An underwater towed body capable of self-propulsion for probing at different depths

Abstract

The application provides an underwater towed body which can realize self-propulsion for different depth detection. The underwater towed body comprises a towing device part and a power supply part. The towing device part comprises a towing main body, wing arms, wing plates and propellers. The wing arms and the wing plates are fixedly connected to both sides of the towing main body. The wing plates are located in the gap between the wing arms and the towing main body. The bottom of the wing arms on both sides is respectively connected to the propeller. The power supply part comprises a storage battery, a stepping motor and a speed regulating motor. The storage battery and the stepping motor are installed in the towing main body. The stepping motor is connected to the transmission rod toothed belt wheel on both sides of the wing plate through a synchronous belt II. The speed regulating motor is installed in the front end of the wing arm on both sides. The speed regulating motor is connected to the propeller shaft through a synchronous belt I. The technical scheme of the application solves the problems of large volume, high cost, inconvenient disassembