WO2017078194A1 - Underwater moving apparatus with maneuvering performance - Google Patents

Underwater moving apparatus with maneuvering performance Download PDF

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Publication number
WO2017078194A1
WO2017078194A1 PCT/KR2015/011818 KR2015011818W WO2017078194A1 WO 2017078194 A1 WO2017078194 A1 WO 2017078194A1 KR 2015011818 W KR2015011818 W KR 2015011818W WO 2017078194 A1 WO2017078194 A1 WO 2017078194A1
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WO
WIPO (PCT)
Prior art keywords
ridge
ridges
underwater
moving apparatus
driver
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PCT/KR2015/011818
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French (fr)
Korean (ko)
Inventor
최해천
방경태
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서울대학교산학협력단
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Priority to PCT/KR2015/011818 priority Critical patent/WO2017078194A1/en
Publication of WO2017078194A1 publication Critical patent/WO2017078194A1/en

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
    • B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
    • B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
    • B63G8/14—Control of attitude or depth
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F42—AMMUNITION; BLASTING
    • F42B—EXPLOSIVE CHARGES, e.g. FOR BLASTING, FIREWORKS, AMMUNITION
    • F42B19/00—Marine torpedoes, e.g. launched by surface vessels or submarines; Sea mines having self-propulsion means
    • F42B19/01—Steering control

Definitions

  • the present invention relates to an underwater mobile device having a submersible function such as a submarine, a submersible, a torpedo, and more particularly, to an underwater mobile device having improved maneuverability in the water.
  • Submersible submarines, submersibles and torpedoes are submersible submersible devices with submersible functions. Submersibles are also called submersibles, and there is no exact standard for distinguishing between submarines and submersibles. In general, a submersible means that one to five passengers ride around 40 tons.
  • the submersible was first developed for military purposes to stealthily sneak in ships while secretly immersing in ports, but is currently used for a variety of non-military purposes, not only for military use, but also for marine research, deep sea development, and rescue activities.
  • research on submersibles that can dive deep into the sea has been conducted in recent years as the recognition that the use of resources, energy, and space possessed by the vast ocean is essential for humankind.
  • submarine manned submersible submersibles and remote manned submersibles that do not board. Remote submersible submarines are equipped with vertical and horizontal mobile devices, automatic robotic arms, television transmitters, and video cameras.
  • Submarines are naval vessels that can be navigated underwater, carrying out military operations with torpedoes and missiles as their main weapons.
  • Torpedoes are self-propelled explosive projectile weapons that are designed to be fired above or below the surface, propelled into the water, aimed at the target, and detonated when colliding or approaching the target. Torpedoes can be thought of as rockets that go underwater. They are usually screwed and used as rockets. Torpedoes are divided into several classes, depending on the source of the propulsion force, the way of maneuvering in the water, the type of target and the type of launching device. Propulsion is usually obtained through battery operated electric movers. The course in the water is controlled in many ways. An active torpedo emits a sound wave signal similar to a sonar, then hits a target and returns to it. Negative acoustic torpedoes detect and approach noise from targets.
  • Underwater mobile devices such as submarines, submersibles and torpedoes are typically manufactured in a streamlined form to reduce resistance during underwater movement.
  • various studies have been continuously conducted to reduce the resistance of underwater movement devices during underwater movement.
  • Korean Patent Publication No. 1995-0027359 (October 16, 1995) provides an air jet port in front of a body such as a torpedo or an underwater launch missile and injects air therethrough, thereby providing a body such as a torpedo or underwater launch missile.
  • a technique is disclosed that can reduce the resistance the body receives when forming an air layer between water.
  • JP 2012-0065454 A 2012. 06. 21.
  • a traction propulsion system is provided at the forefront, and through this, an air film is formed along the tubular hull, thereby preventing contact between the hull surface and water, thereby causing friction of the submarine surface.
  • Techniques for reducing resistance are disclosed.
  • the prior art as described above has various problems.
  • the propulsion system since it must be installed at the head of the underwater mobile device, there is a limited object to which it can be applied.
  • the above-described prior art has a difficulty in improving the starting performance when the angle of attack of the underwater mobile device is large during the movement of the underwater mobile device.
  • the present invention has been made to solve the necessity as described above, and is provided with a maneuvering performance improving device capable of improving maneuvering performance during underwater movement, thereby providing an underwater moving apparatus having improved maneuverability under a large moving angle. It aims to do it.
  • an underwater moving device having improved maneuverability.
  • a plurality of long grooves provided on an outer surface of the mobile body in a longitudinal direction of the mobile body;
  • a plurality of ridges disposed in the longitudinal direction of the movable body so as to protrude from the outer surface of the movable body and installed in the longitudinal direction of the movable body;
  • a ridge driver installed inside the mover body to move the plurality of ridges so as to protrude from an outer surface of the mover body;
  • the ridge protrudes from the outer surface of the moving body to form a vortex on the outer surface of the moving body when the angle of attack of the moving body increases during the underwater movement of the moving body.
  • the controller includes; a controller for controlling the ridge driver to prevent the flow separation of the.
  • the underwater moving device greatly improves the lift coefficient and the lifting ratio by the ridge of the moving performance improving device protruding from the outer surface of the moving device body in a starting situation such as turning or avoiding. Therefore, the turning ability and the avoidance starting ability are excellent.
  • the ridge of the maneuvering performance improving device is accommodated in the long groove of the moving device body and protrudes from the outer surface of the moving device body only when necessary, such as a large starting angle, the resistance does not occur due to the ridge during the cruise.
  • the frontal head is made of a multi-curvature shape, the drag and flow noise is small.
  • FIG. 1 is a side view showing an underwater mobile device with improved maneuverability according to an embodiment of the present invention.
  • FIG. 2 is a block diagram showing a partial configuration of the underwater mobile device shown in FIG. 1.
  • FIG. 3 is a side view showing the multi-curvature head of the underwater mobile device shown in FIG.
  • FIG. 4 is a perspective view showing the rear of the underwater mobile device shown in FIG.
  • FIG. 5 is a cross-sectional view taken along the line II of FIG. 4.
  • FIG. 6 is a cross-sectional view showing the main configuration of the underwater mobile device with improved maneuverability according to another embodiment of the present invention.
  • FIG. 7 is a block diagram showing a partial configuration of the underwater mobile device shown in FIG. 6.
  • the present invention relates to an underwater mobile device having a submersible function such as a submarine, a submersible, a torpedo, and the like, and is provided with a maneuverability improving device capable of improving maneuverability during underwater movement, thereby improving maneuverability in moving conditions such as a sharp turning angle. will be.
  • FIG. 1 is a side view showing an underwater mobile device having improved maneuverability according to an embodiment of the present invention
  • FIG. 2 is a block diagram showing a partial configuration of the underwater mobile device shown in FIG. 1
  • FIG. 4 is a side view showing the multi-curvature head of the moving device
  • FIG. 4 is a perspective view showing the rear of the underwater moving device shown in FIG. 1
  • FIG. 5 is a cross-sectional view taken along the line I-I of FIG.
  • the underwater mobile device 100 with improved maneuverability is a mobile device 110, and a mobile device body to improve the maneuvering performance during underwater movement ( It includes a maneuvering performance improving device 130 installed in 110, and a controller 140 for controlling the overall operation of the underwater mobile device (100).
  • the maneuvering performance improving device 130 installed in the moving device body 110 includes a plurality of ridges 131 that mimic the longitudinal streaks of the long-necked turtle shell, and the maneuvering performance improving device 130 includes an underwater moving device.
  • the receiving angle such as a sharp turn during the underwater movement is large, the lifting force and the lifting ratio may be greatly improved, so that the maneuvering performance of the underwater movement apparatus 100 may be improved.
  • the moving device body 110 is formed in a streamline like a conventional underwater moving device having a submersible function such as a submarine, a submersible, a torpedo, and a propeller 115 is installed at the rear.
  • the front end of the moving device body 110 is provided with a multi-curvature head 120 having a multi-curvature shape, the width of which gradually decreases toward the front side and whose outer surface is gentle.
  • the multi-curvature head 120 is a first outer periphery 121 is gently connected to the moving device body 110, the first outer periphery 121 is gently connected to the first And a second outer circumferential edge 122 and a third outer circumferential edge 123 gently connected to the second outer circumferential edge 122.
  • the first outer periphery 121 has an axisymmetric structure having a width gradually decreasing toward the front and having a first plus curvature R1 along the periphery thereof.
  • the second outer periphery 122 has an axisymmetric structure with its width gradually decreasing toward the front and having a negative curvature R2 along its edge.
  • the third outer circumference 123 has an axisymmetric structure having a width gradually decreasing toward the front and having a second plus curvature R3 along its edge.
  • the underwater movement apparatus 100 has a frontal portion made of a multi-curvature shape, so that the surface frictional resistance and the shape resistance are small.
  • the maneuvering performance improving device 130 moves a plurality of ridges 131 and a plurality of ridges 131 provided in the longitudinal direction of the moving device body 110. It includes a plurality of ridge driver 135 installed in the moving body body 110 to move to protrude from the outer surface of the device body (110).
  • the mover body 110 is provided with a plurality of ridge receiving members 132 in the longitudinal direction of the mover body 110, and the ridge 131 is installed in the long groove 133 provided in the ridge receiving member 132. .
  • the ridge 131 may move in and out of the long groove 133 to protrude from the outer surface of the moving device body 110.
  • the ridge 131 is moved outward of the intestinal groove 133 so as to protrude from the outer surface of the mobile body 110 by the ridge driver 135, or does not protrude from the outer surface of the mobile body 110 in the long groove 133. It may move inward of the intestinal groove 133 to be completely received.
  • the ridge driver 135 includes an actuation rod 136 coupled to the ridge 131 and an actuator 137 for advancing the actuation rod 136.
  • the ridge 131 can protrude from the outer surface of the mover body 110 by the actuator 137 advancing the actuation rod 136, and the ridge 131 as the actuator 137 retracts the actuation rod 136. It can be completely accommodated in the long groove 133.
  • the actuator 137 of the ridge driver 135 is disposed outside the ridge receiving member 132, and the operating rod 136 of the ridge driver 135 has a through hole 134 provided in the ridge receiving member 132.
  • the ridge driver 135 may be installed in the long groove (133).
  • the ridge driver 135 is provided with a plurality of ridges 131 to correspond one-to-one, and the operation of the ridge driver 135 is controlled by the controller 140.
  • the controller 140 receives information about the attitude of the underwater mobile device 100 from the posture detector 150 installed in the mobile body 110, and uses the information of the posture detector 150 to provide a plurality of ridge drivers 135. ).
  • the posture detector 150 includes a gyro sensor, an acceleration sensor, or other sensors capable of detecting the posture of the underwater mobile device 100.
  • the posture detector 150 detects a posture such as a tilt of the underwater mobile device 100 and detects the posture. Provide a signal to the controller 140.
  • the controller 140 grasps a posture such as an angle of inclination or tilt of the underwater mobile device 100 from the detection signal of the posture detector 150 and controls the operation of the ridge driver 135 accordingly.
  • the controller 140 operates the ridge driver 135 to operate the ridge 131.
  • the ridge 131 forms a vortex on the outer surface of the mover body 110, thereby preventing the flow separation from the mover body 110 and greatly improving the lift coefficient and the lift ratio of the underwater mover 100.
  • the controller 140 may collectively control or individually control the plurality of ridge drivers 135 according to the starting condition of the underwater mobile device 100. That is, the plurality of ridges 131 may protrude from the outer surface of the mobile body 110 or enter into the long groove 133, or may individually protrude from the outer surface of the mobile body 110 or into the long groove 133. You can enter
  • the ridge 131 of the moving performance improving device 130 is moved from the outer surface of the moving device body 110 in the starting situation in which the angle of attack is increased by a predetermined angle or more.
  • the protrusion greatly improves the lift coefficient and the lift ratio. Therefore, the turning ability and the avoidance starting ability are excellent.
  • the ridge 131 since the ridge 131 is accommodated in the long groove 133, the ridge 131 protrudes from the outer surface of the mobile body 110 only in a large starting angle, so that the resistance does not increase by the ridge 131 during the cruise.
  • Figure 6 is a cross-sectional view showing the main configuration of the underwater mobile device with improved maneuverability according to another embodiment of the present invention
  • Figure 7 is a block diagram showing a part of the configuration of the underwater mobile device shown in FIG.
  • the underwater moving device 200 having improved maneuverability includes a moving device body 110 and a moving performance improving device installed in the moving device body 110 to improve the moving performance during underwater movement. 210 and a controller 140 for controlling the overall operation of the underwater mobile device 200.
  • the underwater mobile device 200 according to the present embodiment of the present invention is compared to the above-described underwater mobile device 100 of the mobile performance improving device 210 installed in the mobile device body 110 to improve the mobile performance during underwater movement. As some of the components have been changed, the remaining components such as the mobile body 110 and the controller 140 are the same as described above.
  • the maneuvering performance improving device 210 collectively includes a plurality of ridges 131 and a plurality of ridges 131 which are installed to move in and out of the plurality of long grooves 133 provided in the moving device body 110. It includes one ridge driver 211 installed in the moving body 110 to operate. The plurality of ridges 131 are moved outward of the long groove 133 so as to protrude from the outer surface of the mobile body 110 by one ridge driver 211, or the long ridge without protruding from the outer surface of the mobile body 110. It may move inward of the long groove 133 to be completely accommodated in (133).
  • the ridge driver 211 includes a plurality of ridge operating members 212 connected to each of the plurality of ridges 131, a plurality of power transmission mechanisms 213 connected one to one to the plurality of ridge operating members 212, and a plurality of ridge operating members 212. It includes a drive source 217 connected to the plurality of power transmission mechanism 213 to provide a driving force to the power transmission mechanism 213.
  • the power transmission mechanism 213 includes a cam 214 connected to the ridge operating member 212 and a connecting mechanism 216 for connecting the cam 214 and the drive source 217.
  • the cam 214 is installed to rotate about the center of rotation of the support shaft 215 disposed perpendicularly to the moving direction of the ridge 131 in the moving device body 110.
  • the driving force of the driving source 217 is transmitted to the cam 214 through the connecting mechanism 216 so that the cam 214 rotates about the support shaft 215.
  • the ridge operating member 212 is slidably coupled to the through hole 134 provided in the ridge receiving member 132 in which the ridge 131 is accommodated so that the ridge 131 is pushed when the cam 214 pushes the ridge operating member 212. ) Is moved to the outside of the long groove 133 is protruded to the outer surface of the moving device body (110).
  • the long groove 133 of the ridge receiving member 132 has a return mechanism 220 for returning the ridge 131 protruding from the outer surface of the moving body 110 by the cam 214 to its original position received in the long groove 133.
  • the return mechanism 220 has a coil spring shape, one end of which is coupled to the ridge 131 and the other end of which is coupled to the ridge receiving member 132.
  • the return mechanism 220 is elastically deformed when the ridge 131 moves to protrude from the outer surface of the moving body 110 by the cam 214, and the elasticity of the return mechanism 220 is removed when the pressing force of the cam 214 is removed.
  • the ridge 131 enters the intestinal groove 133 so that the ridge 131 does not protrude from the outer surface of the moving body 110 by the restoring force.
  • the ridge driver 211 of the underwater mobile device 200 is also controlled by the controller 140.
  • the controller 140 receives the information on the attitude of the underwater mobile device 200 from the posture detector 150 to operate the ridge driver 211 during a large starting angle, such as a sharp turn, so that the underwater mobile device 200 operates a plurality of ridges. Protruding the 131 from the outer surface of the mover body 110 greatly improves the lift coefficient and the lift ratio.
  • the ridge 131 is shown to have a cross-sectional shape that gradually decreases in width as the ridge 131 goes to the outside of the moving device body 110, the ridge may be variously changed in shape and specific structure. have.
  • the number of installation of the ridge or the installation position in the moving device body is not limited to the illustrated and can be variously changed.
  • the specific structure of the ridge driver provided in the number corresponding to the ridge to operate the ridges individually, or the specific structure of the ridge driver provided with one to collectively operate a plurality of ridges is not limited to the illustrated and may be variously changed Can be.
  • FIG. 6 shows that the ridge driver 211 is connected to each of the cams 214, a plurality of connecting mechanisms 216 having a belt structure are connected to one drive source 217.
  • the connecting mechanism for the purpose can be changed to various other structures other than the belt structure.
  • the ridge driver can be changed to various other structures other than the cam structure.
