WO2022198705A1 - 一种声学观测自主水下航行器 - Google Patents

一种声学观测自主水下航行器 Download PDF

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Publication number
WO2022198705A1
WO2022198705A1 PCT/CN2021/084485 CN2021084485W WO2022198705A1 WO 2022198705 A1 WO2022198705 A1 WO 2022198705A1 CN 2021084485 W CN2021084485 W CN 2021084485W WO 2022198705 A1 WO2022198705 A1 WO 2022198705A1
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WIPO (PCT)
Prior art keywords
cabin
oil seal
assembly
stern
bow
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/CN2021/084485
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English (en)
French (fr)
Inventor
王树新
王延辉
杨绍琼
牛文栋
马伟
兰世泉
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Tianjin University
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Tianjin University
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Filing date
Publication date
Application filed by Tianjin University filed Critical Tianjin University
Publication of WO2022198705A1 publication Critical patent/WO2022198705A1/zh
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
    • B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
    • B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B11/00—Interior subdivision of hulls
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B3/00—Hulls characterised by their structure or component parts
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63H—MARINE PROPULSION OR STEERING
    • B63H21/00—Use of propulsion power plant or units on vessels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63H—MARINE PROPULSION OR STEERING
    • B63H21/00—Use of propulsion power plant or units on vessels
    • B63H21/12—Use of propulsion power plant or units on vessels the vessels being motor-driven
    • B63H21/17—Use of propulsion power plant or units on vessels the vessels being motor-driven by electric motor

Definitions

  • the invention belongs to the technical field of marine intelligent equipment, and in particular relates to an autonomous underwater vehicle oriented to acoustic observation.
  • the autonomous underwater vehicle has its own propulsion system, its propulsion system will generate noise during operation, and this noise will have a non-negligible impact on the acoustic sensors it carries.
  • Small underwater gliders can also be equipped with acoustic sensors for continuous vertical profile ocean acoustic observations.
  • traditional underwater gliders rely on their own buoyancy systems to drive, they cannot achieve underwater cruise control and meet the requirements of high maneuverability observations.
  • the present invention provides an acoustic observation-oriented autonomous underwater vehicle that solves the problem that the noise generated by the current underwater vehicle's own operation will interfere with the mounted acoustic sensor.
  • the present invention is implemented in this way, an acoustic observation autonomous underwater vehicle, comprising a bow assembly, a midship assembly and a stern assembly connected in sequence, characterized in that: the bow assembly includes an oil seal cabin and a stern assembly.
  • the bow cabin is located behind the oil seal cabin, a connecting frame is fixed in the oil seal cabin, the connecting frame is installed with a hydrophone through a spring, and the oil seal cabin is filled with hydraulic oil;
  • the midship assembly includes a midship shroud and a middle pressure chamber inside the midship assembly , a guide rail extending along the axis of the aircraft is arranged in the middle pressure chamber, a power supply rack that can extend the guide rail is installed on the guide rail, the power supply rack is equipped with a mobile battery pack, and the middle pressure chamber is There is a lead screw motor
  • this design has two advantages: one is to improve the ability of the front end of the bow assembly to transmit vibration and pressure, and to detect external water pressure and vibration speed signals more accurately; The impact of water flow on the vector hydrophone during the motion of the hydrophone.
  • the setting of the first compensator can not only compensate for the change in compression of the hydraulic oil caused by the change of water pressure in time, but also supplement the oil leakage of the structure in time.
  • the oil seal not only has high detection accuracy, but also reduces the negative impact of the aircraft's own noise on the hydrophone to a certain extent.
  • the buoyancy adjustment unit is arranged at the rear of the autonomous underwater vehicle, away from the acoustic sensor (hydrophone) at the front end, which reduces the interference to the acoustic sensor when the buoyancy adjustment unit works.
  • the silica gel filled between the propeller and the stern shroud can greatly reduce the vibration interference of the propeller on the stern shroud, thereby further reducing the vibration transmitted from the stern shroud to the front end of the autonomous underwater vehicle interference.
  • the battery pack provides the underwater vehicle with energy, so that it has a certain endurance during underwater navigation, and the pitch attitude of the underwater vehicle can be adjusted by the axial movement of the battery pack on the guide rail.
  • the bow assembly includes an oil seal shroud, a bow body shroud, an oil seal end cover and a bow front end cover, and the oil seal shroud and the oil seal end cover constitute the An oil seal cabin, the bow main body shroud, the oil seal end cover and the bow front end cover constitute the bow cabin.
  • the oil seal guide cover is a polyurethane cover
  • the oil seal end cover is provided with an oil port for the oil pipe to communicate with the oil seal cabin.
  • a front connecting ring, a middle connecting ring and a rear connecting ring are arranged in the midship air shroud, and the front connecting ring, the middle connecting ring and the rear connecting ring can withstand the pressure of the middle part.
  • the compartment is separated to form a front compartment and a rear compartment, a fixed battery pack is installed in the front compartment, and the movable battery pack is installed in the rear compartment through the guide rail and the lead screw motor assembly.
  • the guide rail is a square guide rod whose two ends are respectively fixed on the middle connecting ring and the rear connecting ring, and the power rack is fitted on the square guide rod and can extend a square shape.
  • the guide rod can move the plate frame;
  • the lead screw motor assembly includes a lead screw and a motor that can move the lead screw, the lead screw is parallel to the guide rail and is fixed with the rear connecting ring, and the motor is connected to the
  • the power rack is fixed by connecting rods.
  • a displacement sensor for monitoring the position of the motor is installed in the middle pressure chamber.
  • the inner wall of the middle pressure chamber is provided with a lightweight damping material, and a shock-absorbing pad is provided between the rear connecting ring and the lead screw.
  • the setting of the shock pad reduces the vibration transmitted from the rear to the pressure chamber, and the setting of the damping material further reduces the vibration transmitted from the rear chamber to the body.
  • a rear end cover is installed in the stern portion shroud, and the rear end cover divides the inner side of the stern portion shroud into a buoyancy control cabin located in the front and a power cabin located in the rear.
  • the buoyancy adjustment unit is installed in the buoyancy control cabin, the stern rudder unit and the propulsion unit are installed in the power cabin; a load throwing module is installed in the stern fairing, and the stern diversion An antenna unit is installed on the cover; a ring frame is fixed in the power compartment of the stern shroud, the ring frame is connected to the rear end cover through a circumferentially evenly distributed axial frame, and the ring frame is connected by a circumferentially evenly distributed shaft Mount the rudder unit to the frame.
