in-situ measurement acoustics, optical sensors, underwater vision systems, sonar systems, and the like. At present, an underwater towing body can be divided into a towing type and a self-propelled type through a control mode, the underwater towing body with the cable is generally composed of a mother ship, a deck winch, a cable and a towing body, and the self-propelled type can also be divided into a towing body with the cable and a towing body without the cable and mainly comprises the towing body and a control mechanism in the towing body. Compared with the underwater towing body with the cable, the underwater towing body with the self-navigation function has the advantages of strong autonomy, good controllability, high control precision and the like, and can accurately realize the fixed-point displacement and the autonomous track and posture adjustment function underwater. With the development of related technologies such as detection, exploration and the like, the detection precision of the equipment is improved, and higher requirements are provided for the motion stability and the operation accuracy of the underwater towed body. Compared with the traditional single-towing type underwater vehicle, the underwater towed body with the self-control posture and track and the self-navigating function has more advantages.

The appearance of the existing common underwater towed body is designed by adopting the appearance of an imitated aircraft, although the wings of the existing underwater towed body can increase the rolling damping to a certain extent, the stability of the existing underwater towed body is still not high, and rolling and a larger pitch inclination angle are easy to generate in the towing process.

Chinese utility model 2013200685781 discloses a three-column underwater towed body, which comprises a torpedo-shaped floating body, a controllable sinking hydrofoil, a side plate, a fixed horizontal wing, a fixed vertical tail wing, a controllable vertical tail wing and a main cavity body; the two torpedo-shaped floating bodies are horizontally arranged in a separated mode and are connected through the fixed horizontal wings; the main cavity body is streamline and arranged in the middle of the lower ends of the two torpedo-shaped floating bodies, and two ends of the main cavity body are respectively supported by the two wing-shaped components and are respectively connected with the two torpedo-shaped floating bodies; the tail parts of the two torpedo-shaped floating bodies are provided with fixed vertical tail wings which are symmetrical wing-shaped. The control of the towed body is accomplished by controlling the entire wing, greatly increasing the required control force, especially at higher speeds, where the rotational force of the motor may not cause the entire wing to swing. In addition, the towing body can only be used under the towing of a mother ship and cannot meet the self-navigation requirement.

To sum up, the current towed body problem is that firstly, the towed body cannot guarantee high self-stability and motion flexibility at the same time; secondly, the control structure is complex, the operation difficulty is high, so that the volume of the towing body is large, and the towing body cannot be used for multiple purposes; finally, the attitude and trajectory of the towed body are adjusted by changing the angle of attack, so that point-to-point accurate displacement manipulation is difficult to realize, and fine adjustment of the attitude of the towed body is also difficult to realize. Therefore, the above short plates currently existing in towed bodies are improved and optimized to meet more task demands with as less structure and control equipment as possible. Becomes the key for improving the underwater towed body to meet the requirements of working accuracy of underwater surveying, environment monitoring and the like.

SUMMERY OF THE UTILITY MODEL

The utility model aims to provide a double-purpose rotary straight wing type multi-degree-of-freedom underwater towing body, redesigns the structural form and the operation mode of the towing body, realizes the simplification of the control structure of the towing body, and has the flexibility and the multiple purposes,

the utility model discloses a following technical scheme realizes:

a dual-purpose rotary straight wing type multi-degree-of-freedom underwater towed body mainly comprises a fixed horizontal wing, a main cavity body, a horizontal flap, a vertical flap, a torpedo-shaped floating body, a towing part, a ducted propeller and an oblique wing support; the main cavity adopts an NACA symmetrical wing shape and is vertically arranged between the two torpedo-shaped floating bodies, two ends in the vertical direction are respectively connected with the two torpedo-shaped floating bodies, and the tail parts of the two torpedo-shaped floating bodies are provided with ducted propellers; the two ends of the upper torpedo-shaped floating body are symmetrically provided with fixed horizontal wings, the main cavity body is connected with the two fixed horizontal wings through inclined wing supports, the rear end of each fixed horizontal wing is provided with a horizontal flap, and the tail part of the main cavity body is provided with a vertical flap; the towing part is arranged at the front end of the upper part of the torpedo-shaped floating body at the upper end;

the dual-purpose rotary straight wing type multi-degree-of-freedom underwater towed body further comprises a horizontal flap control mechanism, a flap angle monitoring mechanism, a vertical flap control mechanism and a gyroscope self-stabilizing device;

the horizontal flap control mechanism and the flap angle monitoring mechanism have the same structure; comprises a worm, a transmission rod, a stepping motor and a worm wheel; the stepping motor is connected with the worm, the worm wheel is connected with the transmission rod, and the worm wheel is movably connected with the worm; a transmission rod of the horizontal flap control mechanism extends out of the main cavity body and is connected with a horizontal flap fixed shaft; a transmission rod of the vertical flap control mechanism extends out of the torpedo-shaped floating body and is connected with a vertical flap fixed shaft;

the flap angle monitoring mechanism mainly comprises a rigid conductor, an arc resistor, a lead, a switch and a power supply; the flap angle monitoring mechanism mainly comprises a rigid conductor, an arc resistor, a lead, a switch and a power supply; the power supply is connected with the switch through a lead, the switch is connected with the rigid conductor through a lead, the rigid conductor is vertically arranged at the top end of the transmission rod and is movably connected with the arc resistor, the arc resistor is fixed in the cavity, and the arc resistor is connected back to the power supply through a lead; (ii) a

The gyroscope self-stabilizing device is arranged in the torpedo-shaped floating body and comprises a semi-cylindrical container, a rod handle, a bearing and a bearing support; two bearings are arranged on the two bearing supports, two axial ends of the semi-cylindrical container are respectively welded with a rod handle, the rod handles penetrate through the bearings, so that the semi-cylindrical container is erected on the two bearing supports, and monitoring instrument equipment is placed in the semi-cylindrical container.

To further achieve the object of the present invention, preferably, the two torpedo-shaped floating bodies are implemented by a myriing-type rotating body; the vertical flap, the fixed horizontal wing, the oblique wing support and the horizontal flap all adopt NACA symmetrical wings.

Preferably, the two oblique wings are supported on two sides of the main cavity and arranged at an included angle of 45 degrees with the main cavity and the fixed horizontal wing.

Preferably, the two ends of the fixed horizontal wing are provided with fixed horizontal wing edge plates; two sides of the two horizontal flaps are provided with horizontal flap edge plates; vertical flap edge plates are arranged at two ends of the vertical flap; the thickness of the horizontal flap edge plate and the vertical flap edge plate is 2-3mm, and the length of the horizontal flap edge plate and the vertical flap edge plate is 450-500 mm.

Preferably, the horizontal flap fixation axis is located at the flap maximum thickness; the vertical flap fixation axis is located at the flap maximum thickness.

Preferably, the torpedo-shaped floating body has the diameter of 250-200mm, the length of 1300-1400mm and the length of the parallel middle body of 900-950 mm; the two fixed horizontal chords are 500-600mm in length, 700-750 in length and 70mm in maximum thickness.

Preferably, the thickness of the fixed horizontal wing sideboard is 2-3mm, the front and rear ends of the fixed horizontal wing sideboard respectively protrude 10-20mm more than the front and rear ends of the fixed horizontal wing, and the upper and lower ends of the fixed horizontal wing sideboard protrude 10-20mm more than the maximum thickness of the fixed horizontal wing.

Preferably, the thickness of the flap sideboard is 1-2mm, and the flap sideboard protrudes 10-15mm more than the front and back end of the flap and 10-15mm more than the maximum thickness of the flap.

Preferably, the height of the main cavity is 700-750mm, the chord length is 900-1000mm, and the maximum thickness is 100 mm.

Preferably, the two horizontal flaps and the vertical flap adopt the same parameters, the length of the flap is 450-500mm, the chord length is 120-150mm, and the maximum thickness is 30-40 mm.

