CN110450926B - Hydraulic forced sinking attitude stable two-body underwater towing device - Google Patents
Hydraulic forced sinking attitude stable two-body underwater towing device Download PDFInfo
- Publication number
- CN110450926B CN110450926B CN201910706523.0A CN201910706523A CN110450926B CN 110450926 B CN110450926 B CN 110450926B CN 201910706523 A CN201910706523 A CN 201910706523A CN 110450926 B CN110450926 B CN 110450926B
- Authority
- CN
- China
- Prior art keywords
- heave
- control
- towing
- cabin
- main
- 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.)
- Active
Links
Images
Classifications
-
- 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
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Other Liquid Machine Or Engine Such As Wave Power Use (AREA)
- Structures Of Non-Positive Displacement Pumps (AREA)
Abstract
The invention discloses a hydraulic forced sinking posture stable two-body underwater towing device, which comprises a main towing body, a main towing cable, an auxiliary towing cable and an auxiliary towing body, wherein the main towing body is connected with the main towing cable; the main towing body is connected with the auxiliary towing body through an auxiliary towing cable; the main towing body comprises a main towing body cavity, a heave control mechanism, a mechanical stem turning control mechanism, a water spraying stem turning control mechanism and an inclination angle control mechanism; the upper part of the cavity of the main towing body is provided with a heave control cabin and a bow-turning control cabin, and the lower part of the cavity of the main towing body is provided with a submersible pump nacelle; the heave control mechanism consists of a plurality of heave control hydrofoils, an airfoil-shaped floating body, a rocker inside the heave control cabin, a porous connecting rod and a heave linear motor; a stem rotating control hydrofoil of the mechanical stem rotating control mechanism is vertically arranged at the rear part of the upright post, and the water spraying stem rotating control mechanism is arranged in a hanging cabin of the submersible pump. The invention has the characteristics of stable movement of the detection platform, flexible operation, reasonable cabin arrangement and the like.
Description
Technical Field
The invention relates to an underwater towed body, in particular to an underwater towed device with two bodies and stable hydraulic forced sinking posture.
Background
The underwater towed body is an underwater device which moves under the towing control of the navigation devices such as ships, submarines or helicopters, and the like, and the device realizes the dynamic monitoring of underwater physical and chemical environmental parameters by carrying a physical or chemical environmental parameter sensor. The underwater towed body is an important platform for marine environment monitoring, marine hydrological data observation and marine disaster early warning.
How to enhance towing stability and maneuvering flexibility of an underwater towed body in a simple and effective manner is still one of the key technologies to be solved urgently in underwater towed body development. The underwater towed body in the early stage is mostly changed in the underwater water penetration depth by retracting and releasing the towing rope, the underwater towed body is very easily influenced by towing movement in a depth control mode of retracting and releasing the towing rope, and the towing rope and the like in towing are induced by fluid force to independently float upwards so as to reduce the depth stability of the underwater towed body. With the development of science and technology, a depth control technology and a heading control technology are gradually applied to the motion control of an underwater towed body, however, the conventional single underwater towed body motion control is often accompanied by the instability of a pitch angle and a heading angle, the interference of vibration noise of a control mechanism and the like, the irregular motion of a towing device such as a ship, a submarine or a helicopter under the interference of wind and wave flow can be directly transmitted to the underwater towed body carrying a detecting instrument through a towing cable, so that the depth stability of the underwater towed body carrying the detecting instrument is reduced, the detection efficiency of a physical or chemical environmental parameter sensor can be seriously reduced due to the overlarge change of the pitch angle and the heading angle, the vibration noise of the control mechanism and the irregular motion of the towing device, and how to reduce the interference of the pitch angle and the heading angle of the towed body, the vibration noise of the control mechanism and the irregular motion of the towing device on the physical or chemical environmental parameter sensor is a technical face in the research and development process of a novel underwater towed body One of the surgical disorders.
Disclosure of Invention
The invention mainly solves the technical problems in the prior art, and provides the multi-hydrofoil hydraulic force sinking posture-stabilizing two-body underwater towing device with stable motion of a detection platform, flexible operation and reasonable cabin arrangement.
The technical problem of the invention is mainly solved by the following technical scheme:
a hydraulic force sinking posture stabilizing two-body underwater towing device comprises a main towing cable, a main towing body, an auxiliary towing cable and an auxiliary towing body which are connected in sequence; the main towing body comprises a main towing body cavity, a heave control mechanism, a mechanical stem turning control mechanism, a water spraying stem turning control mechanism and an inclination angle control mechanism;
the main towing body cavity comprises a heave control cabin, a bow turning control cabin, a stern cabin, a stand column, a submersible pump nacelle, a horizontal tail wing, a main towing body front cable hole and a main towing body rear cable hole; the heave control cabin and the bow turning control cabin are arranged up and down, and the bow turning control cabin is positioned below the heave control cabin; the wing-shaped upright post is vertically arranged below the stem turning control cabin, and the upper end of the wing-shaped upright post is connected with the lower end face of the stem turning control cabin; the torpedo-shaped submersible pump nacelle is rigidly connected to the lower end of the wing-shaped upright post; the horizontal tail wing is fixed at the tail part of the submersible pump nacelle, and the stern cabin is arranged right behind the heave control cabin and the bow-turning control cabin; at least one main towed body front cable hole is fixed on the outer wall surface of the front end of the heave control cabin, and at least one main towed body rear cable hole is arranged on the outer wall surface of the rear end of the stern cabin; the main towing body front cable hole and the main towing body rear cable hole are respectively connected with the main towing cable and the auxiliary towing cable;
the heave control mechanism comprises a heave control hydrofoil, a heave control hydrofoil guide plate, a wing-shaped floating body, a heave driving shaft, a rocker, a porous connecting rod and a heave linear motor; the heave control hydrofoil is of a wing-shaped hollow structure, and a plurality of heave control hydrofoil guide plates are uniformly arranged on the surface of the heave control hydrofoil; the heave control hydrofoil is axially and fixedly connected with the heave driving shaft; the plurality of driving shafts for heave are arranged and pass through the heave control cabin at intervals in a gradient manner; each heave driving shaft is respectively fixed with a heave control hydrofoil at two ends of the heave control cabin; a plurality of heave control hydrofoils on two sides of the heave control cabin are arranged at intervals and in a gradient manner; the middle part of each heave driving shaft is connected with a rocker; the plurality of rocking bars are respectively hinged with a porous connecting rod, and the porous connecting rod is connected with the heave linear motor through a push rod;
the stem turning control hydrofoil of the mechanical stem turning control mechanism is vertically arranged at the rear part of the upright post;
the water spraying stem turning control mechanism comprises a submersible pump, a connecting pipe, an electromagnetic valve left water outlet, an electromagnetic valve right water outlet, a left water spraying pipe, a right water spraying pipe, a left water spraying opening and a right water spraying opening; the submersible pump is connected with the electromagnetic valve through a connecting pipe, a left electromagnetic valve water outlet and a right electromagnetic valve water outlet of the electromagnetic valve are respectively connected with the left water spray pipe and the right water spray pipe, and the other ends of the left water spray pipe and the right water spray pipe penetrate out of the tail part of the submersible pump nacelle and are respectively connected with a left water spray port on the left horizontal tail wing guide plate and a right water spray port on the right horizontal tail wing guide plate;
the two trim control hydrofoils of the tilt angle control mechanism are arranged on the left side and the right side of the rear upper part of the main towing body cavity in parallel.