  • the tail rudder unit includes a second compensator, a steering gear housing and a steering gear arranged in the steering gear housing, and a rudder is formed between the steering gear housing and the steering gear.
  • the engine pressure chamber, the second compensator is communicated with the steering gear pressure chamber through an oil pipe.
  • the pressure chamber of the steering gear is filled with hydraulic oil and can be compensated by the second compensator.
  • the propeller includes a third compensator, a propeller housing and a propulsion motor, and a propeller pressure chamber is formed between the propeller housing and the propulsion motor.
  • the three compensators are communicated with the thruster pressure chamber through an oil pipe, and silica gel is filled between the thruster chamber shell and the stern shroud.
  • the third compensator can perform pressure compensation on the pressure chamber of the feeder.
  • Fig. 1 is the structural representation of the present invention
  • Fig. 2 is the structural representation of the bow assembly in the present invention
  • Fig. 3 is the structural representation of the oil seal cabin in the present invention.
  • Fig. 4 is the structural representation of the midship assembly in the present invention.
  • Fig. 5 is the installation structure schematic diagram of the mobile battery pack in the present invention.
  • Fig. 6 is the structural representation of the stern assembly in the present invention.
  • Fig. 7 is the structural representation of tail rudder unit in the present invention.
  • FIG. 8 is a schematic diagram of the installation structure of the thruster in the present invention.
  • Power rack 2-7, Mobile battery pack; 2-8, Fixed battery pack; 2-9, Battery support plate; 2-10, Lead screw; 2-11, Motor; 2-12, Displacement sensor; 3 , stern assembly; 3-1, stern shroud; 3-2, rear end cover; 3-3, axial frame; 3-4, buoyancy adjustment unit; 3-5, rudder unit; 3- 5-1, the second compensator; 3-5-2, the steering gear housing; 3-5-3, the steering gear output shaft; 3-5-4, the tail rudder connecting shaft; 3-5-5, the rudder blade; 3-5-6, bow shaft; 3-6, propulsion unit; 3-6-1, thruster; 3-6-2, thruster deflector; 3-7, antenna unit; 3-8, ring shelf.
  • the present invention provides an autonomous underwater vehicle for acoustic observation.
  • the underwater vehicle has its own noise. It has little impact on acoustic observation and has high mobility.
  • an acoustic observation autonomous underwater vehicle includes a bow assembly 1, a midship assembly 2 and a stern assembly 3 which are connected in sequence.
  • the bow assembly 1 , the midship assembly 2 and the stern assembly 3 are arranged in sequence from front to rear in the traveling direction of the aircraft.
  • the bow assembly 1 includes an oil seal compartment and a bow compartment located behind the oil seal compartment.
  • the bow assembly 1 includes an oil seal shroud 1-1, a bow body shroud 1-2, an oil seal end cover 1-3 and a bow front end cover 1-4.
  • the oil seal shroud 1-1 and the oil seal end cover 1-3 constitute the oil seal cabin
  • the bow main body shroud 1-2, the oil seal end cover 1-3 and the bow front end cover 1-4 constitute the bow cabin.
  • the oil seal shroud 1-1 is a polyurethane cover body, which is a cover body with a circular arc end, and the oil seal end cover 1-3 is a circular plate body end cover, which is sealed with the oil seal shroud 1-1 by screws and gaskets connect.
  • the bow body shroud 1-2 is a cylindrical shroud with the same diameter as the rear end of the oil seal shroud 1-1, and the oil seal end caps 1-3 and 1-3 of the circular plate structure are fixed by screws at both ends.
  • the bow front end cover 1-4 forms the bow cabin inside the bow main body shroud 1-2.
  • the connecting frame 1-5 is fixed in the oil seal cabin, and the connecting frame 1-5 is installed with the hydrophone through the spring 1-6.
  • the connecting frame 1-5 is a cage-shaped frame composed of a circular frame and an axial transverse frame. It is fixed on the inner wall of the oil seal shroud 1-1 by screws, and several springs 1-6 are radially evenly installed on the inner side of the circular frame of the connecting frame 1-5, and the inner end of the spring 1-5 is connected to the hydrophone 1-7. This realizes the installation of the hydrophone 1-7 on the connecting frame 1-5.
  • the oil seal cabin is filled with hydraulic oil, and the hydraulic oil is aviation hydraulic oil.
  • the altimeter 1-8, the hydrophone control panel 1-9, the transducer 1-10 and the first compensator 1-11 are installed in the bow cabin.
  • the above-mentioned devices are conventional and known devices, which can be customized according to the specific working requirements of the aircraft.
  • Optional matching models are fixed inside the bow compartment by screws.
  • the first compensator 1-11 is communicated with the oil seal tank through an oil pipe. That is, the oil seal end cover 1-3 is provided with an oil port for the communication between the oil pipe and the oil seal chamber, and the first compensator 1-11 can supply oil for the oil seal chamber.
  • the midship assembly 2 includes a midship fairing 2-1 and a middle pressure chamber inside it.
  • the midship shroud 2-1 has a two-stage cylindrical structure, and its diameter is the same as that of the bow body shroud 1-2.
  • a front connecting ring 2-2, a middle connecting ring 2-3 and a rear connecting ring 2-4 are arranged in the midship air guide cover 2-1.
  • the front connecting ring 2-2, the middle connecting ring 2-3 and the rear connecting ring 2-4 are circular frame bodies, the front connecting ring 2-2 is fixed on the front end of the midship shroud 2-1 with screws, and the middle connecting ring 2-3 is fixed to the middle of the midship shroud 2-1 with screws and divides the midship shroud 2-1 into two sections, and the rear connecting ring 2-4 is fixed to the rear of the midship shroud 2-1 Ends.
  • the front connecting ring 2-2, the middle connecting ring 2-3 and the rear connecting ring 2-4 separate the middle pressure chamber to form a front chamber and a rear chamber.
  • a guide rail 2-5 extending along the axial direction of the aircraft is arranged in the middle pressure chamber, and a power supply frame 2-6 that can extend the guide rail 2-5 is installed on the guide rail 2-5.
