CN215514068U - Underwater gliding device capable of collecting information for long time - Google Patents
Underwater gliding device capable of collecting information for long time Download PDFInfo
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- CN215514068U CN215514068U CN202121094682.9U CN202121094682U CN215514068U CN 215514068 U CN215514068 U CN 215514068U CN 202121094682 U CN202121094682 U CN 202121094682U CN 215514068 U CN215514068 U CN 215514068U
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- adjusting module
- buoyancy
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Abstract
The utility model discloses an underwater gliding device capable of collecting information for a long time, which comprises a head cabin section, a posture adjusting cabin section, an equipment mounting cabin section, a buoyancy adjusting cabin section and a tail cabin section which are hermetically connected in sequence, wherein horizontal wings are symmetrically arranged on two sides of the equipment installation cabin section, an attitude adjusting module for changing a pitch angle is arranged in the attitude adjusting cabin section, a power battery and a control unit are fixedly arranged in the equipment installation cabin section, a buoyancy adjusting module is arranged in the buoyancy adjusting cabin section, the upper end of the tail cabin section is provided with a tail wing, the posture adjusting module comprises a first ball screw assembly and a counterweight driving power supply arranged on the first ball screw assembly, the horizontal wing is provided with a worm gear generator, the worm gear generator is connected with the power battery through the voltage stabilizer, and the control unit is electrically connected with the buoyancy adjusting module and the posture adjusting module. The problem of current glider under water structure complicacy, energy utilization rate hang down, continuation of the journey not enough is solved.
Description
Technical Field
The utility model relates to the field of underwater gliders, in particular to an underwater gliding device capable of collecting information for a long time.
Background
The underwater glider is a special type of underwater autonomous vehicle, which has no power device such as a propeller or a propeller, controls the buoyancy change of the underwater glider through a variable buoyancy system in the underwater glider, and converts positive buoyancy and negative buoyancy into forward thrust through the glider, thereby driving the glider to advance. The propulsion is obtained by utilizing the adjustment of the net buoyancy and the attitude angle, the energy consumption is low, only a small amount of energy is consumed when the net buoyancy and the attitude angle are adjusted, and the propulsion has the characteristics of high efficiency and large endurance. The high-efficiency characteristic of the device is accompanied by the relatively fixed motion form and posture, the device can only make zigzag and spiral rotary track navigation under water, the body posture can not be in a horizontal state, only one attack angle can be kept for gliding, the body rotary radius is large, obvious defects exist when a diversity observation task is executed, the track control and positioning accuracy is low, the navigation speed is slow, and the condition of wave following and flow following can occur on the sea surface with large wind waves. The existing underwater glider in China generally has insufficient endurance, so that a long-time observation task cannot be completed; meanwhile, the manpower and cost for recovering and re-arranging the underwater glider are increased, and the development of the ocean science and the related ocean business in China is severely restricted. Taking the observation of the mesoscale vortex phenomenon in the ocean by an underwater glider as an example, the survival time of the vortex with longer service life can reach more than 170 days; the cruising ability of the domestic underwater glider can not reach half a year, and the data of the whole evolution process of generating, continuing, splitting, converging and dissipating the mesoscale vortex can not be obtained. Therefore, the demand of domestic marine research institutions and marine business units on the long-endurance underwater glider is very urgent.
SUMMERY OF THE UTILITY MODEL
The utility model aims to provide an underwater gliding device capable of collecting information for a long time, and aims to solve the problems that an underwater gliding machine in the prior art is complex in structure, low in energy utilization rate and insufficient in endurance.
In order to achieve the purpose, the utility model provides the following technical scheme: an underwater gliding device capable of collecting information for a long time comprises a head cabin section, a posture adjusting cabin section, an equipment installation cabin section, a buoyancy adjusting cabin section and a tail cabin section which are sequentially connected in a sealing way, wherein horizontal wings are symmetrically arranged on two sides of the equipment installation cabin section, an attitude adjusting module for changing a pitch angle is arranged in the attitude adjusting cabin section, a power battery and a control unit are fixedly arranged in the equipment installation cabin section, a buoyancy adjusting module is arranged in the buoyancy adjusting cabin section, the upper end of the tail cabin section is provided with a tail wing, the posture adjusting module comprises a first ball screw assembly and a counterweight driving power supply arranged on the first ball screw assembly, the horizontal wing is provided with a worm gear generator, the worm gear generator is connected with the power battery through the voltage stabilizer, and the control unit is electrically connected with the buoyancy adjusting module and the posture adjusting module. In the initial stage of submergence, the self drainage volume is reduced through the buoyancy adjusting module, so that the gravity is larger than the buoyancy, and submergence is started; after the set depth is reached, the self-drainage volume is changed under the action of the buoyancy adjusting module, so that the buoyancy borne by the self-drainage volume is larger than the gravity, and the conversion from submergence to floating is realized. In the submergence and upward floating processes, the horizontal motion is generated by means of the hydrodynamic force on the fixed horizontal wing, so that sawtooth-shaped gliding motion in a longitudinal plane is realized. In the gliding process, the inner counterweight driving power supply is adjusted to move back and forth along the main axis of the glider, so that the self posture of the glider is controlled. The marine mobile observation and detection device has the characteristics of low power consumption, good concealment, high efficiency, strong cruising power, low maintenance cost, reusability, large-amount throwing and the like, can be used as marine mobile observation and detection equipment, and can be widely applied to construction of marine safety systems and hydrological environment observation systems.