  • the return mechanism 220 for returning the ridge 131 protruding from the outer surface of the mover body 110 by the ridge driver to its original position may be changed to a structure other than the coil spring structure as shown.
  • the specific structure of the multi-curvature head is not limited to the illustrated and may be variously changed.
  • the multi-curvature head 120 has an axisymmetric structure, in addition to the two-stage multiporous shape as shown, may have three or more multistage protrusions, such as three-stage multiporous shape, four-stage multiporous shape. have.
  • the multi-curvature head may be changed to another structure in which the width gradually decreases in multiple stages while moving forward rather than the axisymmetric structure.
  • underwater mobile device may take a variety of other structures having submerged functions such as submarines, submersibles, torpedoes, in addition to the structure in which the propeller 115 is installed at the rear as shown.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • General Engineering & Computer Science (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Toys (AREA)

Abstract

The present invention is to provide an underwater moving apparatus with an enhanced maneuvering performance. The underwater moving apparatus with an enhanced maneuvering performance, according to the present invention, comprises: a moving apparatus body having a propeller; a plurality of long grooves formed on an outer surface of the moving apparatus body in the longitudinal direction of the moving apparatus body; a plurality of ridges which are movably installed in the inner and outer directions by being disposed on the long grooves of the moving apparatus body in the longitudinal direction of the moving apparatus body so as to protrude from the outer surface of the moving apparatus body; a ridge driving device installed in the moving apparatus body to move the plurality of ridges so as to protrude from the outer surface of the moving apparatus body; and a controller which controls the ridge driving device to prevent flow separation in the moving apparatus body by forming an eddy flow on the outer surface of the moving apparatus body in such a manner that the ridges protrude from the outer surface of the moving apparatus body when the angle of attack of the moving apparatus body becomes greater than a certain angle during underwater movement of the moving apparatus body.

Description

기동성능이 향상된 수중 이동장치Underwater mobile device with improved maneuverability
본 발명은 잠수함이나 잠수정, 어뢰 등 잠항 기능을 갖는 수중 이동장치에 관한 것으로서, 더욱 상세하게는 수중에서의 기동성능이 향상된 수중 이동장치에 관한 것이다.The present invention relates to an underwater mobile device having a submersible function such as a submarine, a submersible, a torpedo, and more particularly, to an underwater mobile device having improved maneuverability in the water.
잠항 기능을 갖는 수중 이동장치로 잠수함이나 잠수정, 어뢰 등이 있다. 잠수정은 잠항정이라고도 하는데, 잠수함과 잠수정을 구별하는 정확한 기준은 없다. 일반적으로 40t 내외의 크기에 1∼5명이 탑승하는 것을 잠수정이라 한다.Submersible submarines, submersibles and torpedoes are submersible submersible devices with submersible functions. Submersibles are also called submersibles, and there is no exact standard for distinguishing between submarines and submersibles. In general, a submersible means that one to five passengers ride around 40 tons.
잠수정은 항만 내에 은밀히 잠입해서 정박 중에 있는 함선을 기습 공격하기 위한 군사적 목적을 위해 최초로 개발되었으나, 현재에는 군사용뿐만 아니라 해양 조사·심해 개발·구조 활동 등의 다양한 비군사적 목적으로 사용되고 있다. 특히, 최근에는 광대한 해양이 지니고 있는 자원, 에너지, 공간을 활용하는 것이 인류에게 꼭 필요한 일이라는 인식이 확대되면서 바다 깊이 잠수하여 항해할 수 있는 잠수정에 대한 연구가 다양하게 이루어지고 있다. 이러한 해양 조사나 심해 개발을 위한 잠수정으로 사람이 탑승하는 해저유인잠수정과 사람이 탑승하지 않는 원격조정잠수정이 있다. 원격조정잠수정의 경우 수직 및 수평이동장치, 자동 로봇 팔, 텔레비전 송수신장치, 비디오 촬영장치 등을 갖추고 있으며, 육상이나 조사선 위에서 원격조정으로 작업을 수행한다.The submersible was first developed for military purposes to stealthily sneak in ships while secretly immersing in ports, but is currently used for a variety of non-military purposes, not only for military use, but also for marine research, deep sea development, and rescue activities. In particular, research on submersibles that can dive deep into the sea has been conducted in recent years as the recognition that the use of resources, energy, and space possessed by the vast ocean is essential for humankind. There are submarine manned submersible submersibles and remote manned submersibles that do not board. Remote submersible submarines are equipped with vertical and horizontal mobile devices, automatic robotic arms, television transmitters, and video cameras.
잠수함은 수중 항행이 가능한 해군 함정으로 어뢰와 미사일을 주력 병기로 하여 군사적 작전을 수행한다.Submarines are naval vessels that can be navigated underwater, carrying out military operations with torpedoes and missiles as their main weapons.
어뢰는 자체적으로 추진하는 폭발성 발사체 무기로, 수면 위 또는 수면 아래로 발사되어 물 속에서 추진하여 표적을 향하며, 충돌할 때나 표적에 접근할 때 폭파되도록 설계된다. 어뢰는 수중으로 지나가는 로켓이라고 볼 수도 있으며, 보통은 일반적인 함선처럼 스크류 방식으로 움직이고 로켓과 비슷한 추진 방식을 사용하기도 한다. 어뢰는 추진력의 원천과 물속에서 나아갈 때의 조종방법, 목표물의 유형 및 발사장치의 유형에 따라 여러 부류로 나뉜다. 추진력은 대개 전지로 작동하는 전기 발동기를 통해 얻는다. 물속에서의 진로는 여러 가지 방법으로 조종된다. 적극적 음향 어뢰는 수중 음파 탐지기와 비슷한 음파 신호를 내보낸 다음 목표물에 맞고 되돌아오는 신호를 받아서 그쪽으로 접근한다. 소극적 음향 어뢰는 목표물이 내는 소음을 탐지하여 그 쪽으로 접근한다.Torpedoes are self-propelled explosive projectile weapons that are designed to be fired above or below the surface, propelled into the water, aimed at the target, and detonated when colliding or approaching the target. Torpedoes can be thought of as rockets that go underwater. They are usually screwed and used as rockets. Torpedoes are divided into several classes, depending on the source of the propulsion force, the way of maneuvering in the water, the type of target and the type of launching device. Propulsion is usually obtained through battery operated electric movers. The course in the water is controlled in many ways. An active torpedo emits a sound wave signal similar to a sonar, then hits a target and returns to it. Negative acoustic torpedoes detect and approach noise from targets.
이러한 잠수함이나 잠수정, 어뢰 등의 수중 이동장치는 통상적으로 수중 이동 중에 저항을 줄이기 위해 유선형으로 제작된다. 이 밖에도 수중 이동장치의 수중 이동 중의 저항을 줄이기 위한 다양한 연구가 지속적으로 이루어지고 있다.Underwater mobile devices such as submarines, submersibles and torpedoes are typically manufactured in a streamlined form to reduce resistance during underwater movement. In addition, various studies have been continuously conducted to reduce the resistance of underwater movement devices during underwater movement.
예컨대, 공개특허공보 제1995-0027359호(1995. 10. 16.)에는 어뢰나 수중발사 미사일 등의 몸체 앞부분에 공기 분사구를 마련하고 이를 통해 공기를 분사함으로써, 어뢰나 수중발사 미사일 등의 몸체와 물 사이에 공기 층을 형성하여 진행할 때 몸체가 받는 저항을 줄일 수 있는 기술이 개시되어 있다. 그리고 공개특허공보 제2012-0065454호(2012. 06. 21.)에는 선두에 견인식 추진시스템을 마련하고 이를 통해 튜브형 선체를 따라 공기막을 형성함으로써 선체 표면과 물과의 접촉을 차단하여 잠수함 표면의 마찰 저항을 줄이는 기술이 개시되어 있다.For example, Korean Patent Publication No. 1995-0027359 (October 16, 1995) provides an air jet port in front of a body such as a torpedo or an underwater launch missile and injects air therethrough, thereby providing a body such as a torpedo or underwater launch missile. A technique is disclosed that can reduce the resistance the body receives when forming an air layer between water. Also, in JP 2012-0065454 A (2012. 06. 21.), a traction propulsion system is provided at the forefront, and through this, an air film is formed along the tubular hull, thereby preventing contact between the hull surface and water, thereby causing friction of the submarine surface. Techniques for reducing resistance are disclosed.
그런데 상술한 것과 같은 종래 기술은 여러 가지 문제점을 가지고 있다. 먼저, 전자의 경우, 공기를 분사하기 위한 분사구를 수중 이동장치의 선단에 마련해야 하므로 이러한 분사구가 오히려 수중 이동장치의 저항을 증가시킬 수 있고, 지속적으로 공기를 분사하기 위해서는 공기를 공급하기 위한 장치가 커져야 하므로 수중 이동장치의 크기 또한 커지게 된다. 그리고 후자의 경우, 추진시스템이 수중 이동장치의 선두에 설치되어야 하므로, 이를 적용할 수 있는 대상이 제한적일 수 밖에 없다. 또한 상술한 종래 기술은 수중 이동장치의 이동 중 수중 이동장치의 받음각이 큰 경우에는 기동 성능을 향상시키는데 어려움이 있다.However, the prior art as described above has various problems. First, in the former case, since the injection hole for injecting air must be provided at the tip of the underwater moving device, such an injection hole can increase the resistance of the underwater moving device, and in order to continuously inject air, a device for supplying air Since it must be large, the size of the underwater mobile device also increases. In the latter case, since the propulsion system must be installed at the head of the underwater mobile device, there is a limited object to which it can be applied. In addition, the above-described prior art has a difficulty in improving the starting performance when the angle of attack of the underwater mobile device is large during the movement of the underwater mobile device.
본 발명은 상술한 바와 같은 필요성을 해결하기 위해 위하여 안출된 것으로, 수중 이동 중에 기동성능을 향상시킬 수 있는 기동성능 향상장치가 구비됨으로써 받음각이 큰 이동 조건 등에서의 기동성능이 향상된 수중 이동장치를 제공하는 것을 목적으로 한다.SUMMARY OF THE INVENTION The present invention has been made to solve the necessity as described above, and is provided with a maneuvering performance improving device capable of improving maneuvering performance during underwater movement, thereby providing an underwater moving apparatus having improved maneuverability under a large moving angle. It aims to do it.
상기 목적을 달성하기 위한 본 발명에 의한 기동성능이 향상된 수중 이동장치는, 추진기가 설치된 이동장치 바디; 상기 이동장치 바디의 외면에 상기 이동장치 바디의 길이 방향으로 마련되는 복수의 장홈; 상기 이동장치 바디의 외면으로부터 돌출될 수 있도록 상기 이동장치 바디의 복수의 장홈에 상기 이동장치 바디의 길이 방향으로 배치되어 내외 방향으로 이동 가능하게 설치되는 복수의 릿지; 상기 복수의 릿지를 상기 이동장치 바디의 외면으로부터 돌출되도록 이동시키기 위해 상기 이동장치 바디 내부에 설치되는 릿지 구동기; 및 상기 이동장치 바디의 수중 이동 중 상기 이동장치 바디의 받음각이 일정 각도 이상 커질 때, 상기 릿지가 상기 이동장치 바디의 외면으로부터 돌출되어 상기 이동장치 바디의 외면에서 와류를 형성함으로써 상기 이동장치 바디에서의 유동 박리를 방지할 수 있도록 상기 릿지 구동기를 제어하는 컨트롤러;를 포함하는 점에 특징이 있다.In accordance with an aspect of the present invention, there is provided an underwater moving device having improved maneuverability. A plurality of long grooves provided on an outer surface of the mobile body in a longitudinal direction of the mobile body; A plurality of ridges disposed in the longitudinal direction of the movable body so as to protrude from the outer surface of the movable body and installed in the longitudinal direction of the movable body; A ridge driver installed inside the mover body to move the plurality of ridges so as to protrude from an outer surface of the mover body; And the ridge protrudes from the outer surface of the moving body to form a vortex on the outer surface of the moving body when the angle of attack of the moving body increases during the underwater movement of the moving body. The controller includes; a controller for controlling the ridge driver to prevent the flow separation of the.
본 발명에 따른 수중 이동장치는 선회나 회피 등의 기동 상황에서 기동성능 향상장치의 릿지가 이동장치 바디의 외면으로부터 돌출됨으로써 양력계수와 양항비를 크게 향상시킨다. 따라서, 선회 능력이나 회피기동 능력이 우수하다. 또한 기동성능 향상장치의 릿지는 이동장치 바디의 장홈 속에 수용되어 있다가 받음각이 큰 기동 상황 등 필요한 경우에만 이동장치 바디의 외면으로부터 돌출되므로 순항 중에 릿지에 의해 저항이 증가하는 문제가 발생하지 않는다.The underwater moving device according to the present invention greatly improves the lift coefficient and the lifting ratio by the ridge of the moving performance improving device protruding from the outer surface of the moving device body in a starting situation such as turning or avoiding. Therefore, the turning ability and the avoidance starting ability are excellent. In addition, since the ridge of the maneuvering performance improving device is accommodated in the long groove of the moving device body and protrudes from the outer surface of the moving device body only when necessary, such as a large starting angle, the resistance does not occur due to the ridge during the cruise.
또한 본 발명에 따른 수중 이동장치는 그 전두부가 다중곡률 형상으로 이루어짐으로써, 항력 및 유동 소음이 작다.In addition, in the underwater mobile device according to the present invention, the frontal head is made of a multi-curvature shape, the drag and flow noise is small.
도 1은 본 발명의 일실시예에 따른 기동성능이 향상된 수중 이동장치를 나타낸 측면도이다.1 is a side view showing an underwater mobile device with improved maneuverability according to an embodiment of the present invention.
도 2는 도 1에 나타낸 수중 이동장치의 일부 구성을 나타낸 블록도이다.FIG. 2 is a block diagram showing a partial configuration of the underwater mobile device shown in FIG. 1.
도 3은 도 1에 나타낸 수중 이동장치의 다중곡률 헤드를 나타낸 측면도이다.3 is a side view showing the multi-curvature head of the underwater mobile device shown in FIG.
도 4는 도 1에 나타낸 수중 이동장치의 후미를 나타낸 사시도이다.4 is a perspective view showing the rear of the underwater mobile device shown in FIG.
도 5는 도 4의 Ⅰ-Ⅰ 선을 따라 취한 단면도이다.5 is a cross-sectional view taken along the line II of FIG. 4.
도 6은 본 발명의 다른 실시예에 따른 기동성능이 향상된 수중 이동장치의 주요 구성을 나타낸 단면도이다.6 is a cross-sectional view showing the main configuration of the underwater mobile device with improved maneuverability according to another embodiment of the present invention.
도 7은 도 6에 나타낸 수중 이동장치의 일부 구성을 나타낸 블록도이다.FIG. 7 is a block diagram showing a partial configuration of the underwater mobile device shown in FIG. 6.
이하에서는 첨부된 도면을 참조하여, 본 발명에 의한 기동성능이 향상된 수중 이동장치에 대하여 상세히 설명한다.Hereinafter, with reference to the accompanying drawings, it will be described in detail with respect to the underwater mobile device with improved maneuverability according to the present invention.
본 발명은 잠수함이나 잠수정, 어뢰 등 잠항 기능을 갖는 수중 이동장치에 관한 것으로, 수중 이동 중에 기동성능을 향상시킬 수 있는 기동성능 향상장치가 구비됨으로써 급선회 등 받음각이 큰 이동 조건 등에서의 기동성능이 향상된 것이다.The present invention relates to an underwater mobile device having a submersible function such as a submarine, a submersible, a torpedo, and the like, and is provided with a maneuverability improving device capable of improving maneuverability during underwater movement, thereby improving maneuverability in moving conditions such as a sharp turning angle. will be.
도 1은 본 발명의 일실시예에 따른 기동성능이 향상된 수중 이동장치를 나타낸 측면도이고, 도 2는 도 1에 나타낸 수중 이동장치의 일부 구성을 나타낸 블록도이고, 도 3은 도 1에 나타낸 수중 이동장치의 다중곡률 헤드를 나타낸 측면도이고, 도 4는 도 1에 나타낸 수중 이동장치의 후미를 나타낸 사시도이며, 도 5는 도 4의 Ⅰ-Ⅰ 선을 따라 취한 단면도이다.FIG. 1 is a side view showing an underwater mobile device having improved maneuverability according to an embodiment of the present invention, FIG. 2 is a block diagram showing a partial configuration of the underwater mobile device shown in FIG. 1, and FIG. 4 is a side view showing the multi-curvature head of the moving device, FIG. 4 is a perspective view showing the rear of the underwater moving device shown in FIG. 1, and FIG. 5 is a cross-sectional view taken along the line I-I of FIG.