In order to further achieve the object of the present invention, preferably, the mechanical stem turning control mechanism includes a stem turning control hydrofoil, a stem turning drive shaft, a stem turning connecting rod, a stem turning linear motor push rod and a stem turning linear motor; the stem turning control hydrofoil is vertically arranged at the rear part of the upright post, and a plurality of stem turning guide plates are uniformly arranged on the wing surface of the stem turning control hydrofoil; the lower end of the stem rotating driving shaft is rigidly connected with the stem rotating control hydrofoil, the upper end of the stem rotating driving shaft is connected with a stem rotating connecting rod, the stem rotating connecting rod is hinged with a stem rotating linear motor push rod, and the stem rotating linear motor push rod is connected with a stem rotating linear motor.
Preferably, the tilt angle control mechanism comprises a pitch control hydrofoil, a pitch control hydrofoil deflector, a pitch control hydrofoil driving shaft, a worm gear, a worm and a pitch control motor; the pitch control hydrofoil driving shaft rigidly connects the pitch control hydrofoils at the left and right sides, the middle part of the pitch control hydrofoil driving shaft is rigidly fixed with a worm wheel arranged in the stern cabin, and the worm wheel is meshed with a worm; the worm is rigidly fixed on the rotating shaft of the pitch control motor.
Preferably, the auxiliary towed body comprises an auxiliary towed body main cavity, an auxiliary towed body cable hole and an auxiliary towed body tail wing; the main cavity of the auxiliary towing body is of a streamline cavity structure, and a physical or chemical environmental parameter detecting instrument is arranged in the cavity; the auxiliary towed body cable hole is arranged at the front end of the auxiliary towed body main cavity; the auxiliary towing body tail wings are formed by a plurality of plates at even intervals along the circumferential direction, the tail end of each plate is provided with a flat plate, and the auxiliary towing body tail wings are rigidly fixed at the tail part of the main cavity of the auxiliary towing body.
Preferably, the interval and gradient penetration of the plurality of driving shafts through the heave control cabin means that the plurality of heave driving shafts are arranged at intervals from bottom to top in a longitudinal projection view, and the plurality of heave driving shafts are arranged at intervals from front to back in a horizontal projection view.
Preferably, one end of the main towing cable is connected with a main towing body front cable hole at the front end of the main towing body, and the other end of the main towing cable is connected with the towing device; one end of the auxiliary towing cable is connected with a rear cable hole of the main towing body at the rear end of the main towing body, and the other end of the auxiliary towing cable is connected with an auxiliary towing body cable hole at the front end of the auxiliary towing body.
Preferably, the main towing body cavity further comprises a control cabin cover, a stern cabin cover, a submersible pump nacelle protection cover and a horizontal tail deflector; the control cabin cover seals the heave control cabin and the bow turning control cabin through a plurality of screws to form a watertight space; a stern cabin cover above the stern cabin seals the stern cabin through a plurality of screws to form a watertight space; the submersible pump nacelle protective cover is of a cone cavity screen structure; the submersible pump nacelle protective cover is connected to the front end of the submersible pump nacelle through threads; the horizontal tail guide plate is arranged on the outer side of the horizontal tail.
Preferably, the heave control cabin and the bow-turning control cabin are both columnar watertight space structures; the water spray pipe and the right water spray pipe are flexible hoses; the wing section of the bow-turning control hydrofoil and the wing section of the trim control hydrofoil are of hollow structures.
Preferably, the rocker, the porous connecting rod and the heave linear motor are arranged inside the heave control cabin; the wing section body is vertical wing section cavity structure of placing, and two wing section bodies set up in the heave control hydrofoil outside, and it is articulated with a plurality of heave control hydrofoil outer ends with one side respectively.
Preferably, the stem turning connecting rod, the stem turning linear motor push rod and the stem turning linear motor are arranged in the stem turning control cabin; the water spraying stem turning control mechanism is arranged in the submersible pump lifting cabin; the end face of the outer side of the trim control hydrofoil is rigidly fixed with a trim control hydrofoil guide plate; the worm wheel, the worm and the pitch control motor are arranged in the stern compartment.
Compared with the prior art, the invention has the beneficial effects that:
(1) the detection platform moves stably. On one hand, the main towed body of the two-body underwater towing device and the structures such as the appearance, the horizontal tail wing, the upright post, the heave control hydrofoil, the wing-type floating body, the auxiliary towed body tail wing and the like of the auxiliary towed body can generate larger fluid force for inhibiting the position or the posture of the main towed body from changing in towing, and when the position or the posture of the inhibited towed body is changed, the fluid force can timely recover the position or the posture of the main towed body, so that the two-body underwater towing device has better towing stability; on the other hand, the detection instrument is arranged on the auxiliary towing body, and due to the existence of the flexible auxiliary towing cable, unstable motion forced by the main towing body under the condition of towing device disturbance induction caused by the change of position or posture or external forces such as wind, wave, flow and the like in the control process of the main towing body is greatly weakened before being transmitted to the auxiliary towing body, and finally, the disturbance transmitted to the auxiliary towing body is small; on the other hand, in the arrangement of the main towing body cabin, the equipment such as the submersible pump with larger mass is arranged in the submersible pump hanging cabin, so that the gravity center of the invention is greatly reduced, and the structures such as the wing-shaped floating body are arranged, so that the floating center of the invention is improved, and the autonomous stability of the invention is enhanced. In conclusion, compared with a single towing device, the two-body underwater towing device provided by the invention has the advantage that the detection platform is stable in motion.
(2) The operation is flexible. In the aspect of heave motion control on a vertical surface, the heave motion control of the auxiliary towing body of the two-body underwater towing device is completed by controlling the heave motion of the main towing body, and the distributed heave control hydrofoil greatly improves the heave control efficiency and can well reduce the inclination angle change of the main towing body in the heave control process, thereby ensuring the flexibility of motion control; in the aspect of controlling the bow turning motion on the horizontal plane, the two-body underwater towing device realizes the bow turning control of the auxiliary towing body by controlling the bow turning motion of the main towing body, and is simultaneously provided with two bow turning motion control mechanisms, namely a water spraying bow turning control mechanism and a mechanical bow turning control mechanism, which can act simultaneously or independently, so that the defect that the wing effect of the mechanical bow turning control mechanism is low can be overcome by the water spraying bow turning control mechanism under the condition of zero or low navigational speed, and the control efficiency of the mechanical bow turning control mechanism is higher under the condition of high navigational speed and the capability of the two-body underwater towing device for bow turning motion under high navigational speed can be enhanced; the stable inclination angle is very important for controlling the heave motion of the towed body and the bow turning motion, and in the aspect of inclination angle control, the inclination angle control mechanism is arranged at the rear upper part far away from the towing point of the main towed body of the underwater tow device for two bodies, so that the longitudinal inclination angle of the main towed body is adjusted in real time to ensure the attitude stability of the towed body, and the operation flexibility of the underwater tow device for two bodies is further improved.
(3) The cabin is reasonably arranged. On one hand, in the arrangement of the main towing body cabin, the equipment such as the submersible pump with larger mass is arranged in the submersible pump nacelle, so that the gravity center of the device is greatly reduced; on the other hand, the detector of the underwater tow device for two bodies is arranged on the auxiliary tow body, so that the interference of vibration, noise and the like caused by a motion control mechanism on a physical or chemical environmental parameter sensor is reduced.
Drawings
FIG. 1 is a schematic structural diagram of the external shape of the underwater towing device with multiple hydrofoils for hydraulic sinking posture stabilization and two bodies of the invention;
FIG. 2 is a left side view of the multi-hydrofoil hydraulic force sinking attitude stabilization two-body underwater towing device of the present invention;
FIG. 3 is a sectional view taken along line A-A of FIG. 2;
FIG. 4 is a top view of the multi-hydrofoil hydraulic force sinking attitude stabilization two-body underwater towing device of the present invention;
FIG. 5 is a sectional view taken along line B-B of FIG. 4;
FIG. 6 is a schematic diagram of a heave control mechanism of the multi-hydrofoil hydraulic forced-sinking attitude stabilization two-body underwater towing device of the invention;
FIG. 7 is a schematic view of a mechanical heading control mechanism of the multi-hydrofoil hydraulic forced sinking attitude stabilization two-body underwater towing device of the invention;
FIG. 8 is a schematic view of a water-spraying bow-turning control mechanism of the multi-hydrofoil hydraulic forced sinking attitude stabilization two-body underwater towing device of the invention;
FIG. 9 is a schematic view of the tilt angle control mechanism of the multi-hydrofoil hydraulic sinking attitude stabilization two-body underwater towing device of the present invention.
The figures show that: the device comprises a main towing body 1, a main towing body cavity 1-1, a heave control cabin 1-1-1, a stem turning control cabin 1-1-2, a control cabin cover 1-1-3, a stern cabin 1-1-4, a stern cabin cover 1-1-5, a stand column 1-1-6, a submersible pump nacelle 1-1-7, a submersible pump nacelle protective cover 1-1-8, a horizontal tail 1-1-9, a horizontal tail guide plate 1-1-10, a main towing body front cable hole 1-1-11, a main towing body rear cable hole 1-1-12, a heave control mechanism 1-2, a heave control hydrofoil 1-2-1, a heave control hydrofoil guide plate 1-2-2, a wing type floating body 1-2-3, 1-2-4 parts of a heave driving shaft, 1-2-5 parts of a rocker, 1-2-6 parts of a porous connecting rod, 1-2-7 parts of a heave linear motor, 1-3 parts of a mechanical stem turning control mechanism, 1-3-1 parts of stem turning control hydrofoils, 1-3-2 parts of stem turning driving shafts, 1-3-3 parts of stem turning connecting rods, 1-3-4 parts of stem turning linear motor push rods, 1-3-5 parts of stem turning linear motors, 1-4 parts of water spraying stem turning control mechanisms, 1-4-1 parts of submersible pumps, 1-4-2 parts of connecting pipes, 1-4-3 parts of electromagnetic valves, 1-4-4 parts of left water outlets of the electromagnetic valves, 1-4-5 parts of right water outlets of the electromagnetic valves, 1-4-6 parts of left water spraying pipes, 1-4-7 parts of right water spraying pipes, 1-4-8 parts of left water spraying opening, 1-4-9 parts of right water spraying opening, 1-5 parts of inclination angle control mechanism, 1-5-1 parts of trim control hydrofoil, 1-5-2 parts of trim control hydrofoil guide plate, 1-5-3 parts of trim control hydrofoil driving shaft, 1-5-4 parts of worm wheel, 1-5-5 parts of worm and 1-5-6 parts of trim control motor; the towing device comprises a main towing cable 2, an auxiliary towing cable 3, an auxiliary towing body 4, an auxiliary towing body main cavity 4-1, an auxiliary towing body cable hole 4-2 and an auxiliary towing body tail wing 4-3.
Detailed Description
The present invention is better supported and will be further explained with reference to the accompanying drawings, but the embodiments of the present invention are not limited thereto.
As shown in fig. 1, the underwater towing device with hydraulic forced sinking posture stabilizing two bodies comprises a main towing cable 2, a main towing body 1, an auxiliary towing cable 3 and an auxiliary towing body 4 which are connected in sequence; the main towing body 1 comprises a main towing body cavity 1-1, a heave control mechanism 1-2, a mechanical stem turning control mechanism 1-3, a water spraying stem turning control mechanism 1-4 and an inclination angle control mechanism 1-5.
As shown in fig. 1-5, a main towed body cavity 1-1 comprises a heave control cabin 1-1-1, a bow turning control cabin 1-1-2, a stern cabin 1-1-4, a column 1-1-6, a submersible pump nacelle 1-1-7, a horizontal tail wing 1-1-9, a main towed body front cable hole 1-1-11 and a main towed body rear cable hole 1-1-12; the heave control cabin 1-1-1 and the bow turning control cabin 1-1-2 are arranged up and down, and the bow turning control cabin 1-1-2 is positioned below the heave control cabin 1-1-1; the wing-shaped upright post 1-1-6 is vertically arranged below the bow-turning control cabin 1-1-2, and the upper end of the wing-shaped upright post 1-1-6 is rigidly connected with the lower end face of the bow-turning control cabin 1-1-2; the torpedo-shaped submersible pump nacelle 1-1-7 is rigidly connected to the lower end of the wing-shaped upright post 1-1-6; the horizontal tail wing 1-1-9 is rigidly fixed at the tail part of the submersible pump nacelle 1-1-7, and the stern cabin 1-1-4 is arranged right behind the heave control cabin 1-1-1 and the fore-turning control cabin 1-1-2; at least one main towing body front cable hole 1-1-11 is rigidly fixed on the outer wall surface of the front end of the heave control cabin 1-1-1, and at least one main towing body rear cable hole 1-1-12 is arranged on the outer wall surface of the rear end of the stern cabin 1-1-4. The heave control cabin 1-1-1 and the bow-turning control cabin 1-1-2 are both columnar watertight space structures.
As shown in fig. 1-5, the main towing body cavity 1-1 further comprises a control hatch 1-1-3, a stern hatch 1-1-5, a submersible pump nacelle protection cover 1-1-8, and a horizontal tail spoiler 1-1-10; the control cabin cover 1-1-3 seals the heave control cabin 1-1-1 and the bow turning control cabin 1-1-2 through a plurality of screws to form a watertight space; a stern cabin cover 1-1-5 above the stern cabin 1-1-4 seals the stern cabin 1-1-4 through a plurality of screws to form a watertight space; the submersible pump nacelle protective cover 1-1-8 is in a cone cavity screen structure; the submersible pump nacelle protective cover 1-1-8 is connected to the front end of the submersible pump nacelle 1-1-7 through threads; the horizontal tail guide plate 1-1-10 is arranged at the outer side of the horizontal tail 1-1-9
The heave control cabin 1-1-1 at the upper part of the main towing body cavity 1-1, the bow turning control cabin 1-1-2 and the submersible pump nacelle 1-1-7 at the lower part of the main towing body cavity 1-1 are rigidly connected by the vertically arranged wing-shaped upright posts 1-1-6 to form an integral structure.
As shown in fig. 6, the heave control mechanism 1-2 comprises a heave control hydrofoil 1-2-1, a heave control hydrofoil guide plate 1-2-2, a wing-shaped floating body 1-2-3, a heave drive shaft 1-2-4, a rocker 1-2-5, a porous connecting rod 1-2-6 and a heave linear motor 1-2-7; the wing-shaped hollow structure of the heave control hydrofoil 1-2-1 is characterized in that a plurality of heave control hydrofoil guide plates 1-2-2 are uniformly arranged on the wing surface of the heave control hydrofoil 2-1; the heave control hydrofoil 2-1 is axially and fixedly connected with the heave driving shaft 1-2-4; the plurality of the heave driving shafts penetrate through the heave control cabin 1-1-1 at intervals in a gradient manner, specifically, the plurality of the heave driving shafts are arranged at intervals from bottom to top in a longitudinal projection manner, and the plurality of the heave driving shafts are arranged at intervals from front to back in a horizontal projection manner; two ends of the heave control cabin 1-1-1 are respectively fixed with a heave control hydrofoil 1-2-1; a plurality of heave control hydrofoils 1-2-1 on two sides of the heave control cabin 1-1-1 are arranged at intervals and in a gradient manner; the middle part of each heave driving shaft 1-2-4 is rigidly connected with a rocker 1-2-5; the plurality of rocking bars 1-2-5 are respectively hinged with the porous connecting rods 1-2-6, the porous connecting rods 1-2-6 are connected with the heaving linear motors 1-2-7 through push rods, and the porous connecting rods 1-2-6 do plane motion and drive the sinking control hydrofoils 1-2-1 through the transmission rocking bars 1-2-5 and the heaving driving shafts 1-2-4 under the drive of the heaving linear motors 1-2-7. The rocker 1-2-5, the porous connecting rod 1-2-6 and the heave linear motor 1-2-7 are arranged in the heave control cabin 1-1-1; the wing-shaped floating bodies 1-2-3 are vertically arranged wing-shaped cavity structures, and the two wing-shaped floating bodies 1-2-3 are arranged on the outer sides of the heave control hydrofoils 1-2-1 and are hinged with the outer ends of the heave control hydrofoils 1-2-1 on the same side respectively.
As shown in FIG. 7, the mechanical stem turning control mechanism 1-3 comprises a stem turning control hydrofoil 1-3-1, a stem turning drive shaft 1-3-2, a stem turning connecting rod 1-3-3, a stem turning linear motor push rod 1-3-4 and a stem turning linear motor 1-3-5; the stem turning control hydrofoil 1-3-1 is vertically arranged at the rear part of the upright post 1-1-6, and a plurality of stem turning guide plates are uniformly arranged on the stem turning control hydrofoil 1-3-1 wing surface; the lower end of a stem rotating driving shaft 1-3-2 is rigidly connected with a stem rotating control hydrofoil 1-3-1, the upper end of the stem rotating driving shaft is connected with a stem rotating connecting rod 1-3-3, the stem rotating connecting rod 1-3-3 is hinged with a stem rotating linear motor push rod 1-3-4, and the stem rotating linear motor push rod 1-3-4 is connected with a stem rotating linear motor 1-3-5; thereby transmitting the driving force of the stem-turning linear motor 1-3-5 to the stem-turning control hydrofoil 1-3-1. A stem turning connecting rod 1-3-3, a stem turning linear motor push rod 1-3-4 and a stem turning linear motor 1-3-5 are arranged in the stem turning control cabin 1-1-2; the turning bow controls the airfoil 1-3-1 hollow structure of the hydrofoil.
