CN211810151U - Underwater vehicle body and underwater vehicle - Google Patents

Underwater vehicle body and underwater vehicle Download PDF

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Publication number
CN211810151U
CN211810151U CN201922375891.XU CN201922375891U CN211810151U CN 211810151 U CN211810151 U CN 211810151U CN 201922375891 U CN201922375891 U CN 201922375891U CN 211810151 U CN211810151 U CN 211810151U
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China
Prior art keywords
ship body
skirt
underwater vehicle
shaft
hull
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CN201922375891.XU
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Chinese (zh)
Inventor
徐奕奕
阿米尔·霍纳亚
阿拉什·霍纳亚
刘鹏飞
赵军
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Guangxi University of Science and Technology
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Guangxi University of Science and Technology
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Abstract

The utility model aims at providing a hull of underwater vehicle, the hull be silurus bionic structure down, the hull be the trihedral structure who comprises three pitch arcs of both ends extreme point coincidence, bow and stern are located both ends respectively to, each width direction's of hull longitudinal section is isosceles triangle. The utility model discloses underwater vehicle adopts the improved silurus bionic structure, can realize the stable location suspension that pastes tight seabed platform through self hull structure and ocean current thrust, can improve the accuracy, reduce time and energy consumption, also not restricted by ocean current intensity simultaneously, more energy-concerving and environment-protective, improve the duration of hull; the underwater welding device can be widely applied to the fields of inspection of submarine pipelines and cables, rescue of personnel trapped in other underwater vehicles or submarines, underwater welding and the like.

Description

Underwater vehicle body and underwater vehicle
Technical Field
The utility model relates to an underwater navigation device field, concretely relates to hull, underwater vehicle of underwater vehicle.
Background
Existing underwater vehicles are characterized by an axisymmetric or circular longitudinal section, and these conventional configurations are provided with symmetrical box-shaped configurations, so that the ocean currents have a great influence on the underwater vehicle of the configuration, requiring the equipping of transverse or vertical thrusters and complex thrust distribution systems to stabilize its position and orientation in the ocean currents. Since their dynamic positioning performance is limited by the maximum ocean currents, the thrust upwards generated by the ocean currents must be countered by means of thrusters when positioning on the sea floor or on a sea floor platform, resulting in considerable energy consumption. Therefore, an underwater vehicle which can maintain the position and the direction by utilizing the energy of the ocean current and does not need a transverse or vertical propeller and a thrust distribution system is developed, and the underwater vehicle has good application prospect.
Disclosure of Invention
The utility model aims at providing a hull, the underwater vehicle of underwater vehicle, this underwater vehicle overcomes the prior art defect, has rational in infrastructure, manipulates convenient and energy-conserving characteristics.
The technical scheme of the utility model as follows:
the hull of the underwater vehicle is of a trihedral structure consisting of three arcs with end points superposed at two ends, the bow and the stern are respectively positioned at two ends, longitudinal sections of the hull in all width directions are isosceles triangles, and the ratio of the height of the isosceles triangle to the bottom edge of the longitudinal section in each width direction is equal; the height of the isosceles triangle of the longitudinal section in the width direction of the position L away from the bow of the ship body is the highest, L is 15% -40% of the total length of the ship body, the height of each isosceles triangle from the bow to the L on the ship body is sequentially increased, and the height of each isosceles triangle from the L to the stern on the ship body is sequentially decreased.
Preferably, L is 20% -35% of the total length of the ship body.
Preferably, the hull shape conforms to the NACA00 airfoil, the ratio of the height and base of the isosceles triangle to the overall length of the hull being: 10-30:10-30:100.
Preferably, the ratio of the height to the base of the isosceles triangle is 3: 4.
the utility model also provides an underwater vehicle, which applies the ship body and also comprises a suction device and a propulsion device;
the suction device is arranged in the ship body, a water inlet and a water outlet I are arranged at the front part or the middle part of the bottom surface of the ship body, and a water inlet and a water outlet II are arranged at the front upper part or the middle upper part of any side wall of the ship body; the propulsion device is arranged at the tail of the ship body.
Preferably, the suction device comprises a water pipe I, a water suction pump, a water pipe II, a skirt shaft, a bearing, a skirt shaft sealing bush and a sealing bush, wherein the water suction pump is arranged in the ship body and is provided with the water pipe I and the water pipe II; a skirt shaft sealing bush is packaged on the water inlet/outlet I, the skirt shaft sealing bush is a ring body, the inner circular surface of the skirt shaft sealing bush is fixedly connected with the outer circular surface of the bearing, the skirt shaft is a hollow pipe body, and the outer wall of the skirt shaft sealing bush is fixedly connected with the inner circular surface of the bearing; the water pipe I extends towards the bottom surface of the ship body, the tail end of the water pipe I is connected with the skirt shaft through the sealing ring I, and the skirt shaft can rotate in the horizontal direction relative to the connection position; the lower end of the skirt shaft extends out of the bottom surface of the ship body, and a sucker is arranged on the skirt shaft; and a sealing bush is packaged on the water inlet and outlet II, and the tail end of the water pipe II is arranged in the sealing bush.
Preferably, the sucker comprises a skirt part and a lip seal, the skirt part is a circular disc-shaped body with a concave middle part, the top of the inner circular surface of the skirt part is provided with a water inlet and a water outlet, the water inlet and the water outlet are communicated with the skirt shaft, and the edge of the skirt part is provided with the lip seal.
Preferably, the skirt is located at or near the center of gravity of the hull, and the ratio of the maximum width of the skirt to the maximum width of the hull is 2.5-3.5: 4, the ratio of the height of the skirt to the maximum height of the ship body is 0.8-1.3: 3; and a sealing ring II is arranged between the skirt shaft and the skirt shaft sealing bush, and the sealing ring II and the bottom edge of the ship body are positioned on the same horizontal plane.
Preferably, the propulsion device comprises a motor, a chassis, a motor shaft, a coupling, a propeller shaft, a propeller air pipe, a steering rudder and an elevator; the propeller air pipe is connected with the tail part of the ship body, and the rear side of the propeller air pipe is of an opening structure; the motor is arranged at the rear side in the hull through the chassis, the motor shaft is connected with the propeller shaft through the coupler, the propeller shaft extends backwards along the longitudinal direction of the hull and penetrates out of the tail of the hull to enter the propeller air pipe, and the tail end of the propeller shaft is provided with a propeller; the steering rudder and the elevator are distributed on the rear end of the propeller air pipe in a cross shape, the steering rudder is arranged along the vertical direction, and the elevator is arranged along the horizontal direction; and a mechanical seal is arranged at the contact part of the propeller shaft and the inner side of the ship body.
The utility model discloses an action suspension process of underwater vehicle as follows:
A. when the aircraft is close to the seabed platform, based on a special hull structure, when ocean current acts on the side surface of the aircraft, a downward component force is generated, the aircraft is pushed downwards to the seabed platform, and the sucker is contacted with and attached to the upper surface of the seabed platform;
B. starting a suction device, wherein the suction pump operates in a forward direction, the water pipe I is positioned in a water inlet direction, and the water pipe II is positioned in a water outlet direction, so that the suction disc generates negative pressure to be tightly attached to the seabed platform in a sealing manner, the position of the ship body is stable, and positioning suspension is realized;
C. when the ship body encounters vertical ocean current in the lateral direction, the ship body rotates by taking the skirt shaft as an original point through the ocean current thrust on the lateral part of the ship body, so that the ocean current stress is eliminated, and the positioning stability is improved;
D. when the water pipe I is located in the water outlet direction, the water pipe II is located in the water inlet direction, the sucker removes the seal, and the water pipe I is reversely pushed away from the seabed platform.
The utility model discloses underwater vehicle improves the bionic structure of silurus (Hypostomus plecostomus) originally, obtains the hull of this application unique structure to borrow from this to promote the hull by ocean current energy and paste seabed platform tightly downwards, with the location suspension effect of reinforcing hull, broken through the required complicated control of traditional axisymmetric configuration or thrust distribution system, showing and improving underwater vehicle's dynamic positioning ability and efficiency; the longitudinal section of the ship body in the length direction adopts a silurus meridionalis bionic structure, so that the streamline of the ship body is enhanced, and the fluid resistance is reduced; a suction device corresponding to the silurus of the lower port is adopted, so that suction is generated at the bottom of the ship bottom, and the positioning suspension effect of the ship body is further enhanced; meanwhile, the suction device is positioned at the front part of the ship body and close to the gravity center of the ship body, so that when the ship body advances, the center of hydrodynamic pressure is generated at the bottom side of the front part of the ship body, and the hydrodynamic stability of the ship body is enhanced;
in addition, the suction device is arranged at the front part of the ship body, so that the ship body forms a lever structure taking the suction device as a fulcrum, when the ship body is subjected to ocean current thrust in the vertical direction, the ship body can form a large rotating moment under the action of the ocean current thrust, and then the ship body rotates by taking the suction device as an original point until the direction of the ship body is consistent with the direction of the ocean current, so that the stability of the ship body in the ocean current in the vertical direction is improved, and a better positioning suspension effect is ensured; meanwhile, on the premise of the aid of ocean current energy, the suction device can complete work only by a small amount of energy without the aid of energy of a transverse/vertical propeller or a thrust distribution system of the ship body, and is not limited by the ocean current strength, so that the ship is more energy-saving and environment-friendly, and the cruising ability of the ship body is improved;
the utility model provides an underwater vehicle has extensive application prospect, can be applied to the inspection of submarine pipeline and cable, stranded in other underwater vehicles or fields such as personnel's rescue and underwater welding in the submarine, when underwater vehicle is carrying out above task, it does not need any perpendicular and horizontal propeller in the submarine environment, can realize the stable location suspension of clinging seabed platform through suction device and ocean current thrust, can improve the accuracy, reduce time and energy consumption, especially adapted is autonomic, unmanned underwater vehicle (AUV), remote control submarine (ROV) and rescue underwater vehicle/robot such as submarine to use; and, to the task of automation, high sensitivity demand, like life rescue under the adverse conditions under water, ocean high current is main interference factor in this kind of task, the utility model discloses the ability of ocean high current is overcome to the underwater vehicle, especially can improve the reliability of accomplishing the task.
Drawings
Fig. 1 is a side view of an underwater vehicle provided by an embodiment of the present invention;
fig. 2 is a bottom view of an underwater vehicle provided by an embodiment of the present invention;
fig. 3 is a rear view of an underwater vehicle provided by an embodiment of the present invention;
fig. 4 is a schematic structural diagram of an underwater vehicle provided by an embodiment of the present invention;
fig. 5 is a schematic force diagram of an underwater vehicle near a seabed platform according to an embodiment of the present invention;
fig. 6 is a force-bearing schematic diagram of a rotation state of an underwater vehicle according to an embodiment of the present invention;
fig. 7 is a comparison of the three-dimensional structure of an underwater vehicle according to an embodiment of the present invention and a subuff submarine according to a comparative example, wherein the subuff submarine is located at the top of the figure, and the ZRAUV underwater vehicle according to the present embodiment is located at the bottom of the figure;
FIG. 8 is a cross-sectional comparison (longitudinal section along the width direction) of an underwater vehicle of an embodiment of the present invention with a SUBOFF submarine of a comparative example;
FIG. 9 is a cross-sectional comparison (maximum cross-section) of a ZRAUV underwater vehicle of an embodiment of the present invention with a SUBOFF submarine of a comparative example;
FIG. 10 is a cross-sectional comparison view (longitudinal section in the direction of elongation) of a ZRAUV underwater vehicle of an embodiment of the present invention with a SUBOFF submarine of a comparative example;
fig. 11 is a schematic diagram illustrating a vertical ocean current encountering state of an underwater vehicle provided by an embodiment of the present invention;
fig. 12 is a schematic diagram of an underwater vehicle encountering an adverse ocean current state as provided by an embodiment of the present invention;
fig. 13 is a comparison graph (longitudinal section view along the width direction) of the pressure applied to the model of the ZRAUV underwater vehicle of the embodiment and the model of the subsubmarine of the comparative embodiment under the environment of vertical ocean current provided by the experimental comparative embodiment of the present invention;
fig. 14 is a comparison graph (cross-sectional view) of pressures applied to the model of the ZRAUV underwater vehicle of the embodiment and the model of the subofff submarine of the comparative embodiment under the vertical ocean current environment provided by the experimental comparative embodiment of the present invention;
fig. 15 is a comparison graph (longitudinal section view in the direction of extension) of the pressure applied to the ZRAUV underwater vehicle model of the embodiment and the subofff submarine model of the comparative embodiment under the adverse ocean current environment provided by the experimental comparative example of the present invention;
fig. 16 is a data comparison diagram of fluid thrust and rotation torque received by the ZRAUV underwater vehicle model of the embodiment and the subofff submarine model of the comparative example under the vertical ocean current environment provided by the experimental comparative example of the present invention;
fig. 17 is a data comparison diagram of fluid thrust and rotation torque received by the ZRAUV underwater vehicle model of the embodiment and the subuff submarine model of the comparative example under the adverse ocean current environment provided by the experimental comparative example of the present invention;
fig. 18 is a structural diagram of a swimming pool for dynamic positioning experiments provided by the experimental comparative example of the present invention;
FIG. 19 is a schematic view of the dynamic positioning experiment navigation process provided by the experimental comparative example of the present invention;
FIG. 20 is a data diagram of the dynamic positioning experiment navigation provided by the experimental comparative example of the present invention;
the names and serial numbers of the parts in the figure are as follows:
the ship comprises a ship body 1, a suction device 2, a propulsion device 3, a skirt portion 4, a lip-shaped seal 5, a skirt shaft 6, a bearing 7, a skirt shaft seal bushing 8, a water pipe I9, a water suction pump 10, a water pipe II 11, a seal ring I12, a seal bushing 13, a suction cup 14, a motor 15, a chassis 16, a motor shaft 17, a coupler 18, a propeller shaft 19, a propeller 20, a propeller air pipe 21, a steering rudder 22, an elevator 23, a seal ring II 24 and a mechanical seal 25, wherein the skirt shaft is arranged on the ship body 1;
26 is the direction of the ocean current, 27 is the seabed platform, 28 is the hydrodynamic drag generated by the ocean current, 29 is the lift force generated by the ocean current, 30 is the resultant force generated by the ocean current, 31 is the propulsive force of the hull propulsion means, and 32 is the turning moment generated by the ocean current.
Detailed Description
The present invention will be described in detail below with reference to the accompanying drawings, examples and experimental comparative examples.
Examples
As shown in fig. 1-4, the present embodiment provides a hull for an underwater vehicle;
the ship body 1 is of a trihedral structure consisting of three arcs with end points of two ends superposed, the bow and the stern are respectively positioned at two ends, the longitudinal sections of the ship body 1 in all width directions are isosceles triangles, and the ratio of the height of the isosceles triangle to the bottom edge of the longitudinal section in each width direction is equal; the distance between the bow of the ship body 1 and the ship body is the highest of the height of isosceles triangles of the longitudinal section in the width direction of the L, the L is 30% of the total length of the ship body 1, the height of each isosceles triangle from the bow to the L on the ship body 1 is sequentially increased, and the height of each isosceles triangle from the L to the stern on the ship body 1 is sequentially decreased;
the shape of the ship body 1 conforms to the shape of an NACA00 airfoil, and the ratio of the height and the bottom edge of the isosceles triangle to the total length of the ship body 1 is 15:20: 100; wherein the ratio of the height to the base of the isosceles triangle is 3: 4;
the device also comprises a suction device 2 and a propulsion device 3;
the suction device 2 is arranged in the ship body 1, a water inlet and outlet I is arranged at the front part or the middle part of the bottom surface of the ship body 1, and a water inlet and outlet II is arranged at the front upper part or the middle upper part of any side wall of the ship body 1; the propulsion unit 3 is arranged at the tail part of the ship body 1;
the suction device 2 comprises a water pipe I9, a water suction pump 10, a water pipe II 11, a skirt shaft 6, a bearing 7, a skirt shaft sealing bush 8 and a sealing bush 13, wherein the water suction pump 10 is arranged in the ship body 1, and the water pipe I9 and the water pipe II 11 are arranged on the water suction pump; a skirt shaft sealing bush 8 is packaged on the water inlet/outlet I, the skirt shaft sealing bush 8 is a ring body, the inner circular surface of the skirt shaft sealing bush is fixedly connected with the outer circular surface of the bearing 7, the skirt shaft 6 is a hollow pipe body, and the outer wall of the skirt shaft 6 is fixedly connected with the inner circular surface of the bearing 7; the water pipe I9 extends towards the bottom surface of the ship body 1, the tail end of the water pipe I is connected with the skirt shaft 6 through the sealing ring I12, and the skirt shaft 6 can rotate in the horizontal direction relative to the connection position; the lower end of the skirt shaft 6 extends out of the bottom surface of the ship body 1, and a suction cup 14 is arranged on the skirt shaft; a sealing bush 13 is packaged on the water inlet and outlet II, and the tail end of the water pipe II 11 is arranged in the sealing bush 13;
the sucker 14 comprises a skirt part 4 and a lip seal 5, the skirt part 4 is a circular disc-shaped body with a concave middle part, the top of the inner circular surface of the skirt part is provided with a water inlet and a water outlet, the water inlet and the water outlet are communicated with a skirt shaft 6, and the lip seal 5 is arranged on the edge of the skirt part 4;
the skirt part 4 is positioned at or close to the center of gravity of the ship body, and the ratio of the maximum width of the skirt part 4 to the maximum width of the ship body 1 is 3: 4, the ratio of the height of the skirt part 4 to the maximum height of the ship body 1 is 1: 3;
a sealing ring II 24 is arranged between the skirt shaft 6 and the skirt shaft sealing bush 8, and the sealing ring II 24 and the bottom edge of the ship body 1 are positioned on the same horizontal plane;
the propulsion device 3 comprises a motor 15, a chassis 16, a motor shaft 17, a coupling 18, a propeller shaft 19, a propeller 20, a propeller air pipe 21, a steering rudder 22 and an elevator 23; the propeller air pipe 21 is connected with the tail part of the ship body 1, and the rear side of the propeller air pipe is of an open structure; the motor 15 is arranged at the rear side inside the ship body 1 through a chassis 16, the motor shaft 17 is connected with a propeller shaft 19 through a coupling 18, the propeller shaft 19 extends backwards along the longitudinal direction of the ship body and penetrates out of the tail part of the ship body 1 to enter a propeller air pipe 21, and a propeller 20 is arranged at the tail end of the propeller shaft; the steering rudder 22 and the elevator 23 are distributed on the rear end of the propeller air pipe 21 in a cross shape, the steering rudder 22 is arranged along the vertical direction, and the elevator 23 is arranged along the horizontal direction; the part of the propeller shaft 19 in contact with the inside of the hull 1 is provided with a mechanical seal 25.
The dynamic positioning process of the underwater vehicle of the embodiment is as follows:
A. when the vehicle is close to the seabed platform, based on the special structure of the hull 1, when ocean current acts on the side surface of the vehicle, a downward component force is generated (as shown in figure 5), the vehicle is pushed downwards to the seabed platform, and the suction cup 14 is contacted and attached to the upper surface of the seabed platform;
B. starting the suction device, wherein the water suction pump 10 runs in the positive direction, the water pipe I9 is positioned in the water inlet direction, and the water pipe II 11 is positioned in the water outlet direction, so that the suction disc 10 generates negative pressure to be tightly attached to the seabed platform in a sealing manner, the ship body is stable in position, and positioning suspension is realized;
C. when the ship body 1 encounters vertical ocean current in the lateral direction, the ship body rotates by taking the skirt shaft 6 as an origin (as shown in fig. 6) due to the ocean current thrust on the lateral side of the ship body 1, so that ocean current stress is eliminated, and the positioning stability is improved;
D. when the water-sucking pump 10 needs to be detached from the seabed platform, the water-sucking pump runs reversely, the water pipe I9 is positioned in the water outlet direction, the water pipe II 11 is positioned in the water inlet direction, the sucker 10 releases the seal, and the water-sucking pump reversely pushes the water-sucking pump away from the seabed platform.
Experimental comparative example
The construction of a ZRAUV underwater vehicle model and a comparative example model in the embodiment comprises the following steps:
the SUROFF submarine models of the ZRAUV underwater vehicle model and the comparative example are constructed, the length of the two models is 1m, and the volume of the two models is 0.008m3Specific pairs of structural parameters are shown in fig. 7-10.
Second, the fluid pressure intensity under the vertical ocean current state and the inverse ocean current state is compared and tested:
1. the experimental conditions are as follows:
the experimental environment is positioned in the fish tank, and a vertical ocean current state and an inverse ocean current state are set, wherein in the vertical ocean current state, the ocean current direction and the propulsion direction of the aircraft form an angle of 90 degrees, as shown in fig. 11; in the counter ocean current state, the ocean current direction is opposite to the direction of propulsion of the aircraft, as shown in fig. 12; the flow velocity is 1 m/s;
2. the experimental process comprises the following steps: respectively placing the ZRAUV underwater vehicle model in the embodiment and the SUBOFF submarine model in the comparative example in an experimental fish tank, controlling the water flow speed in the experimental fish tank to be 1m/s, and measuring the fluid pressure applied to the experimental fish tank through a sensor;
3. the experimental results are as follows:
as shown in fig. 13, in a vertical ocean current environment, the pressure of the model of the ZRAUV underwater vehicle of the embodiment (right diagram) is higher on the upward side of the ocean current than the model of the comparative example (left diagram), so that the resultant force of the fluid thrust applied to the model of the ZRAUV underwater vehicle of the embodiment is inclined downward, and the model of the ZRAUV underwater vehicle of the embodiment moves close to the seabed platform; on the contrary, the pressure intensity of the comparative model on the lower side of the ocean current is larger, so that the resultant force of the fluid thrust borne by the comparative model is inclined downwards and moves close to the seabed platform, and the comparative model is far away from the seabed platform; tau isEwVertical fluid thrust, tau, for an underwater vehicle encountering a vertical ocean current conditionEvSubjecting the underwater vehicle to horizontal fluid thrust under a vertical ocean current state;
as shown in fig. 14, in a vertical ocean current environment, compared with a comparative example model (left figure), the tail of the ZRAUV underwater vehicle model (right figure) of the embodiment is subjected to higher pressure, so that the horizontal rotation moment is clockwise in the figure, namely, the moment enables the ZRAUV underwater vehicle model of the embodiment to face the ocean current after rotating, so that the ocean current thrust can be resisted by the self-power, and the positioning suspension can be maintained more easily; on the contrary, the head of the comparative example model is subjected to higher pressure, so that the horizontal rotation moment is in the anticlockwise direction in the figure, namely the moment enables the model of the ZRAUV underwater vehicle to face the direction of ocean current after rotating, the model is not beneficial to resisting the thrust of the ocean current through self power, and the positioning suspension stability is poor; tau isErThe underwater vehicle encounters the rotation moment suffered by the vertical ocean current state;
as shown in FIG. 15, in the reverse ocean current environment, the model of the example ZRAUV underwater vehicle (right drawing) is subjected to a greater pressure on the upper side of the head than the model of the comparative example (left drawing), and therefore a vertical turning moment is applied in a clockwise direction in the drawing, i.e., a moment that makes the example ZRAUVThe underwater vehicle model has a tendency of tilting upwards at the tail part, and the ZRAUV underwater vehicle model can be kept close to the seabed plane by the suction force of the suction device in the front middle part of the ZRAUV underwater vehicle model; on the contrary, the pressure on the lower side of the head of the comparative model is larger, the vertical rotation moment is in the anticlockwise direction in the figure, namely the moment enables the head of the comparative model to have the tendency of upwarping, the comparative model is difficult to keep the state close to the seabed platform through the self power propulsion system, and tauEqThe underwater vehicle is subjected to a turning moment in an anti-ocean current state.
Thirdly, a relation comparison experiment of fluid thrust, rotation moment and ocean current flow speed under the vertical ocean current state and the reverse ocean current state is carried out:
1. the experimental conditions are as follows:
the experimental environment is positioned in the fish tank, and a vertical ocean current state and an inverse ocean current state are set, wherein in the vertical ocean current state, the ocean current direction and the propulsion direction of the aircraft form an angle of 90 degrees, as shown in fig. 8; in the counter ocean current state, the ocean current direction is opposite to the direction of propulsion of the aircraft, as shown in fig. 9; the flow velocity is 0-3 m/s; the length of the ZRAUV underwater vehicle model of the experiment and the length of the SUBOFF submarine model of the comparative example are both 4.356 m;
2. the experimental process comprises the following steps:
respectively placing the ZRAUV underwater vehicle model in the embodiment and the SUBOFF submarine model in the comparative example in an experimental fish tank, and measuring the fluid thrust and the rotation moment borne by the model through a sensor;
3. the experimental results are as follows:
as shown in fig. 16, under the vertical ocean current environment, as the flow velocity of the ocean current increases, compared with the comparative example model, the underwater vehicle model of the ZRAUV of the embodiment receives larger fluid thrust and rotation moment, so that the posture change by the force of the ocean current, namely the rotation with the suction device as the origin, is easier;
as shown in fig. 17, under an inverse ocean current environment, as the ocean current flow velocity increases, compared with a comparative example model, the applied turning moment of the ZRAUV underwater vehicle model of the embodiment is smaller, so that the ZRAUV underwater vehicle model of the embodiment is more stable under the inverse ocean current environment, and positioning and suspension of the ZRAUV underwater vehicle model of the embodiment are facilitated;
in summary, the example ZRAUV underwater vehicle model is as follows relative to the comparative example subofff submarine: under the vertical ocean current environment, the ZRAUV underwater vehicle model in the embodiment tends to rotate to the direction of the ocean current, while the SUBOFF submarine in the comparative example tends to be pushed along the direction of the ocean current; under an adverse ocean current environment, the example ZRAUV underwater vehicle model is more stable than the comparative example subofff submarine.
The dynamic positioning experiment of the ZRAUV underwater vehicle model is as follows:
1. the experimental conditions are as follows:
the experimental environment is located in the swimming pool, the schematic diagram of the swimming pool is shown in fig. 18, the size of the swimming pool is 12m × 24m, the water depth is 2.2m, and the coordinates of the staring Point Starting Point are as follows: n is a radical ofs＝[0.5,8,0,0,0,-π/6]TThe Desired Point endpoint coordinates are: n is a radical ofd＝[6,6,2.2,0,0,π/4]TThe North Wall, South Wall, East Wall and West Wall respectively represent the Wall of the swimming pool in four directions;
2. the experimental process comprises the following steps: placing the ZRAUV underwater vehicle model in the swimming pool, and controlling the ZRAUV underwater vehicle model in the embodiment to sail from the starting point to the end point; in the navigation process, the ZRAUV underwater vehicle model firstly submerges to 1m deep, then submerges to the bottom of the pool, and then sails to the terminal point by being close to the bottom of the pool, the schematic diagram of the navigation process is shown in figure 19, and the Yaw angle Yaw, the Yaw angle Roll and the Pitch angle Pitch in the motion process are measured through sensors in the navigation process;
3. the experimental results are as follows:
fig. 20 shows parameters of the Yaw angle Yaw, the Yaw angle Roll and the Pitch angle Pitch of the dynamic positioning experiment navigation process, and as can be seen from fig. 20, in the subsequent stage of entering the navigation process close to the bottom of the pool, the changes of the Yaw angle Yaw, the Yaw angle Roll and the Pitch angle Pitch of the ZRAUV underwater vehicle are small, which shows the stability of the ZRAUV underwater vehicle close to the ground.

Claims (9)

1. A hull for an underwater vehicle, characterized by:
the ship body (1) is of a trihedral structure consisting of three arcs with end points superposed at two ends, the bow and the stern are respectively positioned at two ends, longitudinal sections of the ship body (1) in all width directions are isosceles triangles, and the ratio of the height of the isosceles triangle to the bottom edge of the longitudinal section in each width direction is equal; the height of an isosceles triangle of a longitudinal section in the width direction of the ship body (1) is the highest, the distance from the ship head to the ship body (1) is 15% -40% of the total length of the ship body (1), the height of each isosceles triangle from the ship head to the ship body (1) is gradually increased, the height of each isosceles triangle from the ship body (1) to the ship tail is gradually decreased, and the bottom surface of the ship body (1) is a plane.
2. The hull of an underwater vehicle as recited in claim 1, wherein: the L is 20% -35% of the total length of the ship body (1).
3. The hull of an underwater vehicle as recited in claim 1, wherein: the shape of the ship body (1) conforms to the shape of an NACA00 airfoil, and the ratio of the height and the bottom of an isosceles triangle to the total length of the ship body (1) is as follows: 10-30:10-30:100.
4. The hull of an underwater vehicle as claimed in claim 3, wherein: the ratio of the height to the bottom side of the isosceles triangle is 2.5-3.5: 4.
5. an underwater vehicle, applying a hull according to any one of claims 1 to 4, and further comprising suction means (2), propulsion means (3), characterized in that:
the suction device (2) is arranged in the ship body (1), a water inlet and a water outlet I are arranged at the front part or the middle part of the bottom surface of the ship body (1), and a water inlet and a water outlet II are arranged at the front upper part or the middle upper part of any side wall of the ship body (1); the propulsion device (3) is arranged at the tail part of the ship body (1).
6. The underwater vehicle of claim 5, wherein:
the suction device (2) comprises a water pipe I (9), a water suction pump (10), a water pipe II (11), a skirt shaft (6), a bearing (7), a skirt shaft sealing bush (8) and a sealing bush (13), wherein the water suction pump (10) is arranged in the ship body (1), and the water pipe I (9) and the water pipe II (11) are arranged on the water suction pump; a skirt shaft sealing bush (8) is packaged on the water inlet/outlet I, the skirt shaft sealing bush (8) is an annular body, the inner circular surface of the skirt shaft sealing bush is fixedly connected with the outer circular surface of the bearing (7), the skirt shaft (6) is a hollow pipe body, and the outer wall of the skirt shaft sealing bush is fixedly connected with the inner circular surface of the bearing (7); the water pipe I (9) extends towards the bottom surface of the ship body (1), the tail end of the water pipe I is connected with the skirt shaft (6) through the sealing ring I (12), and the skirt shaft (6) can rotate in the horizontal direction relative to the connection position; the lower end of the skirt shaft (6) extends out of the bottom surface of the ship body (1), and a suction cup (14) is arranged on the skirt shaft; and a sealing bush (13) is packaged on the water inlet and outlet II, and the tail end of the water pipe II (11) is arranged in the sealing bush (13).
7. The underwater vehicle of claim 6, wherein:
the sucker (14) comprises a skirt portion (4) and a lip seal (5), the skirt portion (4) is a circular disc-shaped body with a concave middle part, the top of the inner circular surface of the disc-shaped body is provided with a water inlet and a water outlet, the water inlet and the water outlet are communicated with a skirt shaft (6), and the lip seal (5) is arranged on the edge of the skirt portion (4).
8. The underwater vehicle of claim 7, wherein:
the skirt (4) is positioned at or close to the center of gravity of the ship body, and the ratio of the maximum width of the skirt (4) to the maximum width of the ship body (1) is 2.5-3.5: 4, the ratio of the height of the skirt part (4) to the maximum height of the ship body (1) is 0.8-1.3: 3;
and a sealing ring II (24) is arranged between the skirt shaft (6) and the skirt shaft sealing bush (8), and the sealing ring II (24) and the bottom edge of the ship body (1) are positioned on the same horizontal plane.
9. The underwater vehicle of claim 5, wherein:
the propulsion device (3) comprises a motor (15), a chassis (16), a motor shaft (17), a coupling (18), a propeller shaft (19), a propeller (20), a propeller air pipe (21), a steering rudder (22) and an elevator (23); the propeller air pipe (21) is connected with the tail part of the ship body (1), and the rear side of the propeller air pipe is of an open structure; the motor (15) is arranged at the rear side in the hull (1) through a chassis (16), the motor shaft (17) is connected with a propeller shaft (19) through a coupling (18), the propeller shaft (19) extends backwards along the longitudinal direction of the hull and penetrates out of the tail of the hull (1) to enter a propeller air pipe (21), and a propeller (20) is arranged at the tail end of the propeller shaft; the steering rudder (22) and the elevator (23) are distributed on the rear end of the propeller air pipe (21) in a cross shape, the steering rudder (22) is arranged along the vertical direction, and the elevator (23) is arranged along the horizontal direction; the part of the propeller shaft (19) contacting with the inner side of the ship body (1) is provided with a mechanical seal (25).
CN201922375891.XU 2019-12-26 2019-12-26 Underwater vehicle body and underwater vehicle Expired - Fee Related CN211810151U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201922375891.XU CN211810151U (en) 2019-12-26 2019-12-26 Underwater vehicle body and underwater vehicle

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201922375891.XU CN211810151U (en) 2019-12-26 2019-12-26 Underwater vehicle body and underwater vehicle

Publications (1)

Publication Number Publication Date
CN211810151U true CN211810151U (en) 2020-10-30

Family

ID=73035742

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201922375891.XU Expired - Fee Related CN211810151U (en) 2019-12-26 2019-12-26 Underwater vehicle body and underwater vehicle

Country Status (1)

Country Link
CN (1) CN211810151U (en)

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Granted publication date: 20201030