도 1 내지 도 5에 나타낸 것과 같이, 본 발명의 일실시예에 따른 기동성능이 향상된 수중 이동장치(100)는 이동장치 바디(110)와, 수중 이동 중에 기동성능을 향상시키기 위해 이동장치 바디(110)에 설치되는 기동성능 향상장치(130)와, 수중 이동장치(100)의 전반적인 동작을 제어하는 컨트롤러(140)를 포함한다. 이동장치 바디(110)에 설치되는 기동성능 향상장치(130)는 장수거북 등갑의 종방향 등줄기를 모방한 복수의 릿지(131)를 포함하는 것으로, 이러한 기동성능 향상장치(130)는 수중 이동장치(100)가 수중 이동 중 급선회 등 받음각이 크게 발생하는 경우 양력계수와 양항비를 크게 향상시킴으로써 수중 이동장치(100)의 기동성능을 향상시킬 수 있다.1 to 5, the underwater mobile device 100 with improved maneuverability according to an embodiment of the present invention is a mobile device 110, and a mobile device body to improve the maneuvering performance during underwater movement ( It includes a maneuvering performance improving device 130 installed in 110, and a controller 140 for controlling the overall operation of the underwater mobile device (100). The maneuvering performance improving device 130 installed in the moving device body 110 includes a plurality of ridges 131 that mimic the longitudinal streaks of the long-necked turtle shell, and the maneuvering performance improving device 130 includes an underwater moving device. When the receiving angle such as a sharp turn during the underwater movement is large, the lifting force and the lifting ratio may be greatly improved, so that the maneuvering performance of the underwater movement apparatus 100 may be improved.
이동장치 바디(110)는 잠수함이나 잠수정, 어뢰 등 잠항 기능을 갖는 통상적인 수중 이동장치와 같이 유선형으로 이루어지며, 그 후미에는 추진기(115)가 설치된다. 이동장치 바디(110)의 선단에는 전방 쪽으로 갈수록 폭이 점진적으로 감소하고 그 외면이 완만한 곡면으로 이루어지는 다중곡률 형상의 다중곡률 헤드(120)가 구비된다.The moving device body 110 is formed in a streamline like a conventional underwater moving device having a submersible function such as a submarine, a submersible, a torpedo, and a propeller 115 is installed at the rear. The front end of the moving device body 110 is provided with a multi-curvature head 120 having a multi-curvature shape, the width of which gradually decreases toward the front side and whose outer surface is gentle.
도 1 및 도 3에 나타낸 것과 같이, 다중곡률 헤드(120)는 이동장치 바디(110)와 완만하게 연결되는 제 1 외주연(121)과, 제 1 외주연(121)과 완만하게 연결되는 제 2 외주연(122)과, 제 2 외주연(122)과 완만하게 연결되는 제 3 외주연(123)을 갖는다. 제 1 외주연(121)은 전방으로 갈수록 그 폭이 점진적으로 감소하고 그 가장자리 둘레를 따라 제 1 플러스 곡률(R1)을 갖는 축대칭 구조로 이루어진다. 제 2 외주연(122)은 전방으로 갈수록 그 폭이 점진적으로 감소하고 그 가장자리 둘레를 따라 마이너스 곡률(R2)을 갖는 축대칭 구조로 이루어진다. 제 3 외주연(123)은 전방으로 갈수록 그 폭이 점진적으로 감소하고 그 가장자리 둘레를 따라 제 2 플러스 곡률(R3)을 갖는 축대칭 구조로 이루어진다.1 and 3, the multi-curvature head 120 is a first outer periphery 121 is gently connected to the moving device body 110, the first outer periphery 121 is gently connected to the first And a second outer circumferential edge 122 and a third outer circumferential edge 123 gently connected to the second outer circumferential edge 122. The first outer periphery 121 has an axisymmetric structure having a width gradually decreasing toward the front and having a first plus curvature R1 along the periphery thereof. The second outer periphery 122 has an axisymmetric structure with its width gradually decreasing toward the front and having a negative curvature R2 along its edge. The third outer circumference 123 has an axisymmetric structure having a width gradually decreasing toward the front and having a second plus curvature R3 along its edge.
통상적으로, 축대칭 물체의 선단 부분이 다중곡률 형상을 갖는 경우, 같은 면적이나 부피를 갖는 반타원체 형상의 물체보다 마찰저항이 줄어드는 것을 볼 수 있다. 따라서, 본 실시예에 따른 수중 이동장치(100)는 그 전두부가 다중곡률 형상으로 이루어짐으로써, 표면 마찰저항 및 형상저항이 작다.In general, when the tip portion of the axisymmetric object has a multi-curvature shape, it can be seen that the frictional resistance is reduced than the semi-elliptic object having the same area or volume. Therefore, the underwater movement apparatus 100 according to the present embodiment has a frontal portion made of a multi-curvature shape, so that the surface frictional resistance and the shape resistance are small.
도 1, 도 4 및 도 5에 도시된 것과 같이, 기동성능 향상장치(130)는 이동장치 바디(110)에 길이 방향으로 구비되는 복수의 릿지(131)와, 복수의 릿지(131)를 이동장치 바디(110)의 외면으로부터 돌출되도록 이동시키기 위해 이동장치 바디(110) 내부에 설치되는 복수의 릿지 구동기(135)를 포함한다. 이동장치 바디(110)에는 이동장치 바디(110)의 길이 방향으로 복수의 릿지 수용부재(132)가 구비되고, 릿지(131)는 릿지 수용부재(132)에 구비되는 장홈(133)에 설치된다. 릿지(131)는 이동장치 바디(110)의 외면으로부터 돌출될 수 있도록 장홈(133)에서 내외 방향으로 이동할 수 있다.As shown in FIGS. 1, 4, and 5, the maneuvering performance improving device 130 moves a plurality of ridges 131 and a plurality of ridges 131 provided in the longitudinal direction of the moving device body 110. It includes a plurality of ridge driver 135 installed in the moving body body 110 to move to protrude from the outer surface of the device body (110). The mover body 110 is provided with a plurality of ridge receiving members 132 in the longitudinal direction of the mover body 110, and the ridge 131 is installed in the long groove 133 provided in the ridge receiving member 132. . The ridge 131 may move in and out of the long groove 133 to protrude from the outer surface of the moving device body 110.
릿지(131)는 릿지 구동기(135)에 의해 이동장치 바디(110)의 외면으로부터 돌출되도록 장홈(133)의 바깥쪽으로 이동하거나, 이동장치 바디(110)의 외면으로부터 돌출되지 않고 장홈(133) 속에 완전히 수용되도록 장홈(133)의 안쪽으로 이동할 수 있다. 릿지 구동기(135)는 릿지(131)에 결합되는 작동 로드(136)와, 작동 로드(136)를 진퇴시키는 액츄에이터(137)를 포함한다. 액츄에이터(137)가 작동 로드(136)를 전진시킴으로써 릿지(131)는 이동장치 바디(110)의 외면으로부터 돌출될 수 있고, 액츄에이터(137)가 작동 로드(136)를 후퇴시킴으로써 릿지(131)는 장홈(133) 속에 완전히 수용될 수 있다. 도면에는 릿지 구동기(135)의 액츄에이터(137)가 릿지 수용부재(132)의 외부에 배치되고 릿지 구동기(135)의 작동 로드(136)가 릿지 수용부재(132)에 마련된 관통구멍(134)을 통해 릿지 수용부재(132)의 장홈(133) 속으로 진입하는 것으로 나타냈으나, 릿지 구동기(135)는 장홈(133) 속에 설치될 수도 있다.The ridge 131 is moved outward of the intestinal groove 133 so as to protrude from the outer surface of the mobile body 110 by the ridge driver 135, or does not protrude from the outer surface of the mobile body 110 in the long groove 133. It may move inward of the intestinal groove 133 to be completely received. The ridge driver 135 includes an actuation rod 136 coupled to the ridge 131 and an actuator 137 for advancing the actuation rod 136. The ridge 131 can protrude from the outer surface of the mover body 110 by the actuator 137 advancing the actuation rod 136, and the ridge 131 as the actuator 137 retracts the actuation rod 136. It can be completely accommodated in the long groove 133. In the drawing, the actuator 137 of the ridge driver 135 is disposed outside the ridge receiving member 132, and the operating rod 136 of the ridge driver 135 has a through hole 134 provided in the ridge receiving member 132. Although shown as entering into the long groove 133 of the ridge receiving member 132, the ridge driver 135 may be installed in the long groove (133).