As shown in FIG. 8, the water spray bow-turning control mechanism 1-4 comprises a submersible pump 1-4-1, a connecting pipe 1-4-2, an electromagnetic valve 1-4-3, an electromagnetic valve left water outlet 1-4-4, an electromagnetic valve right water outlet 1-4-5, a left water spray pipe 1-4-6, a right water spray pipe 1-4-7, a left water spray opening 1-4-8 and a right water spray opening 1-4-9; the water spray bow-turning control mechanism 1-4 is arranged in a submersible pump nacelle 1-1-7, the submersible pump 1-4-1 is connected with an electromagnetic valve 1-4-3 through a connecting pipe 1-4-2, a left water outlet 1-4-4 of the electromagnetic valve 1-4-3 and a right water outlet 1-4-5 of the electromagnetic valve are respectively connected with a left water spray pipe 1-4-6 and a right water spray pipe 1-4-7, the other ends of the left water spray pipe 1-4-6 and the right water spray pipe 1-4-7 penetrate out of the tail part of the submersible pump nacelle 1-1-7 and are respectively connected with a left water spray port 1-4-8 on a left horizontal tail wing guide plate 1-1-10 and a right water spray port 1-4-9 on a right horizontal tail wing guide plate 1-1-10; the left spray pipe 1-4-6 and the right spray pipe 1-4-7 are flexible hoses.
As shown in fig. 9, the tilt angle control mechanism 1-5 comprises a pitch control hydrofoil 1-5-1, a pitch control hydrofoil deflector 1-5-2, a pitch control hydrofoil drive shaft 1-5-3, a worm wheel 1-5-4, a worm 1-5-5 and a pitch control motor 1-5-6; two trim control hydrofoils 1-5-1 are arranged in parallel at the left side and the right side of the rear upper part of a main towing body cavity 1-1, and a worm wheel 1-5-4, a worm 1-5-5 and a trim control motor 1-5-6 are arranged in a stern cabin 1-1-4; the longitudinal and transverse control hydrofoil has a hollow structure of a 1-5-1 wing type, and a guide plate 1-5-2 of the longitudinal and transverse control hydrofoil is rigidly fixed on the end surface of the outer side of the 1-5-1 longitudinal and transverse control hydrofoil; the pitch control hydrofoil driving shaft 1-5-3 rigidly connects the pitch control hydrofoils 1-5-1 at the left and right sides, the middle part of the pitch control hydrofoil driving shaft 1-5-3 is rigidly fixed with a worm wheel 1-5-4 arranged in the stern cabin 1-1-4, and the worm wheel 1-5-4 is meshed with the worm 1-5-5; the worm 1-5-5 is rigidly fixed on a rotating shaft of the pitch control motor 1-5-6, so that the driving force of the pitch control motor 1-5-6 is transmitted to the pitch control hydrofoil 1-5-1 in a single direction.
1-5, one end of a main towing cable 2 is connected with a main towing body front cable hole 1-1-11 at the front end of a main towing body 1, and the other end is connected with a towing device; one end of the auxiliary towing cable 3 is connected with the rear cable hole 1-1-12 of the main towing body at the rear end of the main towing body 1, and the other end is connected with the cable hole 4-2 of the auxiliary towing body at the front end of the auxiliary towing body 4.
1-5, the auxiliary towed body 4 comprises an auxiliary towed body main cavity 4-1, an auxiliary towed body cable hole 4-2 and an auxiliary towed body tail wing 4-3; the main cavity 4-1 of the auxiliary towing body is of a streamline cavity structure, and a physical or chemical environmental parameter detecting instrument is arranged in the cavity; the auxiliary towed body cable hole 4-2 is arranged at the front end of the auxiliary towed body main cavity 4-1; the auxiliary towing body tail 4-3 is formed by a plurality of plates at uniform intervals along the circumferential direction, a flat plate is arranged at the tail end of each plate, and the auxiliary towing body tail 4-3 is rigidly fixed at the tail of the auxiliary towing body main cavity 4-1.
The specific working mode of the invention is as follows:
(1) according to task requirements, a detection instrument is arranged in the main cavity 4-1 of the auxiliary towed body in advance, and the auxiliary towed body 4 is trimmed to enable the trim and the transverse tilt to be zero; one end of an auxiliary towing cable 3 is connected with an auxiliary towing body cable hole 4-2 at the front end of an auxiliary towing body 4 and connected with a related cable, and the other end of the related cable is connected with a main towing body rear cable hole 1-1-12 at the rear end of a main towing body 1 and connected with the related cable; one end of a main towing cable 2 is connected with a main towing body front cable hole 1-1-11 at the front end of a main towing body 1, and the other end of the main towing cable is connected with a towing device; the main towing body 1, the main towing cable 2, the auxiliary towing cable 3 and the auxiliary towing body 4 are placed into the sea, and the towing device such as a ship, a submarine or a helicopter is towed forwards to enable the underwater towing body to move forwards.
(2) In the towing process, the low-resistance appearance of the two-body underwater towing device effectively reduces the towing force required by the towing cable and relieves the influence of the damping of the towing cable on the floating of the towing body; in the towing process, the structures such as the appearance, the horizontal tail 1-1-9, the upright post 1-1-6, the heave control hydrofoil 1-2-1, the wing-shaped floating body 1-2-3, the auxiliary towing body tail 4-3 and the like can generate larger fluid force for inhibiting the position or the attitude change of the towing body in the towing process, so that the towing body has better towing stability.
(3) In the towing process, when the length of the water entering the main towing cable 2 changes due to the disturbance of wind, waves, currents and the like to the towing device such as a ship, a submarine or a helicopter, the main towing body 1 is forced to generate unstable motion under the induction of the main towing cable 2 and tends to transfer the disturbance to the auxiliary towing body 4, the disturbance transfer is greatly weakened due to the existence of the flexible auxiliary towing cable 3, and the disturbance finally transferred to the auxiliary towing body 4 is small, so that the physical or chemical environment parameter detecting instrument carried by the auxiliary towing body 4 is less influenced by the disturbance.