As a further improvement of the above technical solution:
the buoyancy adjusting module comprises a second ball screw assembly and a bellows connected with the second ball screw assembly, and one end of the bellows is connected with the outside.
The first ball screw assembly comprises a first ball screw and a first ball screw pair, and the counterweight driving power supply is arranged on the first ball screw pair.
The second ball screw assembly comprises a second ball screw and a second ball screw pair, and the bellows is connected with the second ball screw pair.
The first ball screw and the second ball screw are connected through a coupler, and a driving motor is arranged at the coupler.
Compared with the prior art, the utility model has the beneficial effects that:
the underwater gliding device capable of collecting information for a long time is provided with various sensors to acquire various data information. Including acoustics vector hydrophone and corresponding signal processing system, can effectually obtain the first ball screw of azimuth information and the second ball screw of target under water and adopt same set of controlgear to drive, the energy consumption is low, sets up worm gear generator on the horizontal wing and charges to power battery, has guaranteed the live time of gliding device, separates controlgear's power and sports equipment's power, has prolonged the power live time, is favorable to realizing long-time data acquisition.
Drawings
FIG. 1 is a schematic bottom view of the present invention;
FIG. 2 is a schematic front view of the present invention;
FIG. 3 is a schematic view of the internal structure of the present invention.
Reference numerals: 1. a head cabin section; 2. a posture adjustment cabin section; 3. an equipment installation bay section; 4. a coupling; 5. a buoyancy regulating cabin section; 6. a tail cabin section; 7. a horizontal wing; 31. a power battery; 61. a tail wing; 71. a worm gear generator; 213. a counterweight drive power supply; 214. a first ball screw; 215. a first ball screw pair; 25. a drive motor; 522. a bellows; 523. a second ball screw; 524. and a second ball screw pair.
Detailed Description
In order to make the technical means, the creation characteristics, the achievement purposes and the effects of the utility model easy to understand, the utility model is further described with the specific embodiments.
In the description of the present invention, it should be noted that the terms "upper", "lower", "inner", "outer", "front", "rear", "both ends", "one end", "the other end", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "disposed," "connected," and the like are to be construed broadly, such as "connected," which may be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As shown in fig. 1 to 3, the underwater gliding device capable of collecting information for a long time according to the present embodiment includes a pressure-resistant structural casing, which uses an elliptical revolving body shape and has a good hydrodynamic characteristic. The sealing performance requirement is high, the underwater working reliability of the device is improved, and the duration time of a task is prolonged. The pressure-resistant shell comprises a head cabin section 1, a posture adjusting cabin section 2, an equipment installation cabin section 3, a buoyancy adjusting cabin section 5 and a tail cabin section 6 which are sequentially connected in a sealing manner, a pressure-resistant shell at each cabin end is made of hard aluminum alloy, and an O-shaped ring and a waterproof gasket are arranged between an end cover and the shell between the cabin sections for sealing. The head cabin section 1 can be loaded with various sensors (CTD or forward looking, side scanning sonar and the like), and the surface of the shell is specially processed to reduce the attachment and propagation of marine organisms. Horizontal wings 7 are symmetrically installed on two sides of the equipment installation cabin section 3, an attitude adjusting module for changing a pitch angle is installed in the attitude adjusting cabin section 2, a power battery 31 and a control unit are fixedly installed in the equipment installation cabin section 3, a buoyancy adjusting module is installed in the buoyancy adjusting cabin section 5, a tail wing 61 is installed at the upper end of the tail cabin section 6, the attitude adjusting module comprises a first ball screw assembly and a counterweight driving power source 213 arranged on the first ball screw assembly, a worm gear generator 71 is arranged on the horizontal wings 7, the worm gear generator 71 is connected with the power battery 31 through a voltage stabilizer, and the control unit is electrically connected with the buoyancy adjusting module and the attitude adjusting module. The horizontal wing 7 and the tail wing 61 both adopt NACA wing shapes, the counterweight driving power supply 213 provides necessary energy for various loaded electronic equipment and simultaneously meets a long-term low-power output state, and the power battery 31 provides necessary energy for the buoyancy regulating module and the attitude regulating module and meets two short-term high-power output states. The whole device drives the worm wheel generator 71 to operate in the water movement process, the obtained electric energy is transmitted to the power battery 31, the power battery 31 can be charged, and the service life of the gliding device is prolonged.
The buoyancy adjusting module includes a second ball screw assembly and a bellows 522 connected to the second ball screw assembly, and one end of the bellows 522 is connected to the outside. The first ball screw assembly includes a first ball screw 214 and a first ball screw pair 215, and a counterweight driving power source 213 is provided on the first ball screw pair 215. The second ball screw assembly includes a second ball screw 523 and a second ball screw pair 524, and the bellows 522 is connected to the second ball screw pair 524. The first ball screw 214 and the second ball screw 523 are connected by a coupling 4, and a driving motor 25 is provided at the coupling 4. The coupling 4 is a power distribution mechanism, the driving motor 25 is connected to the coupling 4 to drive the first ball screw 214 and the second ball screw 523 to move, and then drive the first ball screw pair 215 and the second ball screw pair 524 to move, the movement may be synchronous equidirectional movement, equidirectional movement with different speeds, synchronous reverse movement, or reverse movement with different speeds, and the movement mode can be known by those skilled in the art with reference to automobile transmission and mechanical transmission.
When the water body lifting device is used, the driving motor 25 drives the first ball screw 214 and the second ball screw 523 at two ends of the coupler 4 to rotate, the coupler 4 is controlled by the control unit, the output speed and the output direction are controlled, buoyancy change and posture change are realized, when the water body lifting device moves downwards, the counterweight driving power source 213 moves towards the head cabin section 1, the second ball screw pair 524 drives the corrugated bag 522 to move towards the head cabin section 1, the water body enters the corrugated bag 522, the buoyancy is reduced, when the water body lifting device moves upwards, the counterweight driving power source 213 moves towards the tail cabin section 6, the second ball screw pair 524 drives the corrugated bag 522 to move towards the tail cabin section 6, the water body is pushed out of the corrugated bag 522, the buoyancy is reduced, and the movement of the water body is controlled by the control unit to the coupler 4. The control unit can adjust the posture through the adjustment of the upper computer.
The foregoing is merely an example of the present invention and common general knowledge of known specific structures and features of the embodiments is not described herein in any greater detail. It will be evident to those skilled in the art that the utility model is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the utility model being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Claims (5)
1. The utility model provides a but device of gliding under water of long-time information collection, is including head cabin section (1), gesture regulation cabin section (2), equipment fixing cabin section (3), buoyancy regulation cabin section (5) and afterbody cabin section (6) of sealing connection in proper order, and wherein horizontal wing (7) are installed to the bilateral symmetry of equipment fixing cabin section (3), install the gesture adjusting module that changes the angle of pitch in gesture regulation cabin section (2), fixed mounting has power battery (31) and the control unit in equipment fixing cabin section (3), install buoyancy regulation module in buoyancy regulation cabin section (5), fin (61), its characterized in that are installed to afterbody cabin section (6) upper end: the attitude adjusting module comprises a first ball screw assembly and a counterweight driving power supply (213) arranged on the first ball screw assembly, a worm gear generator (71) is arranged on the horizontal wing (7), the worm gear generator (71) is connected with a power battery (31) through a voltage stabilizer, and the control unit is electrically connected with the buoyancy adjusting module and the attitude adjusting module.
2. The underwater gliding device capable of collecting information for a long time according to claim 1, wherein: the buoyancy adjusting module comprises a second ball screw assembly and a bellows (522) connected with the second ball screw assembly, and one end of the bellows (522) is connected with the outside.
3. The underwater gliding device capable of collecting information for a long time according to claim 2, wherein: the first ball screw assembly comprises a first ball screw (214) and a first ball screw pair (215), and the counterweight driving power supply (213) is arranged on the first ball screw pair (215).
4. The underwater gliding device capable of collecting information for a long time according to claim 3, wherein: the second ball screw assembly comprises a second ball screw (523) and a second ball screw pair (524), and the bellows (522) is connected with the second ball screw pair (524).
5. The underwater gliding device capable of collecting information for a long time according to claim 4, wherein: the first ball screw (214) is connected with the second ball screw (523) through a coupler (4), and a driving motor (25) is arranged at the coupler (4).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121094682.9U CN215514068U (en) | 2021-05-21 | 2021-05-21 | Underwater gliding device capable of collecting information for long time |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121094682.9U CN215514068U (en) | 2021-05-21 | 2021-05-21 | Underwater gliding device capable of collecting information for long time |
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| CN215514068U true CN215514068U (en) | 2022-01-14 |
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| CN202121094682.9U Active CN215514068U (en) | 2021-05-21 | 2021-05-21 | Underwater gliding device capable of collecting information for long time |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113448354A (en) * | 2021-05-31 | 2021-09-28 | 青岛海洋地质研究所 | Deep sea camera system and control method thereof |
| CN116215813A (en) * | 2023-05-09 | 2023-06-06 | 清华四川能源互联网研究院 | Composite buoyancy adjusting device, autonomous underwater vehicle and control method of autonomous underwater vehicle |
-
2021
- 2021-05-21 CN CN202121094682.9U patent/CN215514068U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113448354A (en) * | 2021-05-31 | 2021-09-28 | 青岛海洋地质研究所 | Deep sea camera system and control method thereof |
| CN113448354B (en) * | 2021-05-31 | 2022-06-14 | 青岛海洋地质研究所 | Deep sea camera system and control method thereof |
| CN116215813A (en) * | 2023-05-09 | 2023-06-06 | 清华四川能源互联网研究院 | Composite buoyancy adjusting device, autonomous underwater vehicle and control method of autonomous underwater vehicle |
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