릿지 구동기(135)는 복수의 릿지(131)에 일대일로 대응하도록 복수가 구비되며, 컨트롤러(140)에 의해 그 동작이 제어된다. 컨트롤러(140)는 이동장치 바디(110)에 설치되는 자세 검출기(150)로부터 수중 이동장치(100)의 자세에 대한 정보를 제공받고 자세 검출기(150)의 정보를 이용하여 복수의 릿지 구동기(135)를 제어한다.The ridge driver 135 is provided with a plurality of ridges 131 to correspond one-to-one, and the operation of the ridge driver 135 is controlled by the controller 140. The controller 140 receives information about the attitude of the underwater mobile device 100 from the posture detector 150 installed in the mobile body 110, and uses the information of the posture detector 150 to provide a plurality of ridge drivers 135. ).
자세 검출기(150)는 자이로 센서나 가속도 센서, 또는 그 밖에 수중 이동장치(100)의 자세를 검출할 수 있는 다양한 센서를 구비하며, 수중 이동장치(100)의 기울기 등의 자세를 검출하고 그 검출 신호를 컨트롤러(140)에 제공한다. 컨트롤러(140)는 자세 검출기(150)의 검출 신호로부터 수중 이동장치(100)의 받음각이나 기울기 등의 자세를 파악하여 그에 따라 릿지 구동기(135)의 동작을 제어한다.The posture detector 150 includes a gyro sensor, an acceleration sensor, or other sensors capable of detecting the posture of the underwater mobile device 100. The posture detector 150 detects a posture such as a tilt of the underwater mobile device 100 and detects the posture. Provide a signal to the controller 140. The controller 140 grasps a posture such as an angle of inclination or tilt of the underwater mobile device 100 from the detection signal of the posture detector 150 and controls the operation of the ridge driver 135 accordingly.
예컨대, 급선회 등 받음각이 일정 각도 이상 커지는 기동 상황에서 자세 검출기(150)가 수중 이동장치(100)의 자세에 대한 정보를 제공하면 컨트롤러(140)는 릿지 구동기(135)를 작동시켜 릿지(131)를 이동장치 바디(110)의 외면으로부터 돌출시킨다. 이때, 릿지(131)는 이동장치 바디(110)의 외면에서 와류를 형성함으로써, 이동장치 바디(110)에서의 유동 박리를 방지하고 양력계수와 양항비를 크게 향상시켜 수중 이동장치(100)의 기동성능을 향상시킨다.For example, when the attitude detector 150 provides information on the attitude of the underwater mobile device 100 in a maneuver situation in which the angle of attack is increased by a predetermined angle or more, the controller 140 operates the ridge driver 135 to operate the ridge 131. To protrude from the outer surface of the mover body (110). At this time, the ridge 131 forms a vortex on the outer surface of the mover body 110, thereby preventing the flow separation from the mover body 110 and greatly improving the lift coefficient and the lift ratio of the underwater mover 100. Improve maneuverability
컨트롤러(140)는 수중 이동장치(100)의 기동 조건에 따라 복수의 릿지 구동기(135)를 일괄 제어하거나 개별 제어할 수 있다. 즉 복수의 릿지(131)는 일괄적으로 이동장치 바디(110)의 외면으로부터 돌출되거나 장홈(133) 속으로 들어갈 수도 있고, 개별적으로 이동장치 바디(110)의 외면으로부터 돌출되거나 장홈(133) 속으로 들어갈 수 있다.The controller 140 may collectively control or individually control the plurality of ridge drivers 135 according to the starting condition of the underwater mobile device 100. That is, the plurality of ridges 131 may protrude from the outer surface of the mobile body 110 or enter into the long groove 133, or may individually protrude from the outer surface of the mobile body 110 or into the long groove 133. You can enter
상술한 것과 같이, 본 실시예에 따른 수중 이동장치(100)는 급선회 등 받음각이 일정 각도 이상 커지는 기동 상황에서 기동성능 향상장치(130)의 릿지(131)가 이동장치 바디(110)의 외면으로부터 돌출됨으로써 양력계수와 양항비를 크게 향상시킨다. 따라서, 선회 능력 및 회피기동 능력이 우수하다. 또한 릿지(131)는 장홈(133) 속에 수용되어 있다가 받음각이 큰 기동 상황에서만 이동장치 바디(110)의 외면으로부터 돌출되므로 순항 중에 릿지(131)에 의해 저항이 증가하는 문제가 발생하지 않는다.As described above, in the underwater moving device 100 according to the present embodiment, the ridge 131 of the moving performance improving device 130 is moved from the outer surface of the moving device body 110 in the starting situation in which the angle of attack is increased by a predetermined angle or more. The protrusion greatly improves the lift coefficient and the lift ratio. Therefore, the turning ability and the avoidance starting ability are excellent. In addition, since the ridge 131 is accommodated in the long groove 133, the ridge 131 protrudes from the outer surface of the mobile body 110 only in a large starting angle, so that the resistance does not increase by the ridge 131 during the cruise.
한편, 도 6은 본 발명의 다른 실시예에 따른 기동성능이 향상된 수중 이동장치의 주요 구성을 나타낸 단면도이고, 도 7은 도 6에 나타낸 수중 이동장치의 일부 구성을 나타낸 블록도이다.On the other hand, Figure 6 is a cross-sectional view showing the main configuration of the underwater mobile device with improved maneuverability according to another embodiment of the present invention, Figure 7 is a block diagram showing a part of the configuration of the underwater mobile device shown in FIG.
도 6 및 도 7에 도시된 기동성능이 향상된 수중 이동장치(200)는 이동장치 바디(110)와, 수중 이동 중에 기동성능을 향상시키기 위해 이동장치 바디(110)에 설치되는 기동성능 향상장치(210)와, 수중 이동장치(200)의 전반적인 동작을 제어하는 컨트롤러(140)를 포함한다. 이러한 본 실시예에 따른 수중 이동장치(200)는 상술한 수중 이동장치(100)와 비교하여 수중 이동 중에 기동성능을 향상시키기 위해 이동장치 바디(110)에 설치되는 기동성능 향상장치(210)의 구성 요소 일부가 변경된 것으로, 이동장치 바디(110)와 컨트롤러(140) 등의 나머지 구성 요소는 상술한 것과 같다.6 and 7, the underwater moving device 200 having improved maneuverability includes a moving device body 110 and a moving performance improving device installed in the moving device body 110 to improve the moving performance during underwater movement. 210 and a controller 140 for controlling the overall operation of the underwater mobile device 200. The underwater mobile device 200 according to the present embodiment of the present invention is compared to the above-described underwater mobile device 100 of the mobile performance improving device 210 installed in the mobile device body 110 to improve the mobile performance during underwater movement. As some of the components have been changed, the remaining components such as the mobile body 110 and the controller 140 are the same as described above.
기동성능 향상장치(210)는 이동장치 바디(110)에 구비되는 복수의 장홈(133)에 내외 방향으로 이동할 수 있도록 설치되는 복수의 릿지(131)와, 복수의 릿지(131)를 일괄적으로 작동시킬 수 있도록 이동장치 바디(110)에 설치되는 하나의 릿지 구동기(211)를 포함한다. 복수의 릿지(131)는 하나의 릿지 구동기(211)에 의해 이동장치 바디(110)의 외면으로부터 돌출되도록 장홈(133)의 바깥쪽으로 이동하거나, 이동장치 바디(110)의 외면으로부터 돌출되지 않고 장홈(133) 속에 완전히 수용되도록 장홈(133)의 안쪽으로 이동할 수 있다.The maneuvering performance improving device 210 collectively includes a plurality of ridges 131 and a plurality of ridges 131 which are installed to move in and out of the plurality of long grooves 133 provided in the moving device body 110. It includes one ridge driver 211 installed in the moving body 110 to operate. The plurality of ridges 131 are moved outward of the long groove 133 so as to protrude from the outer surface of the mobile body 110 by one ridge driver 211, or the long ridge without protruding from the outer surface of the mobile body 110. It may move inward of the long groove 133 to be completely accommodated in (133).