(4) In the towing process, the heave motion control of the auxiliary towing body 4 of the two-body underwater towing device is completed by controlling the heave motion of the main towing body 1 and inducing the heave motion of the auxiliary towing body 4 through the auxiliary towing cable 3. In the heave motion control, a heave linear motor 1-2-7 of a heave control mechanism 1-2 of a main towing body 1 pushes a porous connecting rod 1-2-6, the porous connecting rod 1-2-6 drives a rocker 1-2-5 to enable the rocker 1-2-5 to rotate, and as the rocker 1-2-5, a heave driving shaft 1-2-4 and a heave control hydrofoil 1-2-1 are rigidly fixed into a whole, the heave control hydrofoil 1-2-1 also changes along with the rotation angle of attack of the rocker 1-2-5: when the auxiliary towing body 4 needs to float upwards, the heave linear motor 1-2-7 pushes the porous connecting rod 1-2-6 forwards, the heave control hydrofoil 1-2-1 rotates clockwise, the attack angle of the heave control hydrofoil 1-2-1 is positive, the heave control hydrofoil 1-2-1 is induced by the flow action of seawater to generate an upward lifting force, the lifting force induces the main towing body 1 to float upwards, and the floating main towing body 1 induces the auxiliary towing body 4 to float upwards through the auxiliary towing cable 3; conversely, when the auxiliary towing body 4 needs to sink, the heave linear motor 1-2-7 pulls the porous connecting rod 1-2-6 backwards, the heave control hydrofoil 1-2-1 rotates anticlockwise, the attack angle of the heave control hydrofoil 1-2-1 is negative, the heave control hydrofoil 1-2-1 is induced by the flow of seawater to generate a downward forced sinking force, the forced sinking force induces the main towing body 1 to sink, and the sunk main towing body 1 induces the auxiliary towing body 4 to sink through the auxiliary towing cable 3. In the heave motion control, the flow guiding effect of the heave control hydrofoil guide plates 1-2-2 strengthens the flow effect of the seawater, and the lifting force or the forced heave force is more remarkable.
(5) In the towing process, the underwater tow device with two bodies of the invention keeps itself stable in the horizontal plane through the steering control of the main tow body 1, thereby keeping the posture of the auxiliary tow body 4 stable in the horizontal plane. The main towing body 1 has two types of bow turning control modes, namely mechanical bow turning control and water spraying bow turning control. The first mechanical bow turning control method comprises the following steps: in the towing process, when the main towing body 1 needs to turn left, the linear motor 1-3-5 of the mechanical stem turning control mechanism 1-3 drives the stem turning linear motor push rod 1-3-4 to contract, the stem turning connecting rod 1-3-3 and the stem control hydrofoil 1-3-1 rigidly fixed into a whole through the stem turning driving shaft 1-3-2 deflect rightwards, the seawater flow induces the stem control hydrofoil 1-3-1 to generate a leftward stem turning force, and the leftward stem turning force induces the main towing body 1 to turn left; on the contrary, in the towing process, when the main towing body 1 needs to turn to the right, the linear motor 1-3-5 of the mechanical steering control mechanism 1-3 drives the steering linear motor push rod 1-3-4 to extend outwards, the steering connecting rod 1-3-3 and the steering driving shaft 1-3-2 are rigidly fixed into a whole to control the hydrofoil 1-3-1 to deflect left, the seawater flow induces the steering hydrofoil 1-3-1 to generate the rightward steering force, and the rightward steering force induces the main towing body 1 to turn to the right. The second water spraying stem turning control: when the main towing body 1 needs to turn left, the submersible pump 1-4-1 of the water spray bow-turning control mechanism 1-4 works, seawater is sucked by the submersible pump 1-4-1 and flows through the electromagnetic valve 1-4-3 through the connecting pipe 1-4-2, the electromagnetic valve 1-4-3 controls to close the left water outlet 1-4-4 of the electromagnetic valve and open the right water outlet 1-4-5 of the electromagnetic valve, seawater enters the right water spray pipe 1-4-7 and is sprayed out at high speed at the right water spray opening 1-4-9, the main towing body 1 obtains leftward bow-turning force at the right water spray opening 1-4-9, and the leftward bow-turning force induces the main towing body 1 to turn left; on the contrary, when the main towing body 1 needs to turn to the right, the submersible pump 1-4-1 of the water spray heading control mechanism 1-4 works, seawater is sucked by the submersible pump 1-4-1 and flows through the electromagnetic valve 1-4-3 through the connecting pipe 1-4-2, the electromagnetic valve 1-4-3 controls to enable the left water outlet 1-4-4 of the electromagnetic valve to be opened and the right water outlet 1-4-5 of the electromagnetic valve to be closed, seawater enters the left water spray pipe 1-4-6 and is sprayed out at the left water spray port 1-4-8 at a high speed, the main towing body 1 obtains a rightward heading force at the left water spray port 1-1-12, and the leftward heading force induces the main towing body 1 to turn to the right.
(6) In the towing process, the main towing body 1 of the two-body underwater towing device maintains itself stable in the vertical plane through pitching control, and further maintains the posture of the auxiliary towing body 4 in the vertical plane stable. When the main towing body 1 tilts forwards, the trim control motor 1-5-6 of the tilt angle control mechanism 1-5 rotates forwards and drives the worm wheel 1-5-4 through the worm 1-5-5, the worm wheel 1-5-4 rotates and drives the trim control hydrofoil 1-5-1 to rotate anticlockwise through the trim control hydrofoil driving shaft 1-5-3, the trim control hydrofoil 1-5-1 has a negative attack angle, the trim control hydrofoil 1-5-1 is induced to generate a downward force under the flow action of seawater, the downward force rotates clockwise in a vertical plane under the combined action of the main towing body 1 and the auxiliary towing cable 2, and the tilt disappears; on the contrary, when the main towing body 1 is stern-tilted, the pitch control motor 1-5-6 of the pitch control mechanism 1-5 rotates reversely and drives the worm wheel 1-5-4 through the worm 1-5-5, the worm wheel 1-5-4 rotates and drives the pitch control hydrofoil 1-5-1 to rotate clockwise through the pitch control hydrofoil driving shaft 1-5-3, the pitch control hydrofoil 1-5-1 has a positive attack angle, the seawater flow action induces the pitch control hydrofoil 1-5-1 to generate an upward lifting force, the main towing body 1 and the auxiliary towing cable 3 jointly rotate anticlockwise in a vertical plane, and stern tilting disappears. In the trim control process, the flow guiding function of the trim control hydrofoil guide plates 1-5-2 strengthens the flow function of seawater, and the lifting force or the forced sinking force is more obvious; in the process of the pitching control, the worm 1-5-5 and the worm wheel 1-5-4 are self-locked, the tilt angle control mechanism 1-5 can only transmit in a single direction, and the pitching control hydrofoil 1-5-1 at a certain attack angle is locked.