  • the power supply frame 2-6 is equipped with a mobile battery pack 2-7, and a lead screw motor assembly that drives the power supply frame 2-6 to move along the guide rails 2-5 is arranged in the middle pressure chamber.
  • the fixed battery pack 2-8 is installed in the front compartment
  • the movable battery pack 2-7 is installed in the rear compartment through the above-mentioned guide rails 2-5 and the screw motor assembly.
  • the main body for fixing the battery pack 2-8 is the battery unit, the battery unit is arranged in the pressure-resistant casing, the pressure-resistant casing is fixed on the battery support plate 2-9, and the battery support plate 2-9 is fixed on the front compartment through the tensioning screw
  • the front connecting ring 2-2 and the middle connecting ring 2-3 are provided with screw holes adapted to the tensioning screw, and the tensioning screw is fixed on the front connecting ring 2-2 and the middle connecting ring 2-3, so as to Realize the installation and fixation of fixed battery packs 2-8 in the front compartment.
  • the guide rail 2-5 is a square guide rod whose two ends are respectively fixed on the middle connecting ring 2-3 and the rear connecting ring 2-4. The two ends of the guide rail 2-5 are respectively fixed on the middle connecting ring 2-3 and the rear connecting ring by screws. 2-4.
  • the power supply racks 2-6 are plate racks that are fitted on the square guide rod and can be moved along the square guide rod.
  • the power supply frame 2-6 is a frame structure including circular frame bodies on both sides and an axial frame body connected with the two circular frame bodies.
  • the circular frame body of the power supply frame 2-6 has a cross section with the guide rail 2-5. A sliding hole adapted to the surface can be used to realize the movable installation method of the power rack 2-6 on the guide rail 2-5.
  • the lead screw motor assembly includes a lead screw 2-10 and a motor 2-11 that can move the lead screw 2-10.
  • the lead screw motor assembly is a conventional and known component. Through the work of the motor 2-11, the motor 2-11 can be realized.
  • the axis of the lead screw 2-10 is movable.
  • the lead screw 2-10 is parallel to the guide rail 2-5 and fixed with the rear connecting ring 2-4, that is, there is an integral fixing part with screw holes on the inner side of the rear connecting ring 2-4, and the end of the lead screw 2-10 It is connected with the fixed part through a thread, and a shock-absorbing pad is arranged between the fixed part and the end of the lead screw 2-10.
  • the shock-absorbing pad can reduce the vibration of the motor 2-11 or other components during the movement of the transmission to the midship part.
  • the shroud 2-1 thereby reducing the interference of the midship shroud 2-1 vibration to the front end of the aircraft.
  • the motor 2-11 and the power supply frame 2-6 are fixed by a connecting rod, that is, one end of the connecting rod is connected to the motor 2-11 by a thread, and the other end of the connecting rod is connected to the circular frame of the power supply frame 2-6 by a screw thread.
  • the main body of the mobile battery pack 2-7 is also a battery unit, the battery unit is arranged in a battery case, and the battery case is fixed on the power supply frame 2-6.
  • the motor 2-11 can be used as a power device to drive the power supply frame 2-6 to move, so as to adjust the center of gravity of the vehicle, and the battery pack 2-7 can be moved as an adjustment weight, which can adjust the position of the center of gravity of the underwater vehicle, thereby realizing the adjustment of the pitch attitude. adjust.
  • a displacement sensor 2-12 for monitoring the position of the motor is installed in the middle pressure chamber, and the adjustment amount of the pitch attitude is feedback-controlled by the displacement sensor 2-12.
  • the inner wall of the middle pressure chamber is provided with lightweight damping materials.
  • the setting of damping material further reduces the vibration transmitted from the rear cabin to the body.
  • the stern assembly 3 is provided with a buoyancy adjustment unit 3-4, a rudder unit 3-5 and a propulsion unit 3-6 connected in sequence from front to rear.
  • the buoyancy adjustment unit 3-4 is used to control the ups and downs of the aircraft
  • the rudder unit 3-5 is used to control the direction of the aircraft
  • the propulsion unit 3-6 is the power unit of the aircraft.
  • the outer shell of the stern assembly 3 is the stern shroud 3-1, and the outer side of the stern shroud 3-1 adopts the Myring line design.
  • the stern shroud 3-1 is a three-stage hood structure, and the outer diameter of the main body is the same as that of the forward midship shroud 2-1.
  • the rear end cover 3-2 is installed in the stern shroud 3-1.
  • the rear end cover 3-2 is a circular ring frame body, which is provided with radial screw holes and axial screw holes.
  • the adapted screws are fixed between the first and second sections of the stern shroud 3-1, and the transverse screw holes are connected to the axial frame 3-3 and the axial frame 3 through the adapted screws.
  • -3 is arranged at the front and rear of the rear end cover 3-2, and this axial frame 3-3 is used to install other components inside the stern assembly 3.
  • the rear end cover 3-2 divides the inner side of the stern fairing 3-1 into a buoyancy control compartment located in the front and a power compartment located in the rear.
  • the buoyancy adjustment unit 3-4 is installed in the buoyancy control cabin, and the tail rudder unit 3-5 and the propulsion unit 3-6 are installed in the power cabin. Specifically, the buoyancy adjustment unit 3-4 is fixedly mounted on the axial frame in front of the rear end cover 3-2 with screws, and the outer oil bag of the buoyancy adjustment unit 3-4 is connected to the rear end cover with four screws through the valve rod 3-2 center position.
  • a load-throwing module is installed in the stern shroud 3-1, that is, the load-throwing module is fixed together with the rear end cover 3-2 by means of a load-throwing bracket.
  • the buoyancy adjustment unit 3-4 and the load-throwing module are known components in the field.
  • An antenna unit 3-7 is installed on the stern shroud 3-1.
  • the antenna unit 3-7 is integrally mounted on the second section of the stern shroud 3-1.
  • the shell of the antenna unit 3-7 is a flexible fin-shaped structure, and an iridium star, a wireless communication module and a GPS module are integrated inside the antenna unit.
  • the lower end of the housing of the antenna unit 3-7 is a stainless steel seat with an O-ring, which is connected to the rear end cover 3-2 through 4 screws, and the rear end cover 3-2 is provided with a matching sealing screw hole.
  • the antenna elements 3-7 are conventionally known components in the art.
  • a ring frame 3-8 is fixed in the engine compartment of the stern shroud 3-1.
  • the ring frame 3-8 is connected to the rear end cover 3-2 through a circumferentially evenly distributed axial frame, and the axial frame is connected to the ring frame 3-8.
  • a shock-absorbing pad is provided between the cabins to reduce the influence of the vibration in the cabin on the front end of the aircraft.
  • the ring frame 3-8 is located behind the rear end cover 3-2, and is located between the second and third sections of the stern shroud 3-1.
  • the second-stage cover and the third-stage cover are fixed on the ring frame 3-8 with screws.
  • the ring frame 3-8 mounts the rudder units 3-5 through a circumferentially evenly distributed axial frame.
  • the tail rudder unit 3-5 is a cross tail rudder mechanism, which is used to adjust the course and attitude of the underwater vehicle.
  • the tail rudder unit 3-5 includes a second compensator 3-5-1, a steering gear housing 3-5-2, and a steering gear arranged in the steering gear housing 3-5-2.
  • the steering gear housing 3-5-2 is connected to the steering gear housing 3-5-2.
  • a steering gear pressure chamber is formed between the steering gears, and the second compensator 3-5-1 is communicated with the steering gear pressure chamber through an oil pipe.
  • the pressure chamber of the steering gear is filled with hydraulic oil, and can be compensated by the second compensator 3-5-1.
  • the tail rudder unit 3-5 is composed of a horizontal rudder assembly and a vertical rudder assembly, and the horizontal rudder assembly and the vertical rudder assembly are two sets of the same structure assemblies with an included angle of 90°.
  • the horizontal rudder assembly as an example, including the steering gear, the steering gear is the power component, the outer side is the sealed steering gear housing 3-5-2, and also includes the steering gear output shaft 3-5-3, the steering gear output shaft 3-5- 3
  • the steering gear output shaft 3-5-3 is connected to the tail rudder connection shaft 3-5-4
  • the tail rudder connection shaft 3-5 -4 is supported on the third section of the stern shroud 3-1 through the corresponding bearing
  • the tail rudder connecting shaft 3-5-4 goes outward from the third section of the stern shroud 3-1
  • the outer end of the tail rudder connecting shaft 3-5-4 is installed with the rudder blade 3-5-5.
  • the steering gear output shaft 3-5-3 is directly connected to one of the two horizontal tail rudder connecting shafts 3-5-4, and is connected to the other horizontal tail rudder connecting shaft through the bow shaft 3-5 -6 connection, so as to realize the synchronous drive of the corresponding two rudder blades by the output shaft of the same steering gear.
  • the power shaft of the steering gear and the output shaft of the steering gear located inside the steering gear housing 3-5-2 are transmitted through the magnetic coupling coupling.
  • the steering gear housing 3-5-2 is connected to the ring frame 3-8 through a bracket, and this connection method makes the tail rudder unit 3-5 not directly connected to the stern fairing 3-1, so as to reduce vibration interference.
  • the steering gear is fixed inside the steering gear pressure chamber, and the interior of the steering gear pressure chamber is filled with aviation hydraulic oil, which is compensated by the second compensator 3-5-1 by means of oil pressure compensation.
  • some parts in the rudder unit 3-5 are optimized and replaced, and high-performance water lubrication is used on the support of the steering gear output shaft 3-5-3 and the rudder connecting shaft 3-5-4
  • the bearing replaces the traditional rolling bearing, which reduces the noise when the traditional rolling element bearing rotates.
  • the propulsion unit 3-6 includes a propeller 3-6-1. Silicone is filled between the thruster 3-6-1 and the stern shroud 3-1. Specifically, the stern portion of the stern shroud 3-1 is the propeller deflector 3-6-2, and silica gel is filled between the propeller deflector 3-6-2 and the propeller 3-6-1.
  • the thruster 3-6-1 includes a third compensator, a thruster housing and a propulsion motor, and the thruster housing is located outside the propulsion motor.
  • a propeller pressure chamber is formed between the propeller housing and the propulsion motor.
  • the third compensator is communicated with the propeller pressure chamber through an oil pipe. Silica gel is filled between the propeller housing and the propeller guide. The third compensator can perform pressure compensation on the pressure chamber of the feeder.
  • the propeller air guide 3-6-2 adopts a two-part design, the outer part is the outer shell part of the stern part air guide 3-1, and the inner part is a cylinder for installing the propeller 3-6-1 shape cavity, the propeller housing of the propeller 3-6-1 is connected with the propeller guide part 3-6-2 through its own mounting ears and matching screws.
  • the propeller diversion part 3-6-2 is provided with a glue injection hole that communicates with the annular gap, and the annular gap is filled with silica gel through the glue injection hole. , silica gel plays the role of vibration reduction and energy absorption.