릿지 구동기(211)는 복수의 릿지(131) 각각에 연결되는 복수의 릿지 작동부재(212)와, 복수의 릿지 작동부재(212)에 일대일로 연결되는 복수의 동력전달기구(213)와, 복수의 동력전달기구(213)에 구동력을 제공하기 위해 복수의 동력전달기구(213)와 연결되는 하나의 구동원(217)을 포함한다. 동력전달기구(213)는 릿지 작동부재(212)에 연결되는 캠(214)과, 캠(214)과 구동원(217)을 연결하는 연결기구(216)를 구비한다. 캠(214)은 이동장치 바디(110) 내부에 릿지(131)의 이동 방향에 대해 수직으로 배치되는 지지축(215)을 회전 중심으로 하여 회전하도록 설치된다. 구동원(217)이 작동할 때 구동원(217)의 구동력이 연결기구(216)를 통해 캠(214)에 전달되어 캠(214)이 지지축(215)에 대해 회전하게 된다. 릿지 작동부재(212)는 릿지(131)가 수용되는 릿지 수용부재(132)에 마련된 관통구멍(134)에 슬라이드 이동 가능하게 결합되어 캠(214)이 릿지 작동부재(212)를 밀면 릿지(131)가 장홈(133)의 바깥쪽으로 이동하여 이동장치 바디(110)의 외면으로 돌출된다.The ridge driver 211 includes a plurality of ridge operating members 212 connected to each of the plurality of ridges 131, a plurality of power transmission mechanisms 213 connected one to one to the plurality of ridge operating members 212, and a plurality of ridge operating members 212. It includes a drive source 217 connected to the plurality of power transmission mechanism 213 to provide a driving force to the power transmission mechanism 213. The power transmission mechanism 213 includes a cam 214 connected to the ridge operating member 212 and a connecting mechanism 216 for connecting the cam 214 and the drive source 217. The cam 214 is installed to rotate about the center of rotation of the support shaft 215 disposed perpendicularly to the moving direction of the ridge 131 in the moving device body 110. When the driving source 217 is operated, the driving force of the driving source 217 is transmitted to the cam 214 through the connecting mechanism 216 so that the cam 214 rotates about the support shaft 215. The ridge operating member 212 is slidably coupled to the through hole 134 provided in the ridge receiving member 132 in which the ridge 131 is accommodated so that the ridge 131 is pushed when the cam 214 pushes the ridge operating member 212. ) Is moved to the outside of the long groove 133 is protruded to the outer surface of the moving device body (110).
릿지 수용부재(132)의 장홈(133)에는 캠(214)에 의해 이동장치 바디(110)의 외면으로부터 돌출된 릿지(131)를 장홈(133)에 수용된 원래 위치로 복귀시키기 위한 복귀 기구(220)가 설치된다. 복귀 기구(220)는 코일 스프링 형태로 이루어진 것으로, 그 일단은 릿지(131)에 결합되고 그 타단은 릿지 수용부재(132)에 결합된다. 캠(214)에 의해 릿지(131)가 이동장치 바디(110)의 외면으로부터 돌출되도록 이동할 때 복귀 기구(220)가 탄성 변형되고, 캠(214)의 가압력이 제거되면 복귀 기구(220)의 탄성 복원력에 의해 릿지(131)가 이동장치 바디(110)의 외면으로부터 돌출되지 않도록 장홈(133) 속으로 들어간다.The long groove 133 of the ridge receiving member 132 has a return mechanism 220 for returning the ridge 131 protruding from the outer surface of the moving body 110 by the cam 214 to its original position received in the long groove 133. ) Is installed. The return mechanism 220 has a coil spring shape, one end of which is coupled to the ridge 131 and the other end of which is coupled to the ridge receiving member 132. The return mechanism 220 is elastically deformed when the ridge 131 moves to protrude from the outer surface of the moving body 110 by the cam 214, and the elasticity of the return mechanism 220 is removed when the pressing force of the cam 214 is removed. The ridge 131 enters the intestinal groove 133 so that the ridge 131 does not protrude from the outer surface of the moving body 110 by the restoring force.
본 실시예에 따른 수중 이동장치(200)의 릿지 구동기(211) 역시 컨트롤러(140)에 의해 제어된다. 컨트롤러(140)는 자세 검출기(150)로부터 수중 이동장치(200)의 자세에 대한 정보를 제공받아 수중 이동장치(200)가 급선회 등 받음각이 큰 기동 중에 릿지 구동기(211)를 작동시켜 복수의 릿지(131)를 이동장치 바디(110)의 외면으로부터 돌출시킴으로써 양력계수와 양항비를 크게 향상시킨다.The ridge driver 211 of the underwater mobile device 200 according to the present embodiment is also controlled by the controller 140. The controller 140 receives the information on the attitude of the underwater mobile device 200 from the posture detector 150 to operate the ridge driver 211 during a large starting angle, such as a sharp turn, so that the underwater mobile device 200 operates a plurality of ridges. Protruding the 131 from the outer surface of the mover body 110 greatly improves the lift coefficient and the lift ratio.
이상 본 발명에 대하여 바람직한 예를 들어 설명하였으나 본 발명의 범위가 앞에서 설명한 실시예로 한정되는 것은 아니다.As mentioned above, although the preferable example was demonstrated about this invention, the scope of the present invention is not limited to the Example mentioned above.
예를 들어, 도면에는 릿지(131)가 이동장치 바디(110)의 외측으로 가면서 그 폭이 점진적으로 감소하는 단면 형상을 갖는 것으로 나타냈으나, 릿지는 그 형상 및 구체적인 구조가 다양하게 변경될 수 있다. 또한 릿지의 설치 개수나 이동장치 바디에서의 설치 위치도 도시된 것으로 한정되지 않고 다양하게 변경될 수 있다.For example, although the ridge 131 is shown to have a cross-sectional shape that gradually decreases in width as the ridge 131 goes to the outside of the moving device body 110, the ridge may be variously changed in shape and specific structure. have. In addition, the number of installation of the ridge or the installation position in the moving device body is not limited to the illustrated and can be variously changed.
또한 릿지를 개별 작동시키기 위해 릿지에 대응하는 개수로 구비되는 릿지 구동기의 구체적인 구조나, 복수의 릿지를 일괄 작동시키기 위해 하나가 구비되는 릿지 구동기의 구체적인 구조는 도시된 것으로 한정되지 않고 다양하게 변경될 수 있다. 예컨대, 도 6에는 릿지 구동기(211)가 하나의 구동원(217)에 벨트 구조로 된 복수의 연결기구(216)가 복수의 캠(214) 각각에 연결되는 것으로 나타냈으나, 캠과 구동원을 연결하기 위한 연결기구는 벨트 구조 이외의 다양한 다른 구조로 변경될 수 있다. 그리고 릿지 구동기는 캠 구조 이외의 다양한 다른 구조로 변경될 수 있다.In addition, the specific structure of the ridge driver provided in the number corresponding to the ridge to operate the ridges individually, or the specific structure of the ridge driver provided with one to collectively operate a plurality of ridges is not limited to the illustrated and may be variously changed Can be. For example, although FIG. 6 shows that the ridge driver 211 is connected to each of the cams 214, a plurality of connecting mechanisms 216 having a belt structure are connected to one drive source 217. The connecting mechanism for the purpose can be changed to various other structures other than the belt structure. And the ridge driver can be changed to various other structures other than the cam structure.
또한 릿지 구동기에 의해 이동장치 바디(110)의 외면으로부터 돌출된 릿지(131)를 원래 위치로 복귀시키기 위한 복귀 기구(220)는 도시된 것과 같은 코일 스프링 구조 이외의 다른 구조로 변경될 수 있다.In addition, the return mechanism 220 for returning the ridge 131 protruding from the outer surface of the mover body 110 by the ridge driver to its original position may be changed to a structure other than the coil spring structure as shown.
또한 다중곡률 헤드의 구체적인 구조는 도시된 것으로 한정되지 않고 다양하게 변경될 수 있다. 예를 들어, 다중곡률 헤드(120)는 축대칭 구조로 이루어지되, 도시된 것과 같은 2단 다중공률 형상 이외에, 3단 다중공률 형상, 4단 다중공률 형상 등 3개 이상의 다단형 돌출부를 가질 수 있다. 또한 다중곡률 헤드는 축대칭 구조가 아닌 전방으로 가면서 그 폭이 점진적으로 다단으로 감소하는 다른 구조로 변경될 수 있다.In addition, the specific structure of the multi-curvature head is not limited to the illustrated and may be variously changed. For example, the multi-curvature head 120 has an axisymmetric structure, in addition to the two-stage multiporous shape as shown, may have three or more multistage protrusions, such as three-stage multiporous shape, four-stage multiporous shape. have. In addition, the multi-curvature head may be changed to another structure in which the width gradually decreases in multiple stages while moving forward rather than the axisymmetric structure.
또한 본 발명에 의한 수중 이동장치는 도시된 것과 같이 추진기(115)가 후미에 설치되는 구조 이외에, 잠수함이나 잠수정, 어뢰 등 잠항 기능을 갖는 다양한 다른 구조를 취할 수 있다.In addition, the underwater mobile device according to the present invention may take a variety of other structures having submerged functions such as submarines, submersibles, torpedoes, in addition to the structure in which the propeller 115 is installed at the rear as shown.

Claims (6)

  1. 추진기가 설치된 이동장치 바디;A mover body provided with a propeller;
    상기 이동장치 바디의 외면에 상기 이동장치 바디의 길이 방향으로 마련되는 복수의 장홈;A plurality of long grooves provided on an outer surface of the mobile body in a longitudinal direction of the mobile body;
    상기 이동장치 바디의 외면으로부터 돌출될 수 있도록 상기 이동장치 바디의 복수의 장홈에 상기 이동장치 바디의 길이 방향으로 배치되어 내외 방향으로 이동 가능하게 설치되는 복수의 릿지;A plurality of ridges disposed in the longitudinal direction of the movable body so as to protrude from the outer surface of the movable body and installed in the longitudinal direction of the movable body;
    상기 복수의 릿지를 상기 이동장치 바디의 외면으로부터 돌출되도록 이동시키기 위해 상기 이동장치 바디 내부에 설치되는 릿지 구동기; 및 A ridge driver installed inside the mover body to move the plurality of ridges so as to protrude from an outer surface of the mover body; And
    상기 이동장치 바디의 수중 이동 중 상기 이동장치 바디의 받음각이 일정 각도 이상 커질 때, 상기 릿지가 상기 이동장치 바디의 외면으로부터 돌출되어 상기 이동장치 바디의 외면에서 와류를 형성함으로써 상기 이동장치 바디에서의 유동 박리를 방지할 수 있도록 상기 릿지 구동기를 제어하는 컨트롤러;를 포함하는 것을 특징으로 하는 수중 이동장치.When the angle of attack of the mobile device body is increased by a predetermined angle or more during underwater movement of the mobile device body, the ridge protrudes from the external surface of the mobile device body to form a vortex on the external surface of the mobile device body. Underwater moving device comprising a; controller for controlling the ridge driver to prevent flow separation.
  2. 제 1 항에 있어서,The method of claim 1,
    상기 릿지 구동기에 의해 상기 이동장치 바디의 외면으로부터 돌출된 상기 릿지를 상기 이동장치 바디의 장홈에 수용된 원래 위치로 복귀시키기 위해 상기 이동장치 바디의 장홈에 설치되는 복귀 기구;를 더 포함하는 것을 특징으로 하는 수중 이동장치.And a return mechanism installed in the long groove of the mobile body to return the ridge projected from the outer surface of the mobile body by the ridge driver to its original position received in the long groove of the mobile body. Underwater shifter.
  3. 제 1 항에 있어서,The method of claim 1,
    상기 이동장치 바디의 자세를 검출하여 그 검출 신호를 상기 컨트롤러에 제공하도록 상기 이동장치 바디에 설치되는 자세 검출기;를 더 포함하고,And a posture detector installed in the mobile unit body to detect the posture of the mobile unit body and provide the detection signal to the controller.
    상기 컨트롤러는 상기 자세 검출기의 검출 정보로부터 상기 이동장치 바디의 받음각을 산출하고 그 산출값을 이용하여 상기 릿지 구동기의 동작을 제어하는 것을 특징으로 하는 수중 이동장치.And the controller calculates an angle of attack of the body of the mobile device from the detection information of the attitude detector and controls the operation of the ridge driver using the calculated value.
  4. 제 1 항에 있어서,The method of claim 1,
    상기 릿지 구동기는 상기 복수의 릿지를 개별적으로 작동시킬 수 있도록 상기 복수의 릿지에 대응하는 복수로 구비되는 것을 특징으로 하는 수중 이동장치.And the ridge driver is provided in plurality corresponding to the plurality of ridges so as to operate the plurality of ridges individually.
  5. 제 1 항에 있어서,The method of claim 1,
    상기 릿지 구동기는 상기 복수의 릿지를 일괄적으로 작동시킬 수 있도록 하나가 구비되고,The ridge driver is provided with one to operate the plurality of ridges collectively,
    상기 릿지 구동기는,The ridge driver,
    상기 복수의 릿지를 상기 이동장치 바디의 복수의 장홈에서 이동시키기 위해 상기 복수의 릿지 각각에 연결되는 복수의 릿지 작동부재와,A plurality of ridge operating members connected to each of the plurality of ridges for moving the plurality of ridges in the plurality of long grooves of the moving body;
    상기 복수의 릿지 작동부재에 일대일로 연결되는 복수의 동력전달기구와,A plurality of power transmission mechanisms connected one-to-one to the plurality of ridge operation members;
    상기 복수의 동력전달기구에 구동력을 제공하기 위해 상기 복수의 동력전달기구와 연결되는 하나의 구동원을 포함하는 것을 특징으로 하는 수중 이동장치.And a driving source connected to the plurality of power transmission mechanisms to provide a driving force to the plurality of power transmission mechanisms.
  6. 제 1 항에 있어서,The method of claim 1,
    상기 이동장치 바디의 선단에 구비되는 다중곡률 헤드;를 더 포함하고,Further comprising: a multi-curvature head provided at the front end of the moving device body,
    상기 다중곡률 헤드는,The multi-curvature head,
    그 가장자리 둘레를 따라 제 1 플러스 곡률을 갖도록 상기 이동장치 바디와 연결되는 제 1 외주연과,A first outer periphery connected with the mover body to have a first plus curvature along its perimeter;
    그 가장자리 둘레를 따라 마이너스 곡률을 갖도록 상기 제 1 외주연과 연결되는 제 2 외주연과,A second outer circumference connected with the first outer circumference so as to have a negative curvature along its circumference;
    그 가장자리 둘레를 따라 제 2 플러스 곡률을 갖도록 상기 제 2 외주연과 연결되는 제 3 외주연을 갖는 것을 특징으로 하는 수중 이동장치.And a third outer circumference connected with the second outer circumference to have a second plus curvature along its circumference.
PCT/KR2015/011818 2015-11-05 2015-11-05 Underwater moving apparatus with maneuvering performance WO2017078194A1 (en)

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Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR200205364Y1 (en) * 2000-06-28 2000-12-01 대우중공업주식회사 Unmanned submarine
KR20110004981A (en) * 2009-07-09 2011-01-17 대우조선해양 주식회사 An unmanned underwater vehicle with retractable type rudders
KR20110065315A (en) * 2009-12-09 2011-06-15 미츠비시 쥬고교 가부시키가이샤 Ship
KR20140012447A (en) * 2012-07-20 2014-02-03 한국생산기술연구원 Underwater robot and direction control method thereof and flapper capable of swimming
KR20150133098A (en) * 2014-05-19 2015-11-27 서울대학교산학협력단 Underwater Moving Apparatus Enhanced Maneuver Performance

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR200205364Y1 (en) * 2000-06-28 2000-12-01 대우중공업주식회사 Unmanned submarine
KR20110004981A (en) * 2009-07-09 2011-01-17 대우조선해양 주식회사 An unmanned underwater vehicle with retractable type rudders
KR20110065315A (en) * 2009-12-09 2011-06-15 미츠비시 쥬고교 가부시키가이샤 Ship
KR20140012447A (en) * 2012-07-20 2014-02-03 한국생산기술연구원 Underwater robot and direction control method thereof and flapper capable of swimming
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