(6) In the towing process, the heave control mechanism 1-2, the mechanical fore-turning control mechanism 1-3, the water-spraying fore-turning control mechanism 1-4, the inclination angle control mechanism 1-5 and the main towing cable 2 of the main towing body 1 cooperate to enable the towing body to complete the appointed movement.
It should be noted that the present invention is not limited to the above-mentioned embodiments, and any other changes, modifications, substitutions, combinations and simplifications which are made without departing from the spirit and principle of the present invention should be regarded as equivalent alternatives, which are included in the protection scope of the present invention.
Claims (9)
1. A hydraulic forced sinking attitude stable two-body underwater towing device is characterized by comprising a main towing cable, a main towing body, an auxiliary towing cable and an auxiliary towing body which are sequentially connected; the main towing body comprises a main towing body cavity, a heave control mechanism, a mechanical stem turning control mechanism, a water spraying stem turning control mechanism and an inclination angle control mechanism;
the main towing body cavity comprises a heave control cabin, a bow turning control cabin, a stern cabin, a stand column, a submersible pump nacelle, a horizontal tail wing, a main towing body front cable hole and a main towing body rear cable hole; the heave control cabin and the bow turning control cabin are arranged up and down, and the bow turning control cabin is positioned below the heave control cabin; the wing-shaped upright post is vertically arranged below the stem turning control cabin, and the upper end of the wing-shaped upright post is connected with the lower end face of the stem turning control cabin; the torpedo-shaped submersible pump nacelle is rigidly connected to the lower end of the wing-shaped upright post; the horizontal tail wing is fixed at the tail part of the submersible pump nacelle, and the stern cabin is arranged right behind the heave control cabin and the bow-turning control cabin; at least one main towed body front cable hole is fixed on the outer wall surface of the front end of the heave control cabin, and at least one main towed body rear cable hole is arranged on the outer wall surface of the rear end of the stern cabin; the main towing body front cable hole and the main towing body rear cable hole are respectively connected with the main towing cable and the auxiliary towing cable;
the heave control mechanism comprises a heave control hydrofoil, a heave control hydrofoil guide plate, a wing-shaped floating body, a heave driving shaft, a rocker, a porous connecting rod and a heave linear motor; the heave control hydrofoil is of a wing-shaped hollow structure, and a plurality of heave control hydrofoil guide plates are uniformly arranged on the surface of the heave control hydrofoil; the heave control hydrofoil is axially and fixedly connected with the heave driving shaft; the plurality of driving shafts for heave are arranged and pass through the heave control cabin at intervals in a gradient manner; each heave driving shaft is respectively fixed with a heave control hydrofoil at two ends of the heave control cabin; a plurality of heave control hydrofoils on two sides of the heave control cabin are arranged at intervals and in a gradient manner; the middle part of each heave driving shaft is connected with a rocker; the plurality of rocking bars are respectively hinged with a porous connecting rod, and the porous connecting rod is connected with the heave linear motor through a push rod; the driving shafts penetrate through the heave control cabin at intervals in a gradient mode, namely the driving shafts are arranged at intervals from bottom to top when viewed from longitudinal projection, and the driving shafts are arranged at intervals from front to back when viewed from horizontal projection;
the stem turning control hydrofoil of the mechanical stem turning control mechanism is vertically arranged at the rear part of the upright post;
the water spraying stem turning control mechanism comprises a submersible pump, a connecting pipe, an electromagnetic valve left water outlet, an electromagnetic valve right water outlet, a left water spraying pipe, a right water spraying pipe, a left water spraying opening and a right water spraying opening; the submersible pump is connected with the electromagnetic valve through a connecting pipe, a left electromagnetic valve water outlet and a right electromagnetic valve water outlet of the electromagnetic valve are respectively connected with the left water spray pipe and the right water spray pipe, and the other ends of the left water spray pipe and the right water spray pipe penetrate out of the tail part of the submersible pump nacelle and are respectively connected with a left water spray port on the left horizontal tail wing guide plate and a right water spray port on the right horizontal tail wing guide plate;
the two trim control hydrofoils of the tilt angle control mechanism are arranged on the left side and the right side of the rear upper part of the main towing body cavity in parallel.
2. The underwater dragging device with hydraulic forced sinking attitude stabilization and two bodies as claimed in claim 1, wherein the mechanical fore-turning control mechanism comprises a fore-turning control hydrofoil, a fore-turning drive shaft, a fore-turning connecting rod, a fore-turning linear motor push rod and a fore-turning linear motor; the stem turning control hydrofoil is vertically arranged at the rear part of the upright post, and a plurality of stem turning guide plates are uniformly arranged on the wing surface of the stem turning control hydrofoil; the lower end of the stem rotating driving shaft is rigidly connected with the stem rotating control hydrofoil, the upper end of the stem rotating driving shaft is connected with a stem rotating connecting rod, the stem rotating connecting rod is hinged with a stem rotating linear motor push rod, and the stem rotating linear motor push rod is connected with a stem rotating linear motor.
3. The underwater dragging device with hydraulic forced sinking attitude stabilization and two bodies as claimed in claim 1, wherein the tilt angle control mechanism comprises a pitch control hydrofoil, a pitch control hydrofoil deflector, a pitch control hydrofoil driving shaft, a worm gear, a worm and a pitch control motor; the pitch control hydrofoil driving shaft rigidly connects the pitch control hydrofoils at the left and right sides, the middle part of the pitch control hydrofoil driving shaft is rigidly fixed with a worm wheel arranged in the stern cabin, and the worm wheel is meshed with a worm; the worm is rigidly fixed on the rotating shaft of the pitch control motor.
4. The underwater dragging device with hydraulic forced sinking attitude stabilization two bodies of claim 1, wherein the auxiliary dragging body comprises an auxiliary dragging body main cavity, an auxiliary dragging body cable hole and an auxiliary dragging body tail wing; the main cavity of the auxiliary towing body is of a streamline cavity structure, and a physical or chemical environmental parameter detecting instrument is arranged in the cavity; the auxiliary towed body cable hole is arranged at the front end of the auxiliary towed body main cavity; the auxiliary towing body tail wings are formed by a plurality of plates at even intervals along the circumferential direction, the tail end of each plate is provided with a flat plate, and the auxiliary towing body tail wings are rigidly fixed at the tail part of the main cavity of the auxiliary towing body.