Compared with the prior art, the utility model, following advantage and beneficial effect have:

(1) has good self-stability. The utility model discloses not only have good course stability, also have good self-stability, be difficult for taking place the roll and the big inclination roll, pitch the condition in dragging and self-navigation. Torpedo form body both ends have horizontal stability's effect for fixed horizontal wing, in addition, the main cavity body has the effect of direction stability rudder for NACA symmetry wing section, can guarantee to drag body course stability. An oblique wing support is arranged between the main cavity and the fixed horizontal wing to form a triangular stable structure. And simultaneously the internal portion of torpedo form body and the main cavity of towing body have great space and can place monitoring instrument device, controlling means etc. the instrument can arrange in a flexible way vertically and vertically, can add heavier instrument or ballast in order to reduce the focus of whole towing body in main cavity lower extreme floating body to produce great restoring moment.

(2) The control mode is simple. Drag body control mechanism and adopt three step motor to control three wing flap, three wing flap respectively needs a step motor to add the worm wheel, and worm drive controls, just can realize through control step motor's rotation drag the deep-seated of the body, change the control of motions such as bow and roll. In addition, each control mechanism is provided with a simple angle measuring device, and the simple angle measuring device is matched with the self-locking function of the worm gear, so that the flap keeps a rotating angle, the rotating angle and the torque of the motor can be transmitted more accurately, and the detection and the control of the swing angle of the flap can be better realized.

(3) The operation efficiency is high, and the motion direction is flexible. The six-degree-of-freedom motion of the towing body of the utility model is mainly completed by fixing the horizontal wing, the main cavity body and three flaps behind the horizontal wing, the main cavity body and the main cavity body; for heave movement, the two flaps behind the fixed horizontal wing swing in the same direction, so that the towing body generates an induced moment, the towing body tilts longitudinally, incoming flow and the fixed horizontal wing generate an attack angle, and vertical force is generated to enable the towing body to ascend or sink; in addition, the propeller propellers at the upper end and the lower end can generate the change of the vertical attack angle of the fixed horizontal wing through different rotating speeds and steering auxiliary horizontal flaps, when the upper propeller rotates forwards and the lower propeller rotates backwards, the towed body is pushed to bow, the induced attack angle of the fixed horizontal wing is changed, and therefore forced sinking force is induced to generate and the towed body sinks; vice versa, thus increasing the mobility of the towed body; for roll control, two flaps behind the fixed horizontal wings rotate in different directions, so that opposite pressure differences are generated on the upper surfaces and the lower surfaces of the fixed horizontal wings on two sides, a roll moment is generated, and roll control is realized; for the stem turning movement, the flap behind the main cavity body rotates to provide a horizontally turning induction moment, so that the towed body generates stem shaking, the incoming flow and the main cavity body generate an attack angle, and thus, a transverse force is generated, and the stem turning of the towed body is realized; the horizontal flaps rotate in different directions, so that the towing body rolls at an angle, and on the basis of the angle, the vertical flaps are controlled to induce the change of the attack angle of the main cavity body to generate bow turning force to realize sailing in the oblique upper and lower directions.

(4) The instrument and equipment are arranged safely and flexibly. The towing body, the instrument is mainly arranged in the torpedo-shaped floating body and the main cavity. Two torpedo-shaped floating bodies are combined with the main cavity body, so that a large enough space is provided, and cabin division optimization is performed simultaneously, so that the towing is performed while arranging and placing the instrument and equipment reasonably, and the instrument and the equipment have the ballast function. Simultaneously, gyroscope self-stabilizing devices are arranged in the two floating bodies, and for some precision instruments, the gyroscope self-stabilizing devices can enable the instrument to be always in a horizontal stable working condition in the dragging or self-navigating process, so that the damage to the instrument in the dragging and swinging process is reduced, and the monitoring accuracy and precision of instrument equipment are improved.

(5) The working mode is abundant in type, and has the functions of towing and self-navigation. The utility model discloses not only can regard as ordinary band cable to drag the body under water and use, when carrying out the work such as accurate point-to-point position removal, little regional detection activity, the utility model discloses can realize self-navigation. The two torpedo-shaped floating bodies are provided with watertight motors and propellers at the tails, provide energy through a mother ship and an umbilical cable, can realize self-navigation of the towing body, can ensure stability of the towing body in the aircraft direction and satisfaction of the towing body on thrust through propeller thrust at the rear ends of the two torpedo-shaped floating bodies at the upper end and the lower end, and are respectively the same as the towing body in a self-navigation process in a control mode.

