CN213800127U - Multi-posture adjusting device for deep sea towed body - Google Patents
Multi-posture adjusting device for deep sea towed body Download PDFInfo
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- CN213800127U CN213800127U CN202022702244.8U CN202022702244U CN213800127U CN 213800127 U CN213800127 U CN 213800127U CN 202022702244 U CN202022702244 U CN 202022702244U CN 213800127 U CN213800127 U CN 213800127U
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- 230000005540 biological transmission Effects 0.000 claims abstract description 30
- 230000007246 mechanism Effects 0.000 claims abstract description 25
- 238000005096 rolling process Methods 0.000 claims abstract description 12
- 239000000463 material Substances 0.000 claims description 7
- 230000008878 coupling Effects 0.000 abstract description 12
- 238000010168 coupling process Methods 0.000 abstract description 12
- 238000005859 coupling reaction Methods 0.000 abstract description 12
- 238000000034 method Methods 0.000 abstract description 5
- 230000036544 posture Effects 0.000 abstract description 5
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 abstract description 4
- 230000008569 process Effects 0.000 abstract description 3
- 239000012530 fluid Substances 0.000 description 4
- 238000001514 detection method Methods 0.000 description 3
- 238000012986 modification Methods 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
- 230000033228 biological regulation Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000011835 investigation Methods 0.000 description 1
- 239000013535 sea water Substances 0.000 description 1
- 238000012876 topography Methods 0.000 description 1
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Abstract
The utility model relates to an equip technical field under water, especially a many gestures adjusting device for deep sea drags body. Including every single move adjustment mechanism and roll adjustment mechanism, connect through the connecting piece between the motor between every single move adjustment mechanism and the roll adjustment mechanism, every single move adjustment mechanism includes every single move adjustment motor, every single move adjustment shaft coupling, every single move adjustment transmission shaft and connecting plate, and every single move adjustment motor's output shaft passes through every single move adjustment shaft coupling and every single move adjustment transmission shaft connection, and the connecting plate is located the below of flank, and the bottom fixed surface of connecting plate and flank is connected, and the one end and the every single move adjustment shaft coupling joint of every single move adjustment transmission shaft, and the other end passes through lock nut and is connected with the connecting plate, and every single move adjustment motor fixes on the connecting piece between the motor. The pitching and rolling postures of the side wings are adjusted, so that the motion stability of the deep sea towed body in the towing process is ensured.
Description
Technical Field
The utility model relates to an equip technical field under water, especially a many gestures adjusting device for deep sea drags body.
Background
The deep sea towing system consists of towing mother ship, towing cable and towing body. The deep sea towing system does not have a propelling function usually, is towed by a mother ship to move, can carry various instruments and equipment on a towing body to carry out near-seabed, remote and long-time investigation on seabed topography and landform, shallow geology, seawater physical chemistry and the like, has the advantages of wide detection area, high operation efficiency, good control performance and the like, and is an important technical means in the field of deep sea detection.
With the continuous development of the detecting instrument, the requirement on the motion posture of the deep-sea towed body is higher and higher. The rolling and pitching are two main postures in the deep-sea towed body motion process, and when the towed body provided with the detecting instrument is towed by a mother ship in water through a towing cable, the stable motion posture can not be maintained due to the influence of sea current and the shake of the mother ship on the water surface, thereby influencing the detection precision of the equipment.
SUMMERY OF THE UTILITY MODEL
The utility model aims to overcome the above-mentioned defect that prior art exists, provide a many gestures adjusting device for deep sea towed body, realized the gesture of offside every single move and roll and adjusted to guarantee the motion stability of deep sea towed body at the towing in-process.
The technical scheme of the utility model is that: a multi-posture adjusting device for a deep sea towed body comprises a pitching adjusting mechanism and a rolling adjusting mechanism, wherein the pitching adjusting mechanism is connected with the rolling adjusting mechanism through a connecting piece between motors;
the roll adjusting mechanism comprises a roll adjusting motor, a roll adjusting coupler, a roll adjusting transmission shaft and a motor fixing support, an output shaft of the roll adjusting motor is connected with the roll adjusting transmission shaft through the roll adjusting coupler, one end of the roll adjusting transmission shaft 20 is connected with the roll adjusting coupler, the other end of the roll adjusting transmission shaft is rotatably connected with a connecting piece between motors, the roll adjusting motor is fixed on the motor fixing support, and the motor fixing support is fixedly connected with the towing body frame.
The utility model discloses in, fixedly connected with loose-leaf on the connecting piece between the motor, the bottom and the loose-leaf of telescopic link pass through bolt fixed connection, the top and the buoyancy material fixed connection of telescopic link. The hinge and the telescopic rod are used for guiding the rolling action of the side wings, and the hinge is used for supporting the pitching adjustment.
The utility model has the advantages that:
the device is used for adjusting the pitch angle and the roll angle of the side wings, so that the adjustment of the pitch angle and the roll angle of the deep sea towed body is realized, the motion stability and the data acquisition quality of the deep sea towed body are improved, the posture adjustment of the deep sea towed body can be realized, the motion stability and the operation flexibility of the towed body are improved, and the device has important significance for obtaining marine environment parameters.
Drawings
Fig. 1 is a schematic perspective view of the present invention;
fig. 2 is a schematic perspective view of the present invention;
FIG. 3 is a schematic structural view of a deep sea cradle including an attitude adjustment device;
FIG. 4(a) is a graph showing the average value of- π/2<θwing<The fluid resistance experienced by the flap at 0;
FIG. 4(b) is a value of 0<θwing<Pi/2 of the fluid resistance experienced by the flanks;
FIG. 5 is a flow chart of the deep sea towed body attitude adjustment.
In the figure: 1 tail wing; 2, a towed body frame; 3, balancing weight; 4, an attitude adjusting system; 5, a depth control system; 6, a subsystem supporting frame; 7, a towed body control system; 8 a buoyant material; 9 side wing; 10, telescoping a rod; 11, loose leaves; 12 connecting pieces between the motors; 13 motor fixing support; 14 a roll adjustment motor; 15 pitch adjustment motors; 16 pitch adjustment couplings; 17 locking the nut; 18 pitch adjustment drive shafts; 19 a roll adjustment coupling; 20 rolling adjusting transmission shafts; 31 connecting the plates.
Detailed Description
In order to make the above objects, features and advantages of the present invention more comprehensible, embodiments of the present invention are described in detail below with reference to the accompanying drawings.
In the following description, specific details are set forth in order to provide a thorough understanding of the present invention. The invention can be implemented in a number of other ways than those described herein, and those skilled in the art will be able to make similar generalizations without departing from the spirit of the invention. The invention is therefore not limited to the specific embodiments disclosed below.
As shown in fig. 1 and 2, a many gestures adjusting device for deep sea towed body include every single move adjustment mechanism and roll adjustment mechanism, connect through connecting piece 12 between the motor between every single move adjustment mechanism and the roll adjustment mechanism, every single move adjustment mechanism includes every single move adjustment motor 15, every single move adjustment shaft coupling 16, every single move adjustment transmission shaft 18 and connecting plate 31, every single move adjustment motor 15's output shaft passes through every single move adjustment shaft coupling 16 and is connected with every single move adjustment transmission shaft 18, connecting plate 31 is located the below of flank 9, and connecting plate 31 is connected with the bottom fixed surface of flank 9, the one end and the every single move adjustment shaft coupling 16 of every single move adjustment transmission shaft 18 are connected, the other end passes through lock nut 17 and is connected with connecting plate 31, thereby realized every single move adjustment mechanism and flank 9's being connected. When the pitch adjustment motor 15 is operated, the pitch angle of the side wing 9 is adjusted by the pitch adjustment transmission shaft 18.
The pitching adjusting motor 15 is fixed on the inter-motor connecting piece 12, the inter-motor connecting piece 12 is fixedly connected with a hinge 11 through a bolt, the bottom end of the telescopic rod 10 is fixedly connected with the hinge 11 through a bolt, and the top end of the telescopic rod 10 is fixedly connected with the buoyancy material 8. The hinge 11 and the telescopic rod 10 guide the rolling action of the side wings, and the hinge 11 supports the pitch adjustment 15.
The roll adjusting mechanism comprises a roll adjusting motor 14, a roll adjusting coupler 19, a roll adjusting transmission shaft 20 and a motor fixing support 13, an output shaft of the roll adjusting motor 14 is connected with the roll adjusting transmission shaft 20 through the roll adjusting coupler 19, one end of the roll adjusting transmission shaft 20 is connected with the roll adjusting coupler 19, and the other end of the roll adjusting transmission shaft 20 is connected with the connecting piece 12 between the motors, so that the roll adjusting mechanism is connected with the pitching adjusting mechanism. When the roll adjusting motor 14 acts, the roll angle of the pitching adjusting mechanism and the side wing 9 connected with the pitching adjusting mechanism is adjusted through the roll adjusting transmission shaft 20. The roll adjusting motor 14 is fixed on the motor fixing bracket 13 through bolts, and the motor fixing bracket 13 is fixedly connected with the towed body frame 2 through bolts.
In this embodiment, the pitch adjustment motor 15 and the roll adjustment motor 14 are both waterproof servo motors.
As shown in fig. 3, the deep sea towed body including the multi-attitude adjusting device includes a tail wing 1, a towed body frame 2, a counterweight 3, an attitude adjusting system 4, a depth control system 5, a towed body control system 7, a buoyancy material 8 and two side wings 9, wherein the tail wing 1, the counterweight 3 and the buoyancy material 8 are all fixed on the towed body frame 2, the buoyancy material 8 is located at the front of the towed body frame 2, and the tail wing 1 and the counterweight 3 are located at the rear of the towed body frame 2, and the attitude adjusting system 4, the depth control system 5 and the towed body control system 7 are respectively fixed on the towed body frame 2 through a subsystem support frame 6. Two flanks 9 all are located towed body frame 2, and both sides wing 9 are the symmetry and set up, and gesture governing system 4 is located the below of flank 9, and the bottom surface of two flanks 9 is connected with gesture governing system 4 respectively, adjusts the motion gesture of flank through gesture governing system 4 to the realization is to the regulation of the angle of pitch and the roll angle of deep sea towed body, is the symmetry setting between two gesture governing systems 4 that both sides wing 9 below set up.
The process of carrying out the attitude adjustment on the deep sea support body by the attitude adjusting device is as follows:
when the attitude sensor detects that the roll angle of the deep sea towed body exceeds a preset expected range, the roll adjusting motor 14 acts, the roll angle of the side wing is adjusted through the pitch adjusting coupling 16 and the pitch adjusting transmission shaft 18, and when the attitude sensor detects that the roll angle of the deep sea towed body returns to the expected range, the roll adjusting motor 14 is powered off.
The expected range of the transverse rolling angle of the deep sea towed body is set as (-phi)0,φ0) Wherein phi is not more than 00Less than or equal to pi/2, and the opening angle of the side wing 9 is phiwingWherein the opening angle is the included angle between the side wing and the side surface of the towed body, and phi is more than or equal to 0wingNot more than pi/2, when the attitude sensor detects that the roll angle phi of the deep-sea towed body exceeds the expected range, the roll motion of the deep-sea towed body is violent, the roll adjusting motor 14 acts, and the opening angle phi of the side wing 9 is increased through the roll adjusting coupling 19 and the roll adjusting transmission shaft 20wingAnd phi is not less than 0wingNot more than pi/2, increasing the stress area of the horizontal plane of the deep-sea towed body, reducing the roll angle of the deep-sea towed body, and monitoring the roll angle phi of the deep-sea towed body by the attitude sensor in real time0Whether or not-phi is satisfied0≤φ≤φ0If the lateral rolling angle phi is not satisfied, the lateral rolling adjustment is stopped, and if the lateral rolling angle phi is not satisfied, the opening angle phi of the lateral wing is continuously increasedwing。
When the attitude sensor detects that the pitch angle of the deep sea towed body exceeds a preset expected range, the pitch adjusting motor 15 acts, the pitch angle of the side wing 9 is adjusted through the pitch adjusting coupler 16 and the pitch adjusting transmission shaft 18, and when the attitude sensor detects that the pitch angle of the deep sea towed body returns to the expected range, the pitch adjusting motor 15 is powered off.
The expected range of the deep sea towed body pitch angle is set as (-theta)0,θ0) Wherein 0 is not more than theta0Less than or equal to pi/2, and the pitching angle of the side wing 9 is thetawing，-π/2≤θwingNot more than pi/2, when the attitude sensor detects that the pitch angle pi/2 of the deep sea towed body is not less than theta and not less than theta0When the upper elevation angle of the towed body is too large, the pitching adjusting motor 15 acts, and the pitching angle theta of the side wing 9 is adjusted through the pitching adjusting coupling 16 and the pitching adjusting transmission shaft 15wingAnd-pi/2<θwing<0, as shown in FIG. 4(a), the fluid resistance F experienced by the side flap 9 can be decomposed into component forces F directed perpendicular to the downward direction of the side flap1And a force component F parallel to the wing2By a component F directed perpendicularly to the flank1The deep sea towed body is bent downwards, and simultaneously, the attitude sensor monitors whether the pitch angle theta of the deep sea towed body meets-theta in real time0≤θ≤θ0If so, stopping the pitch adjustment, and if not, continuing to decrease the pitch angle theta of the side wing 9wing(ii) a When the attitude sensor detects that the pitch angle-pi/2 of the deep sea towed body is more than or equal to theta and is less than or equal to theta0When the angle of depression of the towed body is too large, the pitch adjusting motor 15 acts, and the pitch angle theta of the side wing 9 is adjusted through the pitch adjusting coupling 16 and the pitch adjusting transmission shaft 15wingAnd 0 is<θwing<π/2, as shown in FIG. 4(b), the fluid resistance F experienced by the wing 9 can be decomposed into components F directed perpendicular to the wing in the upward direction3And a component F parallel to the flank4By means of upward component F perpendicular to the side wings3Enabling the deep sea towed body to pitch upwards, and simultaneously monitoring whether the pitch angle theta of the deep sea towed body meets-theta or not in real time by the attitude sensor0≤θ≤θ0If the angle is not satisfied, the pitch angle theta of the side wing is continuously increasedwing。
It is right above that the utility model provides a many attitudes adjusting device for deep sea towed body has carried out detailed introduction. The principles and embodiments of the present invention have been explained herein using specific examples, and the above descriptions of the embodiments are only used to help understand the method and its core ideas of the present invention. It should be noted that, for those skilled in the art, without departing from the principle of the present invention, the present invention can be further modified and modified, and such modifications and modifications also fall within the protection scope of the appended claims. The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (2)
1. The utility model provides a many gesture adjusting device for deep sea towed body which characterized in that: the pitching adjusting mechanism is connected with the rolling adjusting mechanism through a connecting piece (12) between motors, the pitching adjusting mechanism comprises a pitching adjusting motor (15), a pitching adjusting coupler (16), a pitching adjusting transmission shaft (18) and a connecting plate (31), an output shaft of the pitching adjusting motor (15) is connected with the pitching adjusting transmission shaft (18) through the pitching adjusting coupler (16), the connecting plate (31) is located below the side wing (9), the connecting plate (31) is fixedly connected with the bottom surface of the side wing (9), one end of the pitching adjusting transmission shaft (18) is connected with the pitching adjusting coupler (16), the other end of the pitching adjusting transmission shaft is connected with the connecting plate (31) through a locking nut (17), and the pitching adjusting motor (15) is fixed on the connecting piece (12) between the motors;
the roll adjusting mechanism comprises a roll adjusting motor (14), a roll adjusting coupler (19), a roll adjusting transmission shaft (20) and a motor fixing support (13), an output shaft of the roll adjusting motor (14) is connected with the roll adjusting transmission shaft (20) through the roll adjusting coupler (19), one end of the roll adjusting transmission shaft (20) is connected with the roll adjusting coupler (19), the other end of the roll adjusting transmission shaft is connected with a motor connecting piece (12), the roll adjusting motor (14) is fixed on the motor fixing support (13), and the motor fixing support (13) is fixedly connected with the towing body frame (2).
2. The multi-attitude adjustment apparatus for a deep-sea towed body according to claim 1, wherein: the connecting piece (12) between the motors is fixedly connected with a hinge (11), the bottom end of the telescopic rod (10) is fixedly connected with the hinge (11) through a bolt, and the top end of the telescopic rod (10) is fixedly connected with the buoyancy material (8).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022702244.8U CN213800127U (en) | 2020-11-20 | 2020-11-20 | Multi-posture adjusting device for deep sea towed body |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022702244.8U CN213800127U (en) | 2020-11-20 | 2020-11-20 | Multi-posture adjusting device for deep sea towed body |
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| Publication Number | Publication Date |
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| CN213800127U true CN213800127U (en) | 2021-07-27 |
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| CN202022702244.8U Expired - Fee Related CN213800127U (en) | 2020-11-20 | 2020-11-20 | Multi-posture adjusting device for deep sea towed body |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114578447A (en) * | 2022-02-16 | 2022-06-03 | 青岛海洋地质研究所 | Dragging type cold spring plume three-dimensional detection device and detection method |
-
2020
- 2020-11-20 CN CN202022702244.8U patent/CN213800127U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114578447A (en) * | 2022-02-16 | 2022-06-03 | 青岛海洋地质研究所 | Dragging type cold spring plume three-dimensional detection device and detection method |
| CN114578447B (en) * | 2022-02-16 | 2024-04-12 | 青岛海洋地质研究所 | Towed cold spring plume three-dimensional detection device and detection method |
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| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20210727 |