  • the propulsion motor adopts a direct drive motor, and a sealing ring is arranged between the output shaft of the propulsion motor and the propeller housing.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Ocean & Marine Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Measurement Of Mechanical Vibrations Or Ultrasonic Waves (AREA)
  • Vibration Prevention Devices (AREA)

Abstract

一种声学观测自主水下航行器，包括艏部总成(1)、舯部总成(2)和艉部总成(3)。艏部总成(1)包括油封舱和位于油封舱后方的艏部舱，油封舱内固定连接架(1-5)，连接架(1-5)通过弹簧(1-6)安装水听器(1-7)，油封舱内填充有液压油；艏部舱内安装高度计(1-8)、水听器控制板(1-9)、换能器(1-10)和第一补偿器(1-11)，第一补偿器(1-11)通过油管与油封舱连通。舯部总成(2)包括舯部导流罩(2-1)以及其内侧的中部耐压舱，中部耐压舱内设有导轨(2-5)、电源架(2-6)、移动电池组(2-7)、丝杠电机组件。艉部总成(3)包括艉部导流罩(3-1)以及浮力调节单元(3-4)、尾舵单元(3-5)和推进单元(3-6) 。本水下航行器自身噪音对声学观测影响较小，且具有高机动性。

Description

一种声学观测自主水下航行器 技术领域
本发明属于海洋智能装备技术领域，尤其涉及一种面向声学观测的自主水下航行器。
背景技术
随着“海洋强国”战略的提出，发展海洋、认识海洋、经略海洋已经变得越来越重要，海洋科学研究对于认识海洋自然现象具有重要的现实意义。自主水下航行器平台技术作为搭载海洋物理信息传感器的重要工具得到了快速的发展，自主水下航行器依靠自身浮力调节系统和推进系统进行上浮下潜和定深航行，相比较传统的声学观测设备，其航程远、机动性好、隐蔽性强的特点，使得其非常适合进行长时间、大范围、连续剖面海洋声学测量工作，近年来自主水下航行器技术得到了较快的发展。
当前国内外海洋探测领域，自主水下航行器广泛地用于深海海底管线调查、环境监测、海洋渔业开发、反水雷以及快速的环境评估。
但是，由于自主水下航行器自带推进系统，其推进系统在运转时会产生噪声，这种噪声会对其携带的声学传感器造成不可忽略的影响。小型水下滑翔机也可以搭载声学传感器进行连续垂直剖面海洋声学观测，但是由于传统的水下滑翔机依靠自身浮力系统进行驱动，无法实现水下定深巡航和满足高机动性观测的要求。
发明内容
针对现有技术存在的问题，本发明提供了一种解决目前水下航行器的自身运转所产生的噪音会对所装载的声学传感器产生干扰影响的问题的面向声学观测的自主水下航行器。
本发明是这样实现的，一种声学观测自主水下航行器，包括依次连接的艏部总成、舯部总成和艉部总成，其特征在于：所述艏部总成包括油封舱和位于所述油封舱后方的艏部舱，所述油封舱内固定连接架，所述连接架通过弹簧安装水听器，所述油封舱内填充有液压油；所述艏部舱内安装高度计、水听器控制板、换能器和第一补偿器，所述第一补偿器通过油管与所述油封舱连通；所述舯部总成包括舯部导流罩以及其内侧的中部耐压舱，所述中部耐压舱内设有沿航行器轴向延伸的导轨，所述导轨上安装可延导轨活 移的电源架，所述电源架配装移动电池组，所述中部耐压舱内设有驱动电源架沿所述导轨活移的丝杠电机组件；所述艉部总成包括艉部导流罩以及自前向后依次设置的相连接的浮力调节单元、尾舵单元和推进单元，所述推进单元包括推进器，所述推进器与所述艉部导流罩之间填充硅胶。
油封舱作为密闭的充油腔体，此设计具有两方面优点：一是提高艏部总成前端传递振动和压力的能力，更精准的检测外部水压及振速信号；二是减小了航行器运动过程中，水流对矢量水听器的冲击。第一补偿器的设置不仅能够及时补偿因水压变化而使液压油产生的压缩变化量，还能够及时补充结构漏油量。油封舱作为集成的独立声学采集单元，不仅具有较高检测精度，且在一定程度上降低了航行器自身噪音对水听器的负面影响。
另一方面，浮力调节单元设置在自主水下航行器的后部，远离了前端的声学传感器(水听器)，减小了浮力调节单元工作时对声学传感器的干扰。推进器与艉部导流罩之间填充的硅胶，可大幅度减小进器对艉部导流罩的振动干扰，从而进一步减小艉部导流罩传导至自主水下航行器前端的振动干扰。
电池组给水下航行器提供了能源，使其在水下航行时有一定的续航能力，且可以通过电池组在导轨上的轴向移动来调节水下航行器的俯仰姿态。
在上述技术方案中，优选的，所述艏部总成包括油封导流罩、艏部主体导流罩、油封端盖和艏部前端盖，所述油封导流罩和油封端盖构成所述油封舱，所述艏部主体导流罩、油封端盖和艏部前端盖构成所述艏部舱。
在上述技术方案中，优选的，所述油封导流罩为聚氨酯罩体，所述油封端盖设有用于所述油管与所述油封舱连通的油口。
在上述技术方案中，优选的，所述舯部导流罩内设置有前连接环、中连接环和后连接环，所述前连接环、中连接环和后连接环将所述中部耐压舱内分隔形成前舱和后舱，所述前舱内安装固定电池组，所述后舱内通过所述导轨和所述丝杠电机组件安装所述移动电池组。
在上述技术方案中，优选的，所述导轨为两端分别固定在所述中连接环和后连接环的方形导杆，所述电源架是配装在所述方形导杆上且可延方形导杆活移的板架；所述丝杠电机组件包括丝杠和可延丝杠活移的电机，所述丝杠与所述导轨平行且与所述后连接环固定，所述电机与所述电源架通过连杆固定。
在上述技术方案中，优选的，所述中部耐压舱内安装用于监测所述电机位置的位移 传感器。
在上述技术方案中，优选的，所述中部耐压舱内壁设有轻量化阻尼材料，所述后连接环与所述丝杠之间设有减震垫。减震垫的设置减小了后方传递到耐压舱内的振动，阻尼材料的设置进一步降低后舱传向机体的振动。
在上述技术方案中，优选的，所述艉部导流罩内安装后端盖，所述后端盖将所述艉部导流罩内侧分隔成为位于前方的浮力控制舱和位于后方的动力舱，所述浮力调节单元安装在所述浮力控制舱中，所述尾舵单元和推进单元安装在所述动力舱中；所述艉部导流罩内安装抛载模块，所述艉部导流罩上安装天线单元；所述艉部导流罩的动力舱中固定环架，所述环架通过圆周均布的轴向框架连接所述后端盖，所述环架通过圆周均布的轴向框架安装所述尾舵单元。
在上述技术方案中，优选的，所述尾舵单元包括第二补偿器、舵机舱壳和设于所述舵机舱壳内的舵机，所述舵机舱壳与所述舵机之间构成舵机耐压舱，所述第二补偿器与所述舵机耐压舱通过油管连通。舵机耐压舱内充满液压油，且可通过第二补偿器进行压力补偿。
在上述技术方案中，优选的，所述推进器包括第三补偿器、推进器舱壳和推进电机，所述推进器舱壳与所述推进电机之间构成推进器耐压舱，所述第三补偿器与所述推进器耐压舱通过油管连通，所述推进器舱壳与所述艉部导流罩之间填充硅胶。第三补偿器可以对进器耐压舱进行压力补偿。
附图说明
图1是本发明结构示意图；
图2是本发明中艏部总成的结构示意图；
图3是本发明中油封舱的结构示意图；
图4是本发明中舯部总成的结构示意图；
图5是本发明中移动电池组的安装结构示意图；
图6是本发明中艉部总成的结构示意图；
图7是本发明中尾舵单元的结构示意图；
图8是本发明中推进器的安装结构示意图。
图中、1、艏部总成；1-1、油封导流罩；1-2、艏部主体导流罩；1-3、油封端盖；1-4、艏部前端盖；1-5、连接架；1-6、弹簧；1-7、水听器；1-8、高度计；1-9、水听器 控制板；1-10、换能器；1-11、第一补偿器；2、舯部总成；2-1、舯部导流罩；2-2、前连接环；2-3、中连接环；2-4、后连接环；2-5、导轨；2-6、电源架；2-7、移动电池组；2-8、固定电池组；2-9、电池支撑板；2-10、丝杠；2-11、电机；2-12、位移传感器；3、艉部总成；3-1、艉部导流罩；3-2、后端盖；3-3、轴向框架；3-4、浮力调节单元；3-5、尾舵单元；3-5-1、第二补偿器；3-5-2、舵机舱壳；3-5-3、舵机输出轴；3-5-4、尾舵连接轴；3-5-5、舵叶；3-5-6、弓字轴；3-6、推进单元；3-6-1、推进器；3-6-2、推进器导流部；3-7、天线单元；3-8、环架。
具体实施方式
为了使本发明的目的、技术方案及优点更加清楚明白，以下结合实施例，对本发明进行进一步详细说明。应当理解，此处所描述的具体实施例仅仅用以解释本发明，并不用于限定本发明。
为解决目前水下航行器的自身运转所产生的噪音会对所装载的声学传感器产生干扰影响的问题，本发明特提供一种面向声学观测的自主水下航行器，本水下航行器自身噪音对声学观测影响较小，且具有高机动性。为了进一步说明本发明的结构，结合附图详细说明书如下：
请参阅图1，一种声学观测自主水下航行器，包括依次连接的艏部总成1、舯部总成2和艉部总成3。艏部总成1、舯部总成2和艉部总成3自航行器的行进方向自前至后依次设置。
请参阅图2和图3，艏部总成1包括油封舱和位于油封舱后方的艏部舱。具体的，艏部总成1包括油封导流罩1-1、艏部主体导流罩1-2、油封端盖1-3和艏部前端盖1-4。油封导流罩1-1和油封端盖1-3构成油封舱，艏部主体导流罩1-2、油封端盖1-3和艏部前端盖1-4构成艏部舱。油封导流罩1-1为聚氨酯罩体，为圆弧端头状的罩体，油封端盖1-3为圆形板体端盖，其与油封导流罩1-1通过螺钉和垫圈密封连接。艏部主体导流罩1-2是直径与油封导流罩1-1的后端直径相同的圆筒形罩体，其两端通过螺钉固定圆形板体构造的油封端盖1-3和艏部前端盖1-4，在艏部主体导流罩1-2内侧形成所述艏部舱。
油封舱内固定连接架1-5，连接架1-5通过弹簧1-6安装水听器，具体的，连接架1-5是由圆形框架和轴向横架构成的笼状架体，其通过螺钉固定在油封导流罩1-1内壁，连接架1-5的圆形框架内侧放射状均匀安装数条弹簧1-6，弹簧1-5的内端连接水听器 1-7，以此实现水听器1-7在连接架1-5上的安装。油封舱内填充有液压油，液压油为航空液压油。艏部舱内安装高度计1-8、水听器控制板1-9、换能器1-10和第一补偿器1-11，上述器件为常规已知器件，可根据航行器的具体工作要求选装适配的型号，通过螺钉固定在艏部舱内部。第一补偿器1-11通过油管与油封舱连通。即在油封端盖1-3设有用于油管与油封舱连通的油口，第一补偿器1-11可为油封舱补油。
请参阅图4和图5舯部总成2包括舯部导流罩2-1以及其内侧的中部耐压舱。具体的，舯部导流罩2-1为两段式圆筒形构造，其直径与艏部主体导流罩1-2的直径相同。舯部导流罩2-1内设置有前连接环2-2、中连接环2-3和后连接环2-4。前连接环2-2、中连接环2-3和后连接环2-4为圆形架体，前连接环2-2利用螺钉固定在舯部导流罩2-1前端部，中连接环2-3利用螺钉固定在舯部导流罩2-1的中部且将舯部导流罩2-1分隔为两段，后连接环2-4固定在舯部导流罩2-1的后端部。前连接环2-2、中连接环2-3和后连接环2-4将中部耐压舱内分隔形成前舱和后舱。
中部耐压舱内设有沿航行器轴向延伸的导轨2-5，导轨2-5上安装可延导轨2-5活移的电源架2-6。电源架2-6配装移动电池组2-7，中部耐压舱内设有驱动电源架2-6沿导轨2-5活移的丝杠电机组件。本实施例中，具体的，前舱内安装固定电池组2-8，后舱内通过上述导轨2-5和丝杠电机组件安装移动电池组2-7。固定电池组2-8的主体为电池单元，电池单元设置在耐压壳体中，耐压壳体固定在电池支撑板2-9上，电池支撑板2-9通过拉紧螺杆固定在前舱内，即在前连接环2-2和中连接环2-3上设有与拉紧螺杆适配的螺孔，拉紧螺杆固定于前连接环2-2和中连接环2-3，以实现固定电池组2-8在前舱内的安装固定。
导轨2-5为两端分别固定在中连接环2-3和后连接环2-4的方形导杆，导轨2-5的两端分别通过螺钉固定于中连接环2-3和后连接环2-4。电源架2-6是配装在方形导杆上且可延方形导杆活移的板架。电源架2-6是包括两侧的圆形架体和连接与两圆形架体之间的轴向架体的框架构造，电源架2-6的圆形架体具有与导轨2-5横断面适配的滑孔，以此实现电源架2-6在导轨2-5上的可活移安装方式。丝杠电机组件包括丝杠2-10和可延丝杠2-10活移的电机2-11，丝杠电机组件为常规已知部件，通过电机2-11的工作，可实现电机2-11延丝杠2-10的轴线活移。丝杠2-10与导轨2-5平行且与后连接环2-4固定，即在后连接环2-4的内侧具有一体式的带螺孔的固定部，丝杠2-10的端部通过螺纹与此固定部连接，在此固定部与丝杠2-10端部之间设有减震垫，减震垫可减小电机2-11 或者其它部件活动过程中的振动传导给舯部导流罩2-1，从而减小舯部导流罩2-1振动对航行器前端的干扰。电机2-11与电源架2-6通过连杆固定，即连杆的一端通过螺纹连接电机2-11，连杆的另一端通过螺纹连接电源架2-6的圆形架体。移动电池组2-7的主体同样为电池单元，电池单元设置在电池壳中，电池壳固定在电源架2-6上。电机2-11作为动力装置可驱动电源架2-6活移，以此调节航行器的重心，移动电池组2-7作为调节重块，可调节水下航行器重心位置，进而实现俯仰姿态的调节。中部耐压舱内安装用于监测所述电机位置的位移传感器2-12，俯仰姿态调节量通过位移传感器2-12反馈控制。
中部耐压舱内壁设有轻量化阻尼材料。阻尼材料的设置进一步降低后舱传向机体的振动。
请参阅图6-图8，艉部总成3自前向后依次设有相连接的浮力调节单元3-4、尾舵单元3-5和推进单元3-6。浮力调节单元3-4用于控制航行器沉浮，尾舵单元3-5用于控制航行器方向，推进单元3-6为航行器的动力单元。艉部总成3的外侧壳体为艉部导流罩3-1，艉部导流罩3-1外侧面采用Myring线型设计。本实施例中，艉部导流罩3-1为三段式的罩壳构造，主体外径与前方的舯部导流罩2-1相同。
艉部导流罩3-1内安装后端盖3-2，后端盖3-2为圆形环架体，其上设有径向螺孔和轴向螺孔，利用与径向螺孔适配的螺钉固定在艉部导流罩3-1的第一段罩壳和第二段罩壳之间，横向螺孔通过相适配的螺钉连接轴向框架3-3，轴向框架3-3设于后端盖3-2的前方和后方，此轴向框架3-3用于安装艉部总成3内侧的其它部件。后端盖3-2将艉部导流罩3-1内侧分隔成为位于前方的浮力控制舱和位于后方的动力舱。浮力调节单元3-4安装在浮力控制舱中，尾舵单元3-5和推进单元3-6安装在动力舱中。具体的，浮力调节单元3-4利用螺钉固装于后端盖3-2前方的轴向框架上，浮力调节单元3-4的外油囊通过气阀杆用四个螺钉连接在后端盖3-2的中心位置。艉部导流罩3-1内安装抛载模块，即抛载模块利用抛载支架与后端盖3-2固定在一起。浮力调节单元3-4、抛载模块为领域内已知部件。
艉部导流罩3-1上安装天线单元3-7。本实施例中，天线单元3-7集成安装在艉部导流罩3-1的第二段。天线单元3-7的外壳为柔性的鳍形构造，其内部集成安装铱星、无线通讯模块和GPS模块。天线单元3-7的外壳下端是带有O圈的不锈钢座，其通过4个螺钉连接到后端盖3-2上，后端盖3-2上设有与之适配的密封螺孔。天线单元3-7属于 领域内常规已知部件。
艉部导流罩3-1的动力舱中固定环架3-8，环架3-8通过圆周均布的轴向框架连接后端盖3-2，轴向框架与环架3-8之间设有减震垫，以减小舱内振动对航行器前端的影响。环架3-8位于后端盖3-2的后方，且位于艉部导流罩3-1的第二段罩壳和第三段罩壳之间，艉部导流罩3-1的第二段罩壳和第三段罩壳利用螺钉固定在环架3-8上。环架3-8通过圆周均布的轴向框架安装所述尾舵单元3-5。尾舵单元3-5为十字尾舵机构，用于调整水下航行器的航向和姿态。
尾舵单元3-5包括第二补偿器3-5-1、舵机舱壳3-5-2和设于舵机舱壳3-5-2内的舵机，舵机舱壳3-5-2与舵机之间构成舵机耐压舱，第二补偿器3-5-1与舵机耐压舱通过油管连通。舵机耐压舱内充满液压油，且可通过第二补偿器3-5-1进行压力补偿。
具体的，尾舵单元3-5由水平舵组件和垂直舵组件构成，水平舵组件和垂直舵组件为设置夹角为90°的两组同构造组件。以水平舵组件为例，包括舵机，舵机为动力部件，外侧为密封的舵机舱壳3-5-2，还包括舵机输出轴3-5-3，舵机输出轴3-5-3通过轴承支撑安装在艉部导流罩3-1的第三段罩壳上，舵机输出轴3-5-3连接尾舵连接轴3-5-4，且尾舵连接轴3-5-4通过对应轴承支撑安装在艉部导流罩3-1的第三段罩壳上，尾舵连接轴3-5-4自艉部导流罩3-1的第三段罩壳向外侧伸出，尾舵连接轴3-5-4的外端安装舵叶3-5-5。在艉部导流罩3-1的圆周方向均布四个圆孔，用于安装两水平向的尾舵连接轴3-5-4和两竖直向的尾舵连接轴。本实施例中，舵机输出轴3-5-3与两水平向的尾舵连接轴3-5-4之一直接连接，与另一水平向的尾舵连接轴通过弓字轴3-5-6连接，以此实现同一舵机输出轴同步驱动对应的两舵叶。位于舵机舱壳3-5-2内侧的舵机的动力轴与舵机输出轴通过磁耦合联轴器传动。舵机舱壳3-5-2通过支架与环架3-8相连，这种连接方式使得尾舵单元3-5不直接与艉部导流罩3-1相连，以减小振动干扰。
舵机固定在舵机耐压舱的内部，舵机耐压舱内部充满了航空液压油，采用油压补偿的方式通过第二补偿器3-5-1进行补压。
本实施例中，对尾舵单元3-5中的部分零件做了优化替换，在舵机输出轴3-5-3与尾舵连接轴3-5-4的支撑上使用高性能的水润滑轴承代替传统滚动式轴承，降低了传统带滚动体轴承旋转时的噪声。
推进单元3-6包括推进器3-6-1。推进器3-6-1与艉部导流罩3-1之间填充硅胶。具体的，艉部导流罩3-1的艉部为推进器导流部3-6-2，推进器导流部3-6-2与推进器3-6-1 之间填充硅胶。推进器3-6-1包括第三补偿器、推进器舱壳和推进电机，推进器舱壳位于推进电机外侧。推进器舱壳与推进电机之间构成推进器耐压舱。第三补偿器与推进器耐压舱通过油管连通。推进器舱壳与推进器导流部之间填充硅胶。第三补偿器可以对进器耐压舱进行压力补偿。
具体的，推进器导流部3-6-2采用两部分的设计，外侧部为艉部导流罩3-1的外壳部分，内侧部是形成用于安装推进器3-6-1的圆柱形腔，推进器3-6-1的推进器舱壳通过自身具有的安装耳上以及相适配螺钉与推进器导流部3-6-2相连接。推进器导流部3-6-2与推进器舱壳之间为环形缝隙，推进器导流部3-6-2设有与环形缝隙连通的注胶孔，环形缝隙通过注胶孔充满硅胶，硅胶起到减振吸能的作用。推进电机选用直驱电机，推进电机的输出轴与推进器舱壳之间设有密封圈。
以上所述仅为本发明的较佳实施例而已，并不用以限制本发明，凡在本发明的精神和原则之内所作的任何修改、等同替换和改进等，均应包含在本发明的保护范围之内。

Claims (10)

  1. 一种声学观测自主水下航行器，包括依次连接的艏部总成(1)、舯部总成(2)和艉部总成(3)，其特征在于：
    所述艏部总成(1)包括油封舱和位于所述油封舱后方的艏部舱，所述油封舱内固定连接架(1-5)，所述连接架(1-5)通过弹簧(1-6)安装水听器(1-7)，所述油封舱内填充有液压油；所述艏部舱内安装高度计(1-8)、水听器控制板(1-9)、换能器(1-10)和第一补偿器(1-11)，所述第一补偿器(1-11)通过油管与所述油封舱连通；
    所述舯部总成(2)包括舯部导流罩(2-1)以及其内侧的中部耐压舱，所述中部耐压舱内设有沿航行器轴向延伸的导轨(2-5)，所述导轨(2-5)上安装可延导轨(2-5)活移的电源架(2-6)，所述电源架(2-6)配装移动电池组(2-7)，所述中部耐压舱内设有驱动电源架(2-6)沿所述导轨(2-5)活移的丝杠电机组件；
    所述艉部总成(3)包括艉部导流罩(3-1)以及自前向后依次设置的相连接的浮力调节单元(3-4)、尾舵单元(3-5)和推进单元(3-6)，所述推进单元(3-6)包括推进器(3-6-1)，所述推进器(3-6-1)与所述艉部导流罩(3-1)之间填充硅胶。
  2. 根据权利要求1所述的声学观测自主水下航行器，其特征在于：所述艏部总成(1)包括油封导流罩(1-1)、艏部主体导流罩(1-2)、油封端盖(1-3)和艏部前端盖(1-4)，所述油封导流罩(1-1)和油封端盖(1-3)构成所述油封舱，所述艏部主体导流罩(1-2)、油封端盖(1-3)和艏部前端盖(1-4)构成所述艏部舱。
  3. 根据权利要求2所述的声学观测自主水下航行器，其特征在于：所述油封导流罩(1-1)为聚氨酯罩体，所述油封端盖(1-3)设有用于所述油管与所述油封舱连通的油口。
  4. 根据权利要求1所述的声学观测自主水下航行器，其特征在于：所述舯部导流罩(2-1)内设置有前连接环(2-2)、中连接环(2-3)和后连接环(2-4)，所述前连接环(2-2)、中连接环(2-3)和后连接环(2-4)将所述中部耐压舱内分隔形成前舱和后舱，所述前舱内安装固定电池组(2-8)，所述后舱内通过所述导轨(2-5)和所述丝杠电机组件安装所述移动电池组(2-7)。
  5. 根据权利要求4所述的声学观测自主水下航行器，其特征在于：所述导轨(2-5)为两端分别固定在所述中连接环(2-3)和后连接环(2-4)的方形导杆，所述电源架(2-6)是配装在所述方形导杆上且可延方形导杆活移的板架；所述丝杠电机组件包括丝杠 (2-10)和可延丝杠(2-10)活移的电机(2-11)，所述丝杠(2-10)与所述导轨(2-5)平行且与所述后连接环(2-4)固定，所述电机(2-11)与所述电源架(2-6)通过连杆固定。
  6. 根据权利要求5所述的声学观测自主水下航行器，其特征在于：所述中部耐压舱内安装用于监测所述电机位置的位移传感器(2-12)。
  7. 根据权利要求6所述的声学观测自主水下航行器，其特征在于：所述中部耐压舱内壁设有轻量化阻尼材料，所述后连接环(2-4)与所述丝杠(2-10)之间设有减震垫。
  8. 根据权利要求1所述的声学观测自主水下航行器，其特征在于：所述艉部导流罩(3-1)内安装后端盖(3-2)，所述后端盖(3-2)将所述艉部导流罩(3-1)内侧分隔成为位于前方的浮力控制舱和位于后方的动力舱，所述浮力调节单元(3-4)安装在所述浮力控制舱中，所述尾舵单元(3-5)和推进单元(3-6)安装在所述动力舱中；所述艉部导流罩(3-1)内安装抛载模块，所述艉部导流罩(3-1)上安装天线单元(3-7)；所述艉部导流罩(3-1)的动力舱中固定环架(3-8)，所述环架(3-8)通过圆周均布的轴向框架(3-3)连接所述后端盖(3-2)，所述环架(3-8)通过圆周均布的轴向框架安装所述尾舵单元(3-5)。
  9. 根据权利要求8所述的声学观测自主水下航行器，其特征在于：所述尾舵单元(3-5)包括第二补偿器(3-5-1)、舵机舱壳(3-5-2)和设于所述舵机舱壳(3-5-2)内的舵机，所述舵机舱壳(3-5-2)与所述舵机之间构成舵机耐压舱，所述第二补偿器(3-5-1)与所述舵机耐压舱通过油管连通。
  10. 根据权利要求8所述的声学观测自主水下航行器，其特征在于：所述推进器(3-6-1)包括第三补偿器、推进器舱壳和推进电机，所述推进器舱壳与所述推进电机之间构成推进器耐压舱，所述第三补偿器与所述推进器耐压舱通过油管连通，所述推进器舱壳与所述艉部导流罩(3-1)之间填充硅胶。
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