(6) The construction and maintenance costs are low. Control mechanism and power device are whole to be located torpedo form body, and the component is less, does not have accurate complicated mechanical element, is convenient for install and maintain. The torpedo-shaped floating body adopts the Myring shape, so that the construction experience of a construction factory is more, and the construction is convenient. The main cavity body, the two wings and the wing flaps are symmetrical wing-shaped bodies, the building is convenient, the main cavity body, the two wings and the wing flaps are fixedly connected through shafts, and the installation and the maintenance are convenient.

(7) The main body structure is simple, and the resistance is small. The torpedo-shaped floating body adopts a Myring type rotating body, wings on two sides are NACA symmetrical wing-shaped, and other excessive mechanisms and parts are omitted, so that the water resistance is reduced, and meanwhile, the position and the posture of the towing body can be quickly and accurately adjusted by accurately controlling the angle change of the flap and assisting the tail propeller.

Drawings

FIG. 1 is a perspective view of the dual-purpose rotary straight-wing multi-degree-of-freedom underwater towed body of the present invention;

FIG. 2 is a side view of the dual-purpose rotary straight-wing multi-degree of freedom underwater towed body of the present invention;

FIG. 3 is a top view of the dual-purpose rotary straight-wing multi-degree of freedom underwater towed body of the present invention;

FIG. 4 is a front view of the external structure of the dual-purpose rotary straight-wing multi-degree-of-freedom underwater towed body of the present invention;

FIG. 5 is a schematic structural view of a horizontal flap control mechanism of the present invention;

FIG. 6 is a schematic structural view of the flap angle monitoring mechanism of the present invention;

fig. 7 is a schematic structural view of a vertical flap control mechanism of the present invention;

fig. 8 is a side view of the self-stabilizing device of the gyroscope of the present invention;

fig. 9 is a top view of the self-stabilization device of the gyroscope of the present invention;

FIG. 10 is a front view of the self-stabilizing gyroscope device of the present invention;

fig. 11 is a circuit diagram of the flap angle monitoring mechanism of the present invention.

The figures show that: the device comprises a fixed horizontal wing 1, a main cavity 2, a horizontal flap 3, a vertical flap 4, a torpedo-shaped floating body 5, a towing part 6, a vertical flap sideboard 7, a ducted propeller 8, an oblique wing support 9, a fixed horizontal wing sideboard 10, a horizontal flap sideboard 11, a worm 12, a transmission rod 13, a rigid conductor 14, an arc resistor 15, a lead 16, a stepping motor 17, a worm wheel 18, a semicircular container 19, a rod handle 20, a bearing 21, a bearing support 22, an ammeter 23, a switch 24 and a power supply 25.

Detailed Description

The present invention will be further described with reference to the accompanying drawings, but the embodiments of the present invention are not limited thereto.

As shown in fig. 1 to 4, a dual-purpose rotary straight wing type multi-degree-of-freedom underwater towed body comprises a fixed horizontal wing 1, a main cavity 2, a horizontal flap 3, a vertical flap 4, a torpedo-shaped floating body 5, a towing part 6, a ducted propeller 8 and an oblique wing support 9; the main cavity 2 adopts NACA symmetrical wing type, is vertically arranged between two torpedo-shaped floating bodies 5, two ends in the vertical direction are respectively connected with the two torpedo-shaped floating bodies 5, and the tail parts of the two torpedo-shaped floating bodies 5 are provided with ducted propellers 8; the two ends of a torpedo-shaped floating body 8 at the upper end are symmetrically provided with fixed horizontal wings 1, a main cavity body 2 is connected with the two fixed horizontal wings 1 through inclined wing supports 9, the rear end of each fixed horizontal wing 1 is provided with a horizontal flap 3, and the tail part of the main cavity body 2 is provided with a vertical flap 4; the towing member 6 is provided at the upper front end of the upper torpedo float 5.