5. The underwater towing device for the hydraulic forced sinking attitude-stabilized two bodies as claimed in claim 1, wherein one end of the main towing cable is connected with a main towing body front cable hole at the front end of the main towing body, and the other end is connected with a towing device; one end of the auxiliary towing cable is connected with a rear cable hole of the main towing body at the rear end of the main towing body, and the other end of the auxiliary towing cable is connected with an auxiliary towing body cable hole at the front end of the auxiliary towing body.
6. The underwater dragging device with hydraulic sinking attitude stabilization and two bodies according to claim 1, wherein the cavity of the main dragging body further comprises a control hatch, a stern hatch, a submersible pump nacelle protection cover and a deflector; the control cabin cover seals the heave control cabin and the bow turning control cabin through a plurality of screws to form a watertight space; a stern cabin cover above the stern cabin seals the stern cabin through a plurality of screws to form a watertight space; the submersible pump nacelle protective cover is of a cone cavity screen structure; the submersible pump nacelle protective cover is connected to the front end of the submersible pump nacelle through threads; the horizontal tail guide plate is arranged on the outer side of the horizontal tail.
7. The underwater towing device with hydraulic forced sinking attitude stabilization two bodies as claimed in claim 1, wherein the heave control cabin and the fore-turning control cabin are both columnar watertight space structures; the left water spray pipe and the right water spray pipe are flexible hoses; the wing section of the bow-turning control hydrofoil and the wing section of the trim control hydrofoil are of hollow structures.
8. The underwater dragging device with hydraulic forced sinking attitude stabilization two bodies as claimed in claim 1, wherein the rocker, the multi-hole connecting rod and the heaving linear motor are arranged inside a heaving control cabin; the wing section body is vertical wing section cavity structure of placing, and two wing section bodies set up in the heave control hydrofoil outside, and it is articulated with a plurality of heave control hydrofoil outer ends with one side respectively.
9. The underwater dragging device with the hydraulic forced sinking attitude stabilization two bodies as claimed in claim 2, wherein the fore-turning connecting rod, the fore-turning linear motor push rod and the fore-turning linear motor are arranged in the fore-turning control cabin; the water spraying stem turning control mechanism is arranged in the submersible pump lifting cabin; the end face of the outer side of the trim control hydrofoil is rigidly fixed with a trim control hydrofoil guide plate; the worm wheel, the worm and the pitch control motor are arranged in the stern compartment.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910706523.0A CN110450926B (en) | 2019-08-01 | 2019-08-01 | Hydraulic forced sinking attitude stable two-body underwater towing device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910706523.0A CN110450926B (en) | 2019-08-01 | 2019-08-01 | Hydraulic forced sinking attitude stable two-body underwater towing device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110450926A CN110450926A (en) | 2019-11-15 |
| CN110450926B true CN110450926B (en) | 2020-09-29 |
Family
ID=68484460
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910706523.0A Active CN110450926B (en) | 2019-08-01 | 2019-08-01 | Hydraulic forced sinking attitude stable two-body underwater towing device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110450926B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111406716B (en) * | 2020-03-30 | 2021-09-14 | 大连理工大学 | Submersible environment-friendly aquatic benthonic animal fishing device |
| CN113928529B (en) * | 2021-11-19 | 2022-08-19 | 中国船舶科学研究中心 | Self-releasing damping plate for enhancing course stability of towed body on water surface |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100353144C (en) * | 2005-01-31 | 2007-12-05 | 华南理工大学 | Controllable underwater towing body |
| US10137998B2 (en) * | 2015-02-11 | 2018-11-27 | Konstantinos Margetis | System and apparatus for refueling aircraft from a watercraft |
| US10640187B2 (en) * | 2016-08-09 | 2020-05-05 | Li Fang | Flying underwater imager with multi-mode operation for locating and approaching underwater objects for imaging and maintaining depths and altitudes |
| CN107390292A (en) * | 2017-07-05 | 2017-11-24 | 国家***第二海洋研究所 | The seabed high-resolution pull-type detection device and method of acoustics optical fusion |
| CN108657393B (en) * | 2018-07-12 | 2019-11-12 | 广州海洋地质调查局 | A kind of underwater towing formula high-precision weight Magnetic Detection System and method |
-
2019
- 2019-08-01 CN CN201910706523.0A patent/CN110450926B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN110450926A (en) | 2019-11-15 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109703705B (en) | Semi-submersible unmanned platform | |
| JP6523568B2 (en) | Underwater drone | |
| EP2657125B1 (en) | Underwater mobile apparatus and moving method thereof | |
| CN107878670B (en) | Solar energy double-body unmanned ship for remote seawater sampling of small-radius box-type connecting bridge | |
| CN110435858B (en) | Autonomous stable multi-degree-of-freedom motion controllable pod type underwater towed body | |
| JP2007276609A (en) | Underwater glider | |
| JP2007276609A5 (en) | ||
| CN109878666A (en) | A kind of leading edge rotational circle column type wing control underwater towed vehicle, | |
| CN110450926B (en) | Hydraulic forced sinking attitude stable two-body underwater towing device | |
| CN110282100B (en) | Torpedo type main body multi-degree-of-freedom operated underwater vehicle | |
| CN211519810U (en) | Water-spraying electromagnetic control multi-degree-of-freedom moving underwater vehicle | |
| CN1709766A (en) | Buoyancy and propellor dual-driving-mode long-distance autonomous underwater robot | |
| CN103144752A (en) | Underwater towed body with multiple degrees of manipulation freedom | |
| CN202175174U (en) | Multifunctional offshore rescue ship | |
| CN108688783B (en) | Bionic underwater glider with fluctuation fins | |
| EP2819916A2 (en) | A vessel | |
| CN113320655B (en) | Buoyancy tank at bottom of semi-submersible platform and design method thereof | |
| CN108016573B (en) | Remote control seawater sampling solar unmanned ship with steerable wing-shaped stable side body | |
| CN205916310U (en) | Unmanned submerge ware in deep sea | |
| CN102530187B (en) | The high-speed double-head ship that the dead beat rudder that do not sink tune energy left and right displacement is walked crosswise | |
| CN211969710U (en) | Pod type adjustable empennage multi-degree-of-freedom underwater towed body | |
| CN210592382U (en) | Underwater towed body with stable course | |
| CN203127126U (en) | Three-cylinder underwater dragging body | |
| CN210083503U (en) | Towed type front edge rotating cylindrical wing remote control underwater vehicle with cable | |
| CN109677575B (en) | Underwater helicopter with rotatable propeller structure |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |