CN113428327A - Rotator type AUV deformation stabilizing ring stability augmentation device - Google Patents
Rotator type AUV deformation stabilizing ring stability augmentation device Download PDFInfo
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- CN113428327A CN113428327A CN202110662911.0A CN202110662911A CN113428327A CN 113428327 A CN113428327 A CN 113428327A CN 202110662911 A CN202110662911 A CN 202110662911A CN 113428327 A CN113428327 A CN 113428327A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/14—Control of attitude or depth
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
- B63G2008/002—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned
- B63G2008/004—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned autonomously operating
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Abstract
The invention relates to a rotator type AUV deformation stabilizing ring stability augmentation device, belonging to the fields of hydrodynamics, underwater vehicle maneuverability and stability; comprises a deformation stabilizing ring mechanism and a rear stabilizing ring connecting piece; the deformation stability augmentation ring mechanism is a circular ring mechanism capable of stretching along the axial direction; the rear stabilizing ring connecting pieces are of strip-shaped sheet structures, four rear stabilizing ring connecting pieces are uniformly distributed along the circumferential direction, one ends of the rear stabilizing ring connecting pieces are fixed on the outer edges of the four fins of the AUV cross-shaped fin rudder respectively, and the other ends of the rear stabilizing ring connecting pieces are fixed on the inner circumferential surface of the deformation stabilizing ring mechanism respectively. On one hand, the invention improves the control force and the control moment of the aircraft in a micro-speed state by increasing the wetting area of the aircraft, and increases the axial length of the stabilizing ring and the display area of the stabilizing ring piece by the deformation of the stabilizing ring. On the other hand, the water flow passing through the cross rudder can be rectified, the influence of the incoming flow on the wake flow of the underwater vehicle is reduced, the beam effect on the wake flow of the underwater vehicle is realized, and the influence of the wake flow on the stability of the underwater vehicle is effectively reduced.
Description
Technical Field
The invention belongs to the fields of hydrodynamics, maneuverability of an underwater vehicle and stability, and particularly relates to a rotator type AUV deformation stabilizing ring stability augmentation device.
Background
The gyroscopic underwater vehicle has stabilizing and control surfaces, which determine its motion characteristics, and is usually arranged at the rear. In the case of a heeling movement of the navigation body, the tail wing can generate both a control moment and a restoring moment, and also a disturbing moment. Due to the occurrence of the requirements of environment detection, information collection and accurate control tasks, the AUV has higher requirements on the underwater navigation stability. For example: when the underwater vehicle carries out underwater recovery work, the AUV is required to have micro-speed navigation stability, so that the AUV keeps a good posture in the low-speed docking process to complete the docking task. The stability of the existing aircraft is difficult to ensure that the aircraft works and moves at a micro speed or even a zero speed.
In the prior art, application number CN2019106949094 is a method for reducing the rolling and pitching of an AUV by using a self-provided horizontal rudder, which is used for carrying out detailed analysis on the stress and motion conditions of the horizontal rudder when the AUV is subjected to wave interference to generate rolling and pitching motion, determining the motion mode of the horizontal rudder in the rolling and pitching periods according to the stress analysis of the horizontal rudder under the interference, and controlling the rolling and pitching of the AUV based on a lift model of the horizontal rudder and the stabilizing moment under the rolling and pitching motion. The technical scheme improves the anti-interference capability of the AUV from the angle of a control model. However, this solution cannot cope with the problem of stability of the low-speed vessel in a complicated marine situation. Firstly, when the aircraft is in a low-speed state, the fluid stress condition of the aircraft will obviously change, and the control force and the control torque cannot meet the requirement of stable control. Secondly, the marine environment under natural conditions is more complex, and the stress situation has obvious time-varying control scheme which can not cope with the complex marine environment. Finally, the technical scheme is influenced by a mechanical structure, so that the stability augmentation capability of the aircraft is limited, and the requirement of high stability under extreme conditions cannot be met.
In the technical scheme, the problems of direct navigation resistance and dynamic instability are solved through the deformed main wing plate and the deformed auxiliary wing plate, and the submarine glides in a large range and is fused with a high-speed direct navigation dual mode. However, this technical solution cannot be applied to the conventional revolved body AUV because the inner space and the outer shape of the main and flap need to be additionally installed are largely changed. Secondly, the gliding and high-speed direct sailing dual-mode sailing can not be matched with the prior revolving body AUV which mostly depends on power systems such as propellers and the like, and the applicability of the gliding and high-speed direct sailing dual-mode sailing is greatly limited. Meanwhile, the technical scheme provides a relevant solution for high-speed direct navigation instability, and the problem of AUV low-speed navigation instability under the low-speed or micro-speed condition of less than 3kn cannot be effectively solved.
Due to the occurrence of the requirements of environment detection, information collection and accurate control tasks, the AUV has higher requirements on the underwater navigation stability. For example: when the underwater vehicle carries out underwater recovery work, the AUV is required to have micro-speed navigation stability below 3kn, so that the AUV keeps a good posture in the low-speed recovery docking process to complete the docking task. The stability of the existing aircraft is difficult to ensure that the aircraft works and moves at a micro-speed of less than 3kn and even at a zero speed. Under the condition of low navigation speed of the rotary type AUV, the conventional cross fin rudder system of the conventional AUV stabilizer is difficult to provide stable restoring torque due to the reduction of hydrodynamic force caused by the low-speed instability phenomenon, so that the navigation stability of the AUV is kept. Therefore, a novel AUV stability augmentation device which is compact in structure and does not affect the overall appearance layout of the aircraft is needed, so that the stability of the gyro type AUV is improved, and the AUV can better adapt to the requirements of various working conditions such as low navigational speed and the like on maneuverability and stability.
Disclosure of Invention
The technical problem to be solved is as follows:
in order to avoid the defects of the prior art, the invention provides a rotator type AUV deformation stabilizing ring stability increasing device, which is characterized in that a telescopic deformation stabilizing ring telescopic stability increasing mechanism is additionally arranged at the tail part of the rotator AUV, so that stable restoring torque is provided for the AUV under the low-speed or micro-speed condition of less than 3kn, and the stability is increased. The rotary body type AUV can stably sail under the low sailing speed condition acted by the dynamic positioning system.
The technical scheme of the invention is as follows: the utility model provides a rotor type AUV deformation stable ring increases steady device which characterized in that: comprises a deformation stabilizing ring mechanism and a rear stabilizing ring connecting piece; the deformation stability augmentation ring mechanism is a circular ring mechanism capable of stretching along the axial direction; the rear stabilizing ring connecting pieces are of strip-shaped sheet structures, four rear stabilizing ring connecting pieces are uniformly distributed along the circumferential direction, one ends of the rear stabilizing ring connecting pieces are fixed on the outer edges of the four fins of the AUV cross-shaped fin rudder respectively, and the other ends of the rear stabilizing ring connecting pieces are fixed on the inner circumferential surface of the deformation stabilizing ring mechanism respectively.
The further technical scheme of the invention is as follows: the deformation stabilizing ring mechanism comprises a rear stabilizing ring, a deformation stabilizing ring, a spring, an electromagnetic switch and a telescopic rod; the rear stabilizing ring and the deformation stabilizing ring are of double-layer circular ring structures with U-shaped radial sections, the double-layer circular rings of the deformation stabilizing ring can be coaxially inserted between the double-layer circular rings of the rear stabilizing ring to form an annular cavity, and the outer surfaces of the inner wall surface and the outer wall surface of the deformation stabilizing ring are in clearance fit with the inner surfaces of the inner wall surface and the outer wall surface of the rear stabilizing ring; a plurality of electromagnetic switches are uniformly arranged on one side of the rear stabilizing ring in the annular cavity along the circumferential direction; the plurality of telescopic rods are uniformly distributed in the annular cavity along the circumferential direction, one end of each telescopic rod is fixed on the inner bottom surface of the rear stabilizing ring through an electromagnetic switch, and the other end of each telescopic rod is fixed on the inner bottom surface of the deformation stabilizing ring; the springs are sleeved on the telescopic rods respectively;
by starting the electromagnetic switch, the spring is popped out along the axial direction, the telescopic rod extends along the axial direction, and meanwhile, the deformation stabilizing ring is pushed out from the rear stabilizing ring to complete deformation.
The further technical scheme of the invention is as follows: the axial length of the deformed stability augmentation ring mechanism after deformation is 180% of the axial length before deformation; the length of the telescopic rod is smaller than the sum of the axial lengths of the double-layer circular rings of the rear stabilizing ring and the deformation stabilizing ring, so that the deformation stabilizing ring is guaranteed not to be separated from the rear stabilizing ring after the deformation is finished, and the telescopic rod is of an integral structure.
The further technical scheme of the invention is as follows: the number of the springs, the number of the electromagnetic switches and the number of the telescopic rods are all 4.
The further technical scheme of the invention is as follows: the inner diameter of the deformation stability augmentation ring mechanism is equal to the outer diameter of the AUV body, is positioned at the tail end of the AUV cross-shaped fin rudder and is opposite to the propeller; the axial length of the deformation stability augmentation ring mechanism is larger than that of the propeller.
The further technical scheme of the invention is as follows: the front edge of the deformation stabilizing ring mechanism is positioned at the tail part of the AUV cross-shaped fin rudder, and a 10mm gap is formed between the front edge of the deformation stabilizing ring mechanism and the end surface of the tail part of the AUV cross-shaped fin rudder.
The further technical scheme of the invention is as follows: the axial length of the stabilizing ring accounts for 10% of the axial length of the AUV cross fin rudder before deformation, and accounts for 15% of the axial length of the AUV cross fin rudder after deformation.
The further technical scheme of the invention is as follows: the rear stabilizing ring connecting piece is of a conical plate structure, and the tip end of the rear stabilizing ring connecting piece is fixed at the front edge of a fin plate of the AUV cross-shaped fin rudder; the width of the fixing rod is smaller than that of the outer edge of the fin plate.
The further technical scheme of the invention is as follows: the rear stabilizing ring connecting piece is provided with a plurality of fixing holes along the length direction and is respectively fixed with the side edge of the fin plate of the cross-shaped fin rudder and the inner surface of the deformation stabilizing ring mechanism through rivets.
The further technical scheme of the invention is as follows: the rear stabilizing ring connecting piece is a 5mm aluminum alloy machined part.
Advantageous effects
The invention has the beneficial effects that: the invention provides a rotator type AUV deformation stabilizing ring stabilizing device which is formed by mounting a deformation stabilizing ring mechanism on a cross rudder through a rear stabilizing ring connecting piece. On the other hand, the water flow passing through the cross rudder can be rectified, the influence of the incoming flow on the wake flow of the underwater vehicle is reduced, the beam effect on the wake flow of the underwater vehicle is realized, and the influence of the wake flow on the stability of the underwater vehicle is effectively reduced. The invention has compact structure, does not influence the overall appearance layout of the aircraft, and can be used for the stability design of the gyro type AUV control system and the stability control of the gyro type AUV under the low navigational speed condition of less than 3 kn. When the AUV fast speed needs high stability, the deformation of the deformation stabilizing ring stabilizer can be extended to 180% of the original stabilizing ring length, and the extension deformation of the stabilizing ring plays a better beam effect on wake flow, so that the adjustment of high operation stability of the rotary AUV facing to complex environment requirements is further met, the stability of the AUV is improved, and the AUV can better adapt to the requirements of different working conditions on high operability and high stability.
1. The deformation stabilizing ring mechanism is arranged at the tail end of the AUV cross fin rudder and is opposite to the propeller, the inner diameter of the deformation stabilizing ring mechanism is equal to the outer diameter of the AUV body and is slightly larger than the extended length of the fin plate, and the axial length of the deformation stabilizing ring mechanism is larger than the axial length of the propeller, so that on one hand, water flow flowing out of an outlet of the propeller can be rectified, and the influence of water flow at the outlet of the propeller on the stability of the AUV is reduced; on the other hand, the larger contact area of the aircraft is ensured, and the hydrodynamic force is increased due to the increase of the contact area, so that the viscous hydrodynamic force of the aircraft in a low-speed state is improved, and the AUV can have stronger anti-interference capability during low-speed navigation.
2. The front edge of the deformed stabilizing ring mechanism is positioned at the tail part of the AUV cross-shaped fin rudder, and a 10mm gap is formed between the front edge and the tail end surface of the cross-shaped fin rudder, so that the normal action of the fin rudder is ensured.
3. The axial length of the AUV cross fin rudder is 10% before deformation and 15% after deformation. The wetting area of the aircraft is effectively increased on the premise of not changing the fluid shape of the aircraft, so that the fluid viscosity force of the aircraft in a low-speed state is increased, and the stability of the aircraft in the low-speed state is improved.
4. The deformation stabilizing ring mechanism comprises a rear stabilizing ring, a deformation stabilizing ring, a spring, an electromagnetic switch and a telescopic rod, wherein the spring is popped up in the axial direction by starting the electromagnetic switch, the telescopic rod extends in the axial direction, and the deformation stabilizing ring is pushed out from the rear stabilizing ring.
5. The rear stabilizing ring connecting piece is of a conical plate structure, the tip end of the rear stabilizing ring connecting piece is fixed at the front edge of the fin plate of the AUV cross-shaped fin rudder, the contact area with the cross-shaped fin rudder can be reduced, the width of the rear stabilizing ring connecting piece is ensured to be smaller than the thickness of the fin plate, the normal operation and stabilizing functions of the fin plate cannot be influenced, and the direction of water flow flowing through the control surface cannot be influenced; the connecting piece passes through the rivet and fixes with fin side and the increasing steady ring piece internal surface of cross fin rudder, and this kind of connected mode has ensured the firm connection between rearmounted stabilizer ring mechanism and the gyration body type AUV and the effective work of rearmounted stabilizer ring mechanism 2 when guaranteeing the normal work of the cross fin in the place ahead, the flexible normal work of AUV control rudder.
Drawings
FIG. 1 is a schematic perspective view of an AUV and a deformed stabilizer ring stabilizer;
FIG. 2 is a schematic structural view of a deformed stabilizer ring augmentation device;
FIG. 3 is a schematic view of a fixed cross fin-rudder configuration;
FIG. 4 is a schematic view of a rear stabilizer ring connection;
FIG. 5a is a schematic cross-sectional view of the aft stabilizing ring and the deformed stabilizing ring prior to deformation;
FIG. 5b is a schematic cross-sectional view of the aft stabilizing ring and the deformed stabilizing ring after deformation;
FIG. 5c is a schematic cross-sectional view of a deformed stabilizer ring stabilizer device ring;
FIG. 6 is a schematic non-extended view of the deformed stabilizer ring augmentation device;
FIG. 7 is an extended schematic view of the deformed stabilizer ring augmentation device;
description of reference numerals: 1-gyrorotor AUV; 2-a deformation stabilizing ring stability augmentation device; 3-a rear stabilizing ring; 4-deformation stabilizing ring; 5-a spring; 6-an electromagnetic switch; 7-a telescopic rod; 8-rear stabilizing ring connecting piece.
Detailed Description
The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", and the like, indicate orientations and positional relationships based on those shown in the drawings, and are used only for convenience of description and simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be considered as limiting the present invention.
Referring to fig. 1 and 2, the invention relates to a rotary AUV deformation stabilizing ring stabilizing device, which comprises a deformation stabilizing ring mechanism 2 and a rear stabilizing ring connecting piece 8. As shown in fig. 5a, 5b and 5c, the deformed stabilizing ring mechanism 2 is a circular ring mechanism capable of extending and contracting along the axial direction, and comprises a rear stabilizing ring 3, a deformed stabilizing ring 4, a spring 5, an electromagnetic switch 6 and a telescopic rod 7; the rear stabilizing ring 3 and the deformation stabilizing ring 4 are both of a double-layer circular ring structure with a U-shaped radial section, the double-layer circular rings of the deformation stabilizing ring 4 can be coaxially inserted between the double-layer circular rings of the rear stabilizing ring 3 to form an annular cavity, and the outer surfaces of the inner wall surface and the outer wall surface of the deformation stabilizing ring 4 are in clearance fit with the inner surfaces of the inner wall surface and the outer wall surface of the rear stabilizing ring 3; 4 electromagnetic switches 6 are uniformly arranged on one side of the rear stabilizing ring 3 in the annular cavity along the circumferential direction; 4 telescopic rods 7 are uniformly distributed in the annular cavity along the circumferential direction, one end of each telescopic rod is fixed on the inner bottom surface of the rear stabilizing ring 3 through an electromagnetic switch 6, and the other end of each telescopic rod is fixed on the inner bottom surface of the deformation stabilizing ring 4; the 4 springs 5 are respectively sleeved on the plurality of telescopic rods 7; by starting the electromagnetic switch 6, the spring 5 is ejected axially, the telescopic rod 7 is extended axially, and the deformation stabilizing ring 4 is pushed out from the rear stabilizing ring 3 to complete the deformation.
The axial length of the deformed stability augmentation ring mechanism 2 after deformation is 180% of the axial length before deformation; the length of the telescopic rod 7 is less than the sum of the axial lengths of the double-layer circular rings of the rear stabilizing ring 3 and the deformation stabilizing ring 4, so that the deformation stabilizing ring is ensured not to be separated from the rear stabilizing ring after the deformation is finished, and the telescopic rod is of an integral structure; the length of the spring 5 in the extended state is 200% of the length in the contracted state, and the diameter of the spring 5 accounts for 1/3 of the thickness of the deformation stabilizing ring.
The inner diameter of the deformation stability augmentation ring mechanism 2 is equal to the outer diameter of the AUV body, is positioned at the tail end of the AUV cross-shaped fin rudder and is opposite to the position of the propeller; the axial length of the deformation stability augmentation ring mechanism is larger than that of the propeller. The front edge of the deformation stabilizing ring mechanism 2 is positioned at the tail part of the AUV cross-shaped fin rudder, and a 10mm gap is formed between the front edge and the tail end face of the cross-shaped fin rudder so as to ensure the normal action of the fin rudder.
The axial length of the AUV cross fin rudder is 10% before deformation and 15% after deformation. The wetting area of the aircraft is effectively increased on the premise of not changing the fluid shape of the aircraft, so that the fluid viscosity force of the aircraft in a low-speed state is increased, and the stability of the aircraft in the low-speed state is improved.
Referring to fig. 4, the rear stabilizer link 8 is a tapered sheet structure, four rear stabilizer links 8 are uniformly distributed along the circumferential direction, one end of each rear stabilizer link is fixed to the outer edges of the four fins of the AUV cross fin rudder, and the other end of each rear stabilizer link is fixed to the inner circumferential surface of the deformed stabilizer mechanism 2. The tip of the rear stabilizing ring connecting piece 8 is fixed at the front edge of the fin of the AUV cross-shaped fin rudder, and the width of the rear stabilizing ring connecting piece is smaller than that of the outer edge of the fin. The rear stabilizing ring connecting piece 8 is provided with a plurality of fixing holes along the length direction and is respectively fixed with the side edge of the fin plate of the cross-shaped fin rudder and the inner surface of the deformation stabilizing ring mechanism through rivets. The rear stabilizing ring connecting piece 8 is a 5mm aluminum alloy machined part.
Example (b):
referring to fig. 1, a schematic diagram of an AUV and a deformation stabilizing device is shown, where 1 is a revolving body AUV, and 2 is a deformation stabilizing device, and both maintain the AUV stability. Referring to fig. 2, the deformation ring stabilizing and stabilizing device has the same diameter as that of the AUV, a rear connecting position is designed on the fin plate, the rear stabilizing ring is connected with the fixed cross fin rudder through a rear stabilizing ring connecting device 8, and a vacant position is designed at the rear part of the fin rudder for mounting the AUV deformation stabilizing ring stabilizing and stabilizing device. The diameters of the rear stabilizing ring 3 and the deformation stabilizing ring 4 are the same as the diameter of the AUV revolving body, the connection is performed in a mode shown in figures 5a and 5c, when the requirement on the AUV stability is not high, the electromagnetic switch 6 is kept closed, the spring shifting device 5 is in a contraction undeformed state shown in figure 5a, so that the rear stabilizing ring and the deformation stabilizing ring jointly guarantee the AUV stability, when the requirement on the AUV stability is high, the electromagnetic switch 6 is opened at the moment, and the spring is flicked to enable the deformation stabilizing ring 4 to be popped out and extended to an extreme position, so that the stabilizing ring finishes popping action. By the connection mode, the stable connection between the deformation stabilizing ring mechanism and the rotary body type AUV and the effective work of the deformation stabilizing ring mechanism 2 are ensured while the normal work of the front cross fin and the flexible and normal work of the AUV control rudder are ensured. When the AUV is required to have a working condition with higher stability, the telescopic deformation mechanism of the deformation stabilizing ring starts to work, and the deformation stabilizing ring mechanism is extended in a hydraulic pressurization mode, so that the stabilizing ring stabilizer is in an extended state, and is telescopically deformed to twice the length of the original stabilizing ring, namely as shown in an extended schematic diagram of the deformation stabilizing ring stabilizer in figure 7, the stability requirement of the AUV is ensured.
The invention relates to a deformation stabilizing ring stability-increasing device for a rotary AUV (autonomous Underwater vehicle) operating system, which can ensure that the rotary AUV can carry out stable operation movement on the rotary AUV under the condition that a dynamic positioning system acts at a certain navigational speed. The installation and the disassembly are simple, the structure is stable and reliable, and the use is convenient. This patent can allow the solid of revolution AUV when needs improve operating stability, trades flexible deformation mechanism through the stable ring that warp and realizes extending extension stable ring and get into operating condition rapidly to carry out higher stability operation to the solid of revolution AUV. The stability of the AUV is improved, and the AUV can better adapt to the requirements of various operating conditions on maneuverability and stability of various degrees.
Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made in the above embodiments by those of ordinary skill in the art without departing from the principle and spirit of the present invention.
Claims (10)
1. The utility model provides a rotor type AUV deformation stable ring increases steady device which characterized in that: comprises a deformation stabilizing ring mechanism and a rear stabilizing ring connecting piece; the deformation stability augmentation ring mechanism is a circular ring mechanism capable of stretching along the axial direction; the rear stabilizing ring connecting pieces are of strip-shaped sheet structures, four rear stabilizing ring connecting pieces are uniformly distributed along the circumferential direction, one ends of the rear stabilizing ring connecting pieces are fixed on the outer edges of the four fins of the AUV cross-shaped fin rudder respectively, and the other ends of the rear stabilizing ring connecting pieces are fixed on the inner circumferential surface of the deformation stabilizing ring mechanism respectively.
2. The swivel-type AUV deformation stabilizing ring stabilization device according to claim 1, characterized in that: the deformation stabilizing ring mechanism comprises a rear stabilizing ring, a deformation stabilizing ring, a spring, an electromagnetic switch and a telescopic rod; the rear stabilizing ring and the deformation stabilizing ring are of double-layer circular ring structures with U-shaped radial sections, the double-layer circular rings of the deformation stabilizing ring can be coaxially inserted between the double-layer circular rings of the rear stabilizing ring to form an annular cavity, and the outer surfaces of the inner wall surface and the outer wall surface of the deformation stabilizing ring are in clearance fit with the inner surfaces of the inner wall surface and the outer wall surface of the rear stabilizing ring; a plurality of electromagnetic switches are uniformly arranged on one side of the rear stabilizing ring in the annular cavity along the circumferential direction; the plurality of telescopic rods are uniformly distributed in the annular cavity along the circumferential direction, one end of each telescopic rod is fixed on the inner bottom surface of the rear stabilizing ring through an electromagnetic switch, and the other end of each telescopic rod is fixed on the inner bottom surface of the deformation stabilizing ring; the springs are sleeved on the telescopic rods respectively;
by starting the electromagnetic switch, the spring is popped out along the axial direction, the telescopic rod extends along the axial direction, and meanwhile, the deformation stabilizing ring is pushed out from the rear stabilizing ring to complete deformation.
3. The swivel-type AUV deformation stabilizing ring stabilization device according to claim 2, characterized in that: the axial length of the deformed stability augmentation ring mechanism after deformation is 180% of the axial length before deformation; the length of the telescopic rod is smaller than the sum of the axial lengths of the double-layer circular rings of the rear stabilizing ring and the deformation stabilizing ring, so that the deformation stabilizing ring is guaranteed not to be separated from the rear stabilizing ring after the deformation is finished, and the telescopic rod is of an integral structure.
4. The swivel-type AUV deformation stabilizing ring stabilization device according to claim 2, characterized in that: the number of the springs, the number of the electromagnetic switches and the number of the telescopic rods are all 4.
5. The swivel-type AUV deformation stabilizing ring stabilization device according to claim 1, characterized in that: the inner diameter of the deformation stability augmentation ring mechanism is equal to the outer diameter of the AUV body, is positioned at the tail end of the AUV cross-shaped fin rudder and is opposite to the propeller; the axial length of the deformation stability augmentation ring mechanism is larger than that of the propeller.
6. The swivel-type AUV deformation stabilizing ring stabilization device according to claim 1, characterized in that: the front edge of the deformation stabilizing ring mechanism is positioned at the tail part of the AUV cross-shaped fin rudder, and a 10mm gap is formed between the front edge of the deformation stabilizing ring mechanism and the end surface of the tail part of the AUV cross-shaped fin rudder.
7. The swivel-type AUV deformation stabilizing ring stabilization device according to claim 1, characterized in that: the axial length of the stabilizing ring accounts for 10% of the axial length of the AUV cross fin rudder before deformation, and accounts for 15% of the axial length of the AUV cross fin rudder after deformation.
8. The swivel-type AUV deformation stabilizing ring stabilization device according to claim 1, characterized in that: the rear stabilizing ring connecting piece is of a conical plate structure, and the tip end of the rear stabilizing ring connecting piece is fixed at the front edge of a fin plate of the AUV cross-shaped fin rudder; the width of the fixing rod is smaller than that of the outer edge of the fin plate.
9. The swivel-type AUV deformation stabilizing ring stabilization device according to claim 1, characterized in that: the rear stabilizing ring connecting piece is provided with a plurality of fixing holes along the length direction and is respectively fixed with the side edge of the fin plate of the cross-shaped fin rudder and the inner surface of the deformation stabilizing ring mechanism through rivets.
10. The swivel-type AUV deformation stabilizing ring stabilization device according to claim 1, characterized in that: the rear stabilizing ring connecting piece is a 5mm aluminum alloy machined part.
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| JPS54107092A (en) * | 1978-02-08 | 1979-08-22 | Hitachi Zosen Corp | Ship |
| JPS57107993A (en) * | 1980-12-23 | 1982-07-05 | Mitsubishi Heavy Ind Ltd | Hydrofoil |
| JPH05131989A (en) * | 1991-11-13 | 1993-05-28 | Mitsubishi Heavy Ind Ltd | Rudder for underwater running body |
| US20100167605A1 (en) * | 2005-07-05 | 2010-07-01 | Schultz Wilderich C | Multiple venturi nozzle system for watercraft |
| WO2009154495A1 (en) * | 2008-06-09 | 2009-12-23 | Федеральное Государственное Унитарное Предприятие "Санкт-Петербургское Морское Бюро Машиностроения "Малахит" | Cruciform tail control surfaces of an undersea vehicle |
| KR20140113168A (en) * | 2013-03-15 | 2014-09-24 | 삼성중공업 주식회사 | Ship having duct around propeller |
| ES1135590U (en) * | 2014-08-22 | 2015-01-23 | Elkin Mauricio BOTIA VERA | Elliptical wing for vehicles and underwater platforms (Machine-translation by Google Translate, not legally binding) |
| CN106741760A (en) * | 2016-11-18 | 2017-05-31 | 宁波市镇海丹发机械科技有限公司 | Store seperation formula Multi-functional miniature submarine |
| CN109398654A (en) * | 2018-09-20 | 2019-03-01 | 厦门大学 | A kind of ship is downloaded from the attack antisubmarine plane weapon system of transmitting |
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Application publication date: 20210924 |