Preferably, the two torpedo-shaped floating bodies 5 adopt a Myring type revolving body; the fixed horizontal wing 1 adopts NACA symmetrical wing type, and simultaneously, in order to increase the wing effect of the fixed horizontal wing 1, two ends of the fixed horizontal wing 1 are provided with fixed horizontal wing side plates 10; the horizontal flaps 3 adopt NACA symmetrical wing profiles, the fixed shafts of the horizontal flaps 3 are positioned at the maximum thickness positions of the flaps, and horizontal flap edge plates 11 are arranged on two sides of each of the two horizontal flaps 3 in order to increase the wing effect; the vertical flap 4 adopts NACA symmetrical wing type, the vertical flap fixing shaft is positioned at the maximum thickness position of the flap, and vertical flap edge plates 7 are arranged at two ends of the vertical flap 4; two oblique wing supports 9 all adopt NACA symmetry wing section to be 45 contained angles with main cavity 2 and fixed horizontal wing 1 and arrange, oblique wing supports 9 have not only increased the stability of whole towed body structure, have improved towed body horizontal and vertical course stability simultaneously.

Preferably, the horizontal flap edge panel and the vertical flap edge panel are 2-3mm thick and 450-500mm long.

The double-purpose rotary straight wing type multi-degree-of-freedom underwater towed body further comprises a horizontal flap control mechanism, a flap angle monitoring mechanism, a vertical flap control mechanism and a gyroscope self-stabilizing device.

The horizontal flap control mechanism is mainly arranged inside the torpedo-shaped floating body 5 at the upper end, and as shown in fig. 5, the horizontal flap control mechanism mainly comprises a worm 12, a transmission rod 13, a stepping motor 17 and a worm wheel 18; the stepping motor 17 is connected with the worm 12, the worm wheel 18 is connected with the transmission rod 13, and the worm wheel 18 is movably connected with the worm 12; the transmission rod 13 extends out of the main cavity 2 and is connected with the horizontal flap fixed shaft.

A simple circuit connected to the flap angle monitoring mechanism is shown in fig. 11. As shown in fig. 6 and 11, the flap angle monitoring mechanism mainly includes a rigid conductor 14, an arc resistor 15, a lead 16, a switch 24 and a power supply 25; the positive electrode of a power supply 25 is connected with a switch 24 through a lead 16, the switch 24 is connected with a rigid conductor 14 through the lead 16, the rigid conductor 14 is vertically arranged at the top end of the transmission rod 13 and is movably connected with an arc resistor 15, the arc resistor 15 is fixed in the cavity, the arc resistor 15 is connected with an ammeter 23 through the lead 16, and then the ammeter 23 is connected with the lead 16 and is connected back to the negative electrode of the power supply 25; preferably, the radius of the arc resistor 15 is equal to that of the flap fixing shaft, the other end of the transmission rod 13 drives the rigid conductor 14 to move while driving the flap to rotate, the rigid conductor 14 moves on the arc resistor 15, so that the size of the resistor in the circuit is changed, the current in the circuit is changed, and the deflection angle of the flap is monitored through the change of the number indicated by the ammeter 23. The worm gear and worm transmission device has a self-locking function, so that the flap can keep a rotating angle, and the rotation angle and the torque of the motor can be transmitted more accurately. The control end is electrified to enable the stepping motor 17 to rotate, the worm 12 is driven to rotate, the worm wheel 18 is driven to rotate through the spiral transmission of the worm 12, the transmission rod 13 is driven to rotate, the transmission rod 13 extends out of the main cavity 2 and is connected with the fixed shaft of the horizontal flap 3, the horizontal flap 3 is driven to rotate to realize the change of the angle, the change of the attack angle of the fixed horizontal wing 1 is induced, the surface of the fixed horizontal wing 1 generates the heaving force, and the depth control of the towing body is realized. The deflection directions of the two horizontal flaps 3 are opposite, and by means of the change of the attack angle of the water flow on the horizontal flaps 3, the two horizontal flaps 3 generate lift forces in opposite directions to generate a transverse moment, so that the control of rolling can be realized.

The vertical flap control mechanism is mainly arranged in a torpedo-shaped floating body at the lower end. As shown in fig. 7, the components and the working principle of the vertical flap control mechanism are consistent with those of the horizontal flap control mechanism, and mainly comprise a worm 12, a transmission rod 13, a stepping motor 17 and a worm wheel 18; the difference is that a transmission rod 13 of the vertical flap control mechanism extends out of the torpedo-shaped floating body 5 and is connected with a vertical flap fixed shaft; the stepping motor 17 rotates to drive the worm 12 to rotate, the worm wheel 18 rotates through the spiral transmission of the worm 12 to drive the transmission rod 13 to rotate, the transmission rod 13 drives the vertical flap 4 to rotate to realize the change of the angle, the change of the attack angle of the main cavity body 2 is induced, the fore-turning force is generated on the surface of the main cavity body 2, and the towing body is driven to turn the fore.

The gyroscope self-stabilizing device is arranged in the torpedo-shaped floating body so as to ensure that an instrument arranged in the gyroscope self-stabilizing device always works under a horizontal stable working condition and ensure the working precision of the instrument; as shown in fig. 8, 9 and 10, the gyroscope self-stabilizing device comprises a semi-cylindrical container 19, a rod handle 20, a bearing 21 and a bearing support 22; two bearings 21 are arranged on two bearing supports 22, two rod handles 20 are respectively welded at two axial ends of the semi-cylindrical container 19, and the rod handles 20 penetrate through the bearings 21, so that the semi-cylindrical container 19 is erected on the two bearing supports 22. Monitoring instrument equipment can be placed in the semi-cylindrical container 19, and when dragging, under the effect of gravity, the semi-cylindrical container 19 remains the level all the time to protect instrument equipment, guarantee that its inside detecting instrument can work under horizontal condition all the time.

In the dragging process, the two flaps behind the fixed horizontal wing swing in the same direction, so that the dragging body generates an induced moment, the dragging body is enabled to trim, the incoming flow fixed horizontal wing generates an attack angle, and therefore vertical force is generated to enable the dragging body to ascend or descend. Similarly, the main cavity is of an NACA symmetrical wing shape, a flap at the tail of the main cavity rotates to provide a horizontally-steering induced moment, so that the towing body generates a bow turning, incoming flow and the main cavity generate an attack angle, and therefore, a transverse steering force is generated to achieve bow turning movement of the towing body, and the purpose of achieving six-degree-of-freedom movement of the underwater towing body by using the thrust of a small stepping motor can be achieved. When in towing, the different rotating speeds and steering matches of the two propellers and the horizontal flap 3 can be flexibly controlled to enable the towing body to generate vertical moment, and then the towing body is ascended and descended by the fixed horizontal wing 1. The outside of the whole dragging body is free from excessive mechanisms and parts, so that the water resistance is reduced.

The tail propeller is used for providing power in the self-propulsion process, the stability and the sufficient thrust can be guaranteed through the pushing of the upper propeller and the lower propeller, and then the track and the posture of the towed body with six degrees of freedom can be controlled by controlling the angles of the three flaps.

The utility model relates to a straight wing type multi freedom of double-purpose rotation drags the body under water in the course of the work:

firstly, according to different detection tasks, corresponding types of devices such as ocean detectors, sensors and the like are arranged in the torpedo-shaped floating body 5 and the main cavity 2, and due to the fact that the weights of different types of instruments and devices are different, the gravity center position of the towing body is adjusted according to the specific weight distribution of the towing body, the gravity center position is inclined to be arranged in the middle and is arranged in the front position, and the gravity center position is inclined to be between the floating center and the towing point position. In general, consideration is given to the combination of a drag weight center that is as low as possible and a floating center that is as high as possible. Then, after the weight center of gravity and the center of buoyancy of the towing body are adjusted, the towing cable is tied to the towing member 6, and the towing cable is connected to the towing vessel to perform trial towing. According to the trial towing situation, the gravity center position of the towing body can be adjusted at any time, so that the towing body can keep a good and stable towing attitude. The counterweight conditions of the towed body under different conditions are recorded, and reference is provided for later experiments.

During towing, the angle control of the horizontal flap 3 is realized by controlling the rotation of the stepping motor 17 and the transmission of the worm wheel 18 and the worm 12, so as to change the induced attack angle of the fixed horizontal wing 1 and generate downward force to sink the towing body against the damping force of the towing cable. And continuously adjusting the change of the attack angle to reduce the force of sinking to generate upward lifting force to lift the towed body, or increase the force of sinking to generate larger force of sinking to sink the towed body, so as to realize the control of the towing depth of the towed body. If the sinking force and the lifting force are insufficient due to the slow navigation speed or sinking or rising needs to be quickly realized, the propeller propellers 8 at the upper end and the lower end can be used for assisting, specifically, when the upper propeller rotates forwards and the lower propeller rotates backwards, the towing body is pushed to sink, the induced attack angle of the fixed horizontal wing is induced and changed, and thus the fixed horizontal wing generates the sinking force, so that the towing body sinks; and vice versa.

In the sailing process of the towing body, when the horizontal flap 3 is controlled, the stepping motor 17 is adopted to rotate in the opposite direction, so that the swing angle directions of the horizontal flap 3 are opposite, the lift force in the opposite direction is obtained, and a torsional moment can be generated at the rear part of the towing body to realize the rolling control of the ship. The control mechanism not only can realize the rolling of the towing body, but also can quickly restore the towing body to a positive floating state when the towing body rolls in the operation process. When rolling, the control mechanism of cooperation vertical flap for vertical flap 4 swings and arouses the change of main cavity body angle of attack, produces the lateral force, under horizontal flap 3 and vertical flap 4 simultaneous control, can produce the left and right sides slant, the slant downstream, mainly rotate through the not equidirectional of horizontal flap, make the towed body an angle of rolling, on this angle basis, control vertical flap, the induced main cavity body angle of attack changes, produce and change the bow power and realize the left and right sides slant, the control of the oblique downward direction.

In the aspect of turning the bow, the control of the vertical flap 4 is realized by controlling the rotation of the stepping motor 17 and the worm wheel 18 and the transmission of the worm 12. The deflection of the vertical flap 4 generates a steering induction to the towed body, so that the attack angle of the main cavity body is changed to generate a lift force, thereby realizing the control of the steering bow of the towed body.

The towing body can generate certain inclination when the towing body rotates and rolls, the influence on some precise instruments or instruments needing to work in a horizontal state is great, and the gyroscope self-stabilizing device enables the semicircular container 19 to be always kept horizontal through gravity, so that instrument equipment is protected, and the good working state of the instrument is ensured.

When the towed body is too deep underwater, the swinging of each flap under the water cannot be clearly seen, and sometimes even a camera is required to be arranged on the towed body to monitor the movement condition of the towed body. Drag the body, in the wobbling of control flap, with the end-to-end connection's of transfer line 13 rigid conductor 14, also can take place to rotate, rigid conductor 14 moves on circular arc resistance 15, makes the big or small change of the resistance in the access circuit to lead to the change of electric current, can follow the clear swing condition of knowing the flap in the reading of ampere meter 23 like this, can be timely adjust the flap and realize the control to dragging the body.

When some small regions are surveyed, need mother's ship when certain region stops, need carefully survey in certain region time measuring, the tow-cable no longer provides the drag force, and traditional tow body can't independently navigate by oneself, tow the body at 5 afterbody installation screw propellers 8 of two torpedo form bodies, provide the rotation of electric drive screw through the umbilical cable, produce thrust, make and tow the body and realize self-navigation.

As above, realization that can be fine the utility model relates to a function of the straight wing type multi freedom of double-purpose rotation body of towing under water.

