CN211281425U - Rudder-operated multi-degree-of-freedom controlled underwater vehicle - Google Patents
Rudder-operated multi-degree-of-freedom controlled underwater vehicle Download PDFInfo
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- CN211281425U CN211281425U CN201921181801.7U CN201921181801U CN211281425U CN 211281425 U CN211281425 U CN 211281425U CN 201921181801 U CN201921181801 U CN 201921181801U CN 211281425 U CN211281425 U CN 211281425U
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Abstract
The utility model discloses a rudder-operated multi-degree-of-freedom controlled underwater vehicle, which comprises a main cavity, a fixed triangular horizontal wing, an oblique wing support, a vertical rudder, a horizontal rudder, a propeller thruster, a revolving body sealing cover, a side plate, a towing part and a rudder control mechanism; the rudder control mechanism mainly comprises a stepping motor, a transmission belt, a toothed belt wheel, an oil seal pipe, a seal ring and a transmission rod; the main cavity body is connected with the fixed triangular horizontal wing through two inclined wing supports; the tail part of the fixed triangular horizontal wing is provided with a propeller thruster and a horizontal rudder which is arranged behind the propeller thruster; the tail part of the main cavity is provided with a propeller thruster and a vertical rudder which is arranged behind the propeller thruster; the horizontal rudder and the vertical rudder are vertical to each other, the horizontal and vertical deflection matching in the horizontal direction and the vertical direction are respectively completed above and below the horizontal rudder and the vertical rudder to complete the multi-degree-of-freedom movement of the underwater vehicle, the propeller accelerates the flow velocity of water flow on the surface of the rudder, the rudder effect is increased, and the control efficiency is higher.
Description
Technical Field
The utility model relates to an underwater vehicle, in particular to a rudder-controlled multi-degree-of-freedom control underwater vehicle, which is an underwater carrier for loading ocean exploration equipment.
Background
Underwater detection vehicles can be divided into two categories according to their operating modes: unmanned underwater vehicles and manned underwater vehicles. The unmanned underwater vehicle is fully applied to the aspects of ocean research, hydrological monitoring, military detection and the like due to the convenience and the safety of the unmanned underwater vehicle. The underwater vehicle can be roughly divided into three types according to the operation mode: towed, remote controlled, and autonomous sailing. The towing type underwater vehicle has a simple structure, is easy and convenient to operate, can be powered by different towing equipment, can work at different underwater depths, and has the navigation speed and range mainly determined according to the towing equipment because the towing equipment does not provide power, so that the underwater vehicle is fully utilized when large-range searching or detecting is carried out.
The towed body as one of the components of the towing system can be divided into the following components according to the structural form: frame type, fish type and streamline type, wherein the frame type is mainly used for low speed towing work, and the fish type and streamline type are widely used for high speed towing due to their excellent hydrodynamic performance profile.
The underwater vehicle is also given autonomous control and regulation functions during towing. Since the marine monitoring and exploration equipment carried by such underwater vehicles needs to be guaranteed to operate in a relatively stable environment. The control modes of the underwater vehicle can be mainly divided into two modes, namely a towing cable and a forced sinking hydrofoil. The control of the heave motion of the underwater vehicle by using the retraction and release of the towing cable is very quick, but the control precision cannot be guaranteed. For the control by using the forced sinking hydrofoil, namely, a small flap is generally adopted behind a main wing, the attack angle of the flap is changed to induce the change of the attack angle of the main wing to generate large heaving force and heading turning force, but when the sailing speed is low, the fluid speed on the surface of the flap is slow, so that the efficiency of the flap is low, and therefore, the change of the attack angle cannot be generated by enough force.
And the rudder is controlled by adopting the rudder, is arranged behind the underwater vehicle, has smooth incoming flow and sufficient water supply. Meanwhile, the rudder can fully absorb the kinetic energy of the wake flow of the propeller and convert the kinetic energy into thrust and rudder normal force. And as long as the gap between the rudder and the bottom of the underwater vehicle is small enough, the rudder effect can be improved by utilizing the boundary effect. The rudder arranged behind the propeller is adopted to replace a flap, water reaching the surface of the rudder accelerates backwards through the propeller, so that the efficiency of the wing is greatly improved, and sufficient inducing force is generated to change the attack angle of the main wing.
In the self-navigation process, the forced sinking hydrofoil is generally combined with the propeller to control the direction and the posture of the underwater vehicle, and as mentioned above, the forced sinking hydrofoil has the defects of insufficient wing effect and the like at low navigation speed, so the control of the underwater vehicle can be better realized by adopting the mutually optimized control mode of the propellers and the rudders.
The Chinese invention patent 2013100470125 (published Japanese 2013.06.1) discloses a multi-degree-of-freedom controlled underwater towed body, which comprises a torpedo-shaped floating body, a controllable forced sinking hydrofoil, side plates, fixed horizontal wings, fixed vertical tail wings, a controllable vertical tail wing and a main cavity; 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; towing components are symmetrically arranged at the front ends of the outer surfaces of the two torpedo-shaped floating bodies respectively, and the towing cables are connected with the ship body through towing holes; the tail parts of the two torpedo-shaped floating bodies are provided with fixed vertical tail wings. The multi-degree-of-freedom motion of the aircraft is mainly controlled by the wings, the thrust is generated by utilizing the Bernoulli principle, but when the sailing speed is low, the flow velocity on the surfaces of the wings is too low, the Bernoulli effect is small, and sufficient control force cannot be generated to adjust the posture of the towing body.
SUMMERY OF THE UTILITY MODEL
The utility model relates to an underwater carrier for loading ocean exploration equipment, in particular to a rudder-controlled multi-degree-of-freedom control underwater vehicle, aiming at providing an underwater vehicle with good motion stability, simple control and wide application.
The key point for designing and manufacturing the underwater vehicle is to ensure the safety of the underwater vehicle, namely the motion stability, including the towing stability and the self-navigation stability, and ensure that enough operating force is provided to adjust the motion attitude of the underwater vehicle during low-speed and high-speed navigation, so that the multi-degree-of-freedom motion of the underwater vehicle becomes.
The utility model discloses a following technical scheme realizes:
a rudder-operated multi-degree-of-freedom controlled underwater vehicle mainly comprises a main cavity, a fixed triangular horizontal wing, an oblique wing support, a vertical rudder, a horizontal rudder, a propeller thruster and a towing part; the main cavity body is connected with the fixed triangular horizontal wings through two inclined wing supports which are symmetrically distributed on two sides of the main cavity body; the upper part of the top end of the fixed triangular horizontal wing is provided with a dragging part; the propeller-driven three-dimensional airplane is characterized in that a propeller thruster and a horizontal rudder are arranged at the tail part of the fixed triangular horizontal wing, the horizontal rudder is arranged behind the propeller thruster, a propeller thruster and a vertical rudder are arranged at the tail part of the main cavity body, and the vertical rudder is arranged behind the propeller thruster; the horizontal rudder and the vertical rudder are vertical to each other;
the rudder-operated multi-degree-of-freedom controlled underwater vehicle also comprises two rudder control mechanisms; the horizontal rudder and the vertical rudder adopt the same rudder control mechanism; the rudder control mechanism of the vertical rudder is mainly arranged in the main cavity, and the rudder control mechanism of the horizontal rudder is mainly arranged in the fixed triangular horizontal wing; the rudder control mechanism mainly comprises a stepping motor, a transmission belt, a toothed belt wheel, an oil seal pipe, a sealing ring and a transmission rod; the stepping motor is axially connected with one toothed belt wheel, the toothed belt wheel is sleeved with a transmission belt, the other end of the transmission belt is sleeved with the other toothed belt wheel, the other toothed belt wheel is axially connected with a transmission rod, and the transmission rod extends out of the cavity and is axially connected with the vertical rudder or the horizontal rudder; the oil seal pipe is provided with a connecting port of the transmission rod extending out of the cavity body, and two ends of the oil seal pipe are sealed by sealing rings.
In order to further realize the purpose of the present invention, preferably, the main cavity body adopts a vertical rudder type structure, the section wing section adopts a NACA symmetrical wing section, and the upper and lower ends of the main cavity body are sealed by a revolving body sealing cover.
Preferably, the cross section of the oblique wing support is a NACA symmetrical wing profile; the cross-sectional shapes of the horizontal rudder and the vertical rudder are NACA symmetrical wing profiles.
Preferably, the fixed triangular horizontal wing adopts a NACA symmetrical wing shape, and two ends of the fixed triangular horizontal wing are provided with side plates.
Preferably, the thickness of the side plate is 2mm-2.5mm, the length is 280mm-300mm, and the width is 70mm-80 mm.
Preferably, 6-8 towing cable holes are arranged on the towing part.
Preferably, the main cavity has a height of 450mm-500mm, a width of 180mm-200mm and a length of 1000mm-1200 mm.
Preferably, the length of the fixed triangular horizontal wing is 1000mm-1200mm, and the maximum width of the tail part is 1100-1200 mm.
Preferably, the maximum thickness of the horizontal rudder is 30mm-35mm, the length is 800mm-900mm, and the width is 200mm-220 mm.
Preferably, the maximum thickness of the vertical rudder is 30-35mm, the length is 200-220mm, and the width is 200-220 mm; the included angle of the two inclined wing supports is 60 degrees, the included angle between the inclined wing supports and the horizontal plane is also 60 degrees, the maximum thickness of the inclined wing supports is 35-40mm, and the length of the inclined wing supports is 300-350 mm.
Compared with the prior art, the utility model, following advantage and beneficial effect have:
(1) the utility model discloses a control two step motor's rotation, then drive the bow stern of horizontal rudder and vertical rudder swing control underwater vehicle and incline and roll, and then change the attack angle of the horizontal wing of fixed triangle and the wing section main cavity body and change, produce great heaving force and change bow power, drive whole underwater vehicle multi freedom motion, change the swing angle of horizontal rudder and vertical rudder simultaneously, then the equivalent attack angle of the horizontal wing of induced fixed triangle and rudder type main cavity body changes, can make underwater vehicle take place simultaneously and change bow and heaving motion, thereby accomplish underwater vehicle's going up to one side, the motion of going down to one side. The utility model discloses a two rudders accomplish the multi freedom motion of the deflection realization underwater vehicle of level and vertical direction separately above and below, and it is simple to control the mode, but multi freedom motion.
(2) The utility model discloses all set up the back at the screw with horizontal rudder and vertical rudder, the kinetic energy of screw wake can fully be absorbed to horizontal rudder and vertical rudder, turn into thrust and rudder normal force to it, simultaneously through accelerating of screw, make the velocity of flow on the rudder surface and greatly increased, the wing effect of rudder has been increased, it can produce huge induced force and make whole underwater vehicle bow stern incline or bow shake in the short time to make the rudder, drive the change of fixed triangle horizontal wing attack angle, further produce bigger heaving force and change bow power, increase the mobility of whole underwater vehicle from this, mobility is excellent.
(3) The utility model discloses the main cavity body, fixed triangle horizontal wing, rudder, vertical rudder, oblique wing support all adopt streamlined design, have guaranteed the homogeneity in underwater vehicle surface flow field, have reduced the resistance, have weakened the influence between underwater vehicle and the tow-cable when dragging. And the vertical rudder shape of the main cavity body and the symmetrical wing shape of the huge fixed triangular horizontal wing play the role of stabilizing the rudder in the direction, thereby greatly increasing the stability in navigation. From the angle of self stability, the utility model discloses well main cavity sets up in the bottom, can add appropriate ballast in the inside and reduce the focus, and there is huge fixed triangle horizontal wing cavity at the top, has risen the floating center to increased the distance of focus and floating center, the increase restores the arm of force, has guaranteed the stability of underwater vehicle's self.
(4) The cavity the utility model discloses there are two huge cavitys, firstly the main cavity body, secondly fixed triangle horizontal wing, the main cavity body adopts vertical rudder appearance, and inside vertical space is big, and fixed triangle horizontal wing, and inside horizontal space is big, consequently can satisfy the arrangement that has different volumes, different instrument and the equipment of putting the requirement to can accomplish different exploration, monitoring task.
(5) The utility model discloses set up in fixed triangle horizontal wing front end upper portion and dragged the part, set up two screw propellers at the main cavity body and fixed triangle horizontal wing afterbody, can reach and drag and self-propelled dual-purpose, cooperate huge and nimble cavity space in addition to can accomplish different exploration, monitoring task.
Drawings
FIG. 1 is a schematic view of the configuration of the rudder-controlled multi-degree-of-freedom controlled underwater vehicle of the present invention;
FIG. 2 is a front view of the form construction of FIG. 1;
FIG. 3 is a side 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 side view of the rudder control mechanism of the rudder-operated multi-degree-of-freedom controlled underwater vehicle of the present invention;
FIG. 6 is a front view of the rudder control mechanism of FIG. 5;
fig. 7 is a plan view of the rudder control mechanism of fig. 5.
The figures show that: the device comprises a main cavity 1, a fixed triangular horizontal wing 2, an oblique wing support 3, a vertical rudder 4, a horizontal rudder 5, a propeller 6, a revolving body sealing cover 7, a side plate 8, a dragging part 9, a stepping motor 10, a transmission belt 11, a toothed belt wheel 12, an oil seal pipe 13, a sealing ring 14 and a transmission rod 15.
Detailed Description
The present invention will be further described with reference to the accompanying drawings and examples, but the embodiments of the present invention are not limited thereto.
As shown in fig. 1-4, a rudder-operated multi-degree-of-freedom controlled underwater vehicle mainly comprises a main cavity 1, a fixed triangular horizontal wing 2, an oblique wing support 3, a vertical rudder 4, a horizontal rudder 5, a propeller thruster 6, a revolving body cover 7, a side plate 8 and a towing part 9.
The main cavity body 1 adopts vertical rudder type structure, and the cross-section wing section adopts NACA symmetry wing section, and the upper and lower both ends of main cavity body 1 seal with solid of revolution closing cap 7 to reduce the huge shape sudden change in fluid surface and produce the swirl. The fixed triangular horizontal wing 2 adopts a NACA symmetrical wing type, two ends of the fixed triangular horizontal wing are provided with plate edges 8, the thickness of each plate edge is preferably 2mm-2.5mm, the length of each plate edge is preferably 280mm-300mm, and the width of each plate edge is preferably 70mm-80 mm. The main cavity body and the fixed triangular horizontal wings can keep the stability of navigation and the high efficiency of operation, and two horizontal and vertical huge cavities can meet different instruments and equipment required for placement, thereby ensuring the practicability and the versatility of the device.
The main cavity body 1 and the fixed triangle horizontal wing 2 are connected through two inclined wing supports 3, the inclined wing supports 3 are symmetrically distributed on two sides of the main cavity body 1, the inclined wing supports are 60 degrees with the horizontal plane respectively, the cross sections of the inclined wing supports 3 are NACA symmetrical wing shapes, the uniformity of the surface flow field of the inclined wing 3 in the sailing process is guaranteed through the streamline design, the extra resistance generated by the inclined wing supports is reduced, and therefore the stability of the course is guaranteed.
The tail part of the fixed triangular horizontal wing 2 is provided with a propeller thruster 6 and a horizontal rudder 5, the horizontal rudder 5 is arranged behind the propeller thruster 6, the tail part of the main cavity 1 is provided with the propeller thruster 6 and a vertical rudder, and the vertical rudder 4 is arranged behind the propeller thruster 6; the cross sections of the horizontal rudder 5 and the vertical rudder 4 are NACA symmetrical wing profiles, the horizontal rudder 5 and the vertical rudder 4 are vertical to each other, and the horizontal rudder 5 and the vertical rudder 4 respectively complete deflection matching in the horizontal direction and the vertical direction above and below to complete multi-degree-of-freedom movement of the underwater vehicle. Specifically, the control mechanism of the vertical rudder 4 in the main cavity 1 is controlled to control the swinging of the vertical rudder 4, so that the change of the attack angle of the vertical rudder 4 is realized, the vertical rudder 4 generates a heading turning force, the whole underwater vehicle is induced to turn the heading by a small angle, the equivalent attack angle of the vertical rudder main cavity 1 is changed, and the heading of the underwater vehicle is changed. The control mechanism of the horizontal rudder 5 in the cavity of the fixed triangular horizontal wing 2 is controlled to control the swinging of the horizontal rudder 5, so that the change of the attack angle of the horizontal rudder 5 is realized, the horizontal rudder 5 generates heave force, the whole underwater vehicle is induced to trim by a small angle, the equivalent attack angle of the fixed triangular horizontal wing 2 is changed, and the underwater vehicle finishes heave motion.
The rudder-operated multi-degree-of-freedom controlled underwater vehicle also comprises a rudder control mechanism; the horizontal rudder 5 and the vertical rudder 4 adopt the same rudder control mechanism; the rudder control mechanism of the vertical rudder 4 is mainly arranged in the main cavity 1, the cavity volume except for the two mechanisms is divided into compartments, and a plurality of compartments are arranged for loading different instruments or being used as ballast tanks. The rudder control mechanism of the horizontal rudder 5 is mainly arranged in the fixed triangular horizontal wing 2, the inner volume of the hydrofoil cavity except for the arrangement of the two mechanisms is divided into compartments, and a plurality of compartments are arranged for loading different instruments or serving as buoyancy compartments.
As shown in fig. 5 to 7, the rudder control mechanism mainly includes a stepping motor 10, a transmission belt 11, a toothed pulley 12, an oil seal pipe 13, a seal ring 14, and a transmission rod 15. The stepping motor 10 is axially connected with a toothed belt wheel 12, the toothed belt wheel 12 is sleeved with a transmission belt 11, the other end of the transmission belt 11 is sleeved with another toothed belt wheel 12, the other toothed belt wheel 12 is axially connected with a transmission rod 15, and the transmission rod 15 extends out of the cavity and is axially connected with the vertical rudder 4 or the horizontal rudder 5. The oil seal pipe 13 is provided with a connecting port of the transmission rod 15 extending out of the cavity, two ends of the oil seal pipe 13 are sealed by sealing rings 14, the oil seal pipe 13 can prevent water from entering the cavity, and the transmission rod can be guaranteed to rotate freely due to the smooth action of internal oil. When the horizontal rudder 5 or the vertical rudder 4 needs to be controlled, the stepping motor 10 is powered on, the stepping motor 10 is enabled to rotate, then the toothed belt wheel 12 is driven to rotate, the toothed belt wheel 12 enables the toothed belt wheel 11 at the other end to rotate through the transmission belt 11, the transmission rod 15 connected with the toothed belt wheel is driven to rotate, and the transmission rod 15 drives the horizontal rudder 5 or the vertical rudder 4 to swing.
The utility model relates to a rudder manipulation multi freedom control underwater vehicle is at the during operation:
different instruments are arranged in the main cavity 1 and the fixed triangular horizontal wing 2 according to different detection tasks, a heavy object ballast is arranged in a ballast tank at the bottom of the main cavity 1 to reduce the gravity center, the motion stability of the underwater vehicle is improved, then the distribution of the ballast and the instruments is adjusted to enable the gravity center to be distributed at a position which is forward on a central line, a towing cable is tied on a towing part 9 to perform trial towing, the posture of the underwater vehicle is observed in the trial towing process, and the gravity center position is adjusted again according to the posture to ensure that the underwater vehicle keeps good towing and self-navigating states.
In the dragging process, the swinging of the horizontal rudder 5 is controlled by controlling a rudder control mechanism of the horizontal rudder 5 in the cavity of the fixed triangular horizontal wing 2, so that the change of the attack angle of the horizontal rudder 5 is realized, the horizontal rudder 5 generates lift force or forced sinking force, the change of the equivalent attack angle of the fixed triangular horizontal wing 2 is induced, and larger forced sinking force and lift force are generated, so that the whole underwater vehicle ascends or sinks; the swing of the vertical rudder 4 is controlled by controlling a control mechanism of the vertical rudder 4 in the main cavity 1, so that the change of the attack angle of the vertical rudder 4 is realized, the equivalent attack angle change of the rudder type main cavity 1 is induced, and a larger heading force is generated, at the moment, the main cavity 1 can be used as a hydrofoil for steering, and the whole underwater vehicle finishes the direction adjustment under the action of the mechanism.
When the towing speed is slow, the surface flow velocity of the horizontal rudder 5 and the vertical rudder 4 is very low, enough pressure difference is difficult to generate to induce the equivalent attack angle of the fixed triangular horizontal wing 2 or the main cavity 1 to change, the propeller thruster 6 can be opened, the flow velocity of water flow on the surface of the rudder is accelerated through the propeller thruster 6, the rudder effect is increased, and therefore enough inducing force is generated to drive the equivalent attack angle of the fixed triangular horizontal wing 2 or the main cavity 1 to change.
During self-navigation, the umbilical cable provides electric energy, the fixed triangular horizontal wing 2 and the propeller 6 at the tail part of the main cavity body 1 provide thrust, so that the dragging type is converted into the self-navigation type, and the conversion of the use mode of wide-range and small-range accurate detection is completed. When the underwater vehicle needs to turn during self-navigation, the control mechanism for controlling the vertical rudder 4 in the main cavity 1 controls the swinging of the vertical rudder 4 to change the attack angle of the vertical rudder 4, so that the equivalent attack angle change of the rudder type main cavity 1 is induced, and a larger heading turning force is generated, at the moment, the main cavity 1 can be used as a water wing for turning, and the whole underwater vehicle finishes the adjustment of the navigation direction under the action of the mechanism; when the underwater vehicle needs to ascend or descend, the control mechanism of the horizontal rudder 5 in the cavity of the fixed triangular horizontal wing 2 can be controlled to control the swinging of the horizontal rudder 5, so that the change of the attack angle of the horizontal rudder 5 is realized, the horizontal rudder 5 generates lift force or forced sinking force, the equivalent attack angle change of the fixed triangular horizontal wing 2 is induced, and larger forced sinking force and lift force are generated, so that the whole underwater vehicle ascends or sinks.
When the underwater vehicle is in self-navigation, the horizontal rudder 5 and the vertical rudder 4 can fully absorb the kinetic energy of the wake flow of the propeller thruster 6 and convert the kinetic energy into thrust and rudder normal force, namely, the propeller thruster 6 generates forward thrust and simultaneously increases the flow velocity of water on the surface of the rudder, so that the propeller thruster generates enough induction force to drive the fixed triangular horizontal wing 2 or the main cavity 1 to change the equivalent attack angle, thereby driving the multi-degree-of-freedom motion of the whole underwater vehicle.
The utility model discloses a control two step motor's rotation, then drive the bow stern of horizontal rudder and vertical rudder swing control underwater vehicle and incline and roll, and then change the attack angle of the horizontal wing of fixed triangle and the wing section main cavity body and change, produce great heaving force and change bow power, drive whole underwater vehicle multi freedom motion, change the swing angle of horizontal rudder and vertical rudder simultaneously, then the equivalent attack angle of the horizontal wing of induced fixed triangle and rudder type main cavity body changes, can make underwater vehicle take place simultaneously and change bow and heaving motion, thereby accomplish underwater vehicle's going up to one side, the motion of going down to one side. The utility model discloses a two rudders accomplish the multi freedom motion of the deflection realization underwater vehicle of level and vertical direction separately above and below, and it is simple to control the mode, but multi freedom motion.
The utility model discloses all set up the back at the screw with horizontal rudder and vertical rudder, the kinetic energy of screw wake can fully be absorbed to horizontal rudder and vertical rudder, turn into thrust and rudder normal force to it, simultaneously through accelerating of screw, make the velocity of flow on the rudder surface and greatly increased, the wing effect of rudder has been increased, it can produce huge induced force and make whole underwater vehicle bow stern incline or bow shake in the short time to make the rudder, drive the change of fixed triangle horizontal wing attack angle, further produce bigger heaving force and change bow power, increase the mobility of whole underwater vehicle from this, mobility is excellent.
Claims (10)
1. A rudder-operated multi-degree-of-freedom controlled underwater vehicle mainly comprises a main cavity, a fixed triangular horizontal wing, an oblique wing support, a vertical rudder, a horizontal rudder, a propeller thruster and a towing part; the main cavity body is connected with the fixed triangular horizontal wings through two inclined wing supports which are symmetrically distributed on two sides of the main cavity body; the upper part of the top end of the fixed triangular horizontal wing is provided with a dragging part; the propeller-driven three-dimensional airplane is characterized in that a propeller thruster and a horizontal rudder are arranged at the tail part of the fixed triangular horizontal wing, the horizontal rudder is arranged behind the propeller thruster, a propeller thruster and a vertical rudder are arranged at the tail part of the main cavity body, and the vertical rudder is arranged behind the propeller thruster; the horizontal rudder and the vertical rudder are vertical to each other;
the rudder-operated multi-degree-of-freedom controlled underwater vehicle also comprises two rudder control mechanisms; the horizontal rudder and the vertical rudder adopt the same rudder control mechanism; the rudder control mechanism of the vertical rudder is mainly arranged in the main cavity, and the rudder control mechanism of the horizontal rudder is mainly arranged in the fixed triangular horizontal wing; the rudder control mechanism mainly comprises a stepping motor, a transmission belt, a toothed belt wheel, an oil seal pipe, a sealing ring and a transmission rod; the stepping motor is axially connected with one toothed belt wheel, the toothed belt wheel is sleeved with a transmission belt, the other end of the transmission belt is sleeved with the other toothed belt wheel, the other toothed belt wheel is axially connected with a transmission rod, and the transmission rod extends out of the cavity and is axially connected with the vertical rudder or the horizontal rudder; the oil seal pipe is provided with a connecting port of the transmission rod extending out of the cavity body, and two ends of the oil seal pipe are sealed by sealing rings.
2. The rudder-operated multi-degree-of-freedom controlled underwater vehicle as claimed in claim 1, wherein the main chamber is of a vertical rudder type structure, the section wing profile is of an NACA symmetrical wing profile, and the upper and lower ends of the main chamber are sealed by revolving body sealing caps.
3. The rudder-steered multiple-degree-of-freedom controlled underwater vehicle as recited in claim 1, wherein the cross section of the oblique wing support is a NACA symmetrical wing profile; the cross-sectional shapes of the horizontal rudder and the vertical rudder are NACA symmetrical wing profiles.
4. The rudder-operated multi-degree-of-freedom controlled underwater vehicle as claimed in claim 1, wherein the fixed triangular horizontal wing is a NACA symmetrical wing type, and has side plates at both ends.
5. The rudder-steered multiple-degree-of-freedom controlled underwater vehicle as claimed in claim 4, wherein the side plates have a thickness of 2mm to 2.5mm, a length of 280mm to 300mm and a width of 70mm to 80 mm.
6. The rudder-steered multiple degree of freedom controlled underwater vehicle as recited in claim 1, wherein 6-8 towing holes are provided in the towing member.
7. The rudder-operated multi-degree-of-freedom controlled underwater vehicle as claimed in claim 1, wherein the main cavity has a height of 450mm to 500mm, a width of 180mm to 200mm, and a length of 1000mm to 1200 mm.
8. The rudder steering multiple freedom degree control underwater vehicle as claimed in claim 1, wherein the length of the fixed triangular horizontal wing is 1000mm-1200mm, and the maximum width of the tail is 1100-1200 mm.
9. The rudder-operated multi-degree-of-freedom controlled underwater vehicle as claimed in claim 1, wherein the horizontal rudder has a maximum thickness of 30mm to 35mm, a length of 800mm to 900mm and a width of 200mm to 220 mm.
10. The rudder steering multiple degree of freedom controlled underwater vehicle as claimed in claim 1, wherein the vertical rudder has a maximum thickness of 30-35mm, a length of 200-220mm and a width of 200-220 mm; the included angle of the two inclined wing supports is 60 degrees, the included angle between the inclined wing supports and the horizontal plane is also 60 degrees, the maximum thickness of the inclined wing supports is 35-40mm, and the length of the inclined wing supports is 300-350 mm.
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|---|---|---|---|
| CN201921181801.7U CN211281425U (en) | 2019-07-25 | 2019-07-25 | Rudder-operated multi-degree-of-freedom controlled underwater vehicle |
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| CN201921181801.7U CN211281425U (en) | 2019-07-25 | 2019-07-25 | Rudder-operated multi-degree-of-freedom controlled underwater vehicle |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114104199A (en) * | 2022-01-26 | 2022-03-01 | 青岛国数信息科技有限公司 | Low-power-consumption self-elevating submerged buoy based on glider and working method thereof |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114104199A (en) * | 2022-01-26 | 2022-03-01 | 青岛国数信息科技有限公司 | Low-power-consumption self-elevating submerged buoy based on glider and working method thereof |
| CN114104199B (en) * | 2022-01-26 | 2022-04-29 | 青岛国数信息科技有限公司 | Low-power-consumption self-elevating submerged buoy based on glider and working method thereof |
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