Claims

1. A dual-purpose rotary straight wing type multi-degree-of-freedom underwater towed body is characterized by mainly comprising a fixed horizontal wing, a main cavity body, a horizontal flap, a vertical flap, a torpedo-shaped floating body, a towing part, a ducted propeller and an oblique wing support; the main cavity adopts an NACA symmetrical wing shape and is vertically arranged between the two torpedo-shaped floating bodies, two ends in the vertical direction are respectively connected with the two torpedo-shaped floating bodies, and the tail parts of the two torpedo-shaped floating bodies are provided with ducted propellers; the two ends of the upper torpedo-shaped floating body are symmetrically provided with fixed horizontal wings, the main cavity body is connected with the two fixed horizontal wings through inclined wing supports, the rear end of each fixed horizontal wing is provided with a horizontal flap, and the tail part of the main cavity body is provided with a vertical flap; the towing part is arranged at the front end of the upper part of the torpedo-shaped floating body at the upper end;

the flap angle monitoring mechanism mainly comprises a rigid conductor, an arc resistor, a lead, a switch and a power supply; the power supply is connected with the switch through a lead, the switch is connected with the rigid conductor through a lead, the rigid conductor is vertically arranged at the top end of the transmission rod and is movably connected with the arc resistor, the arc resistor is fixed in the cavity, and the arc resistor is connected back to the power supply through a lead;

2. The dual-purpose rotary straight wing type multi-degree-of-freedom underwater towed body according to claim 1, wherein two torpedo-shaped floating bodies are implemented by Myring type rotary bodies; the vertical flap, the fixed horizontal wing, the oblique wing support and the horizontal flap all adopt NACA symmetrical wings.

3. The dual-purpose rotary straight wing type multi-degree-of-freedom underwater towed body according to claim 1, wherein the two oblique wings are supported on two sides of the main cavity and arranged at an included angle of 45 degrees with the main cavity and the fixed horizontal wing.

4. The dual-purpose rotary straight-wing multi-degree-of-freedom underwater towed body as claimed in claim 1, wherein fixed horizontal wing sideboard are arranged at two ends of the fixed horizontal wing; two sides of the two horizontal flaps are provided with horizontal flap edge plates; vertical flap edge plates are arranged at two ends of the vertical flap; the thickness of the horizontal flap edge plate and the vertical flap edge plate is 2-3mm, and the length of the horizontal flap edge plate and the vertical flap edge plate is 450-500 mm.

5. The dual-purpose rotary straight wing type multi-degree-of-freedom underwater towed body according to claim 1, wherein the horizontal flap fixing shaft is located at the position of the maximum thickness of the flap; the vertical flap fixation axis is located at the flap maximum thickness.

6. The dual-purpose rotary straight-wing type multi-degree-of-freedom underwater towed body as claimed in claim 1, wherein the torpedo-shaped floating body has a diameter of 250-200mm, a length of 1300-1400mm, and a length of the parallel middle body of 900-950 mm; the two fixed horizontal chords are 500-600mm in length, 700-750 in length and 70mm in maximum thickness.

7. The double-purpose rotary straight wing type multi-degree-of-freedom underwater towed body according to claim 1 is characterized in that the thickness of the fixed horizontal wing sideboard is 2-3mm, the front end and the rear end of the fixed horizontal wing sideboard respectively protrude 10-20mm beyond the front end and the rear end of the fixed horizontal wing, and the upper end and the lower end of the fixed horizontal wing sideboard protrude 10-20mm beyond the maximum thickness of the fixed horizontal wing.

8. The double-purpose rotary straight wing type multi-degree-of-freedom underwater towed body is characterized in that the thickness of a flap sideboard is 1-2mm, the flap sideboard protrudes 10-15mm beyond the front end and the rear end of the flap and 10-15mm beyond the maximum thickness of the flap.

9. The dual-purpose rotary straight-wing type multi-degree-of-freedom underwater towed body as claimed in claim 1, wherein the height of the main cavity is 700 and 750mm, the chord length is 900 and 1000mm, and the maximum thickness is 100 mm.

10. The dual-purpose rotary straight wing type multi-degree-of-freedom underwater towed body as claimed in claim 1, wherein the two horizontal flaps and the vertical flaps adopt the same parameters, the length of the flaps is 450-500mm, the chord length is 120-150mm, and the maximum thickness is 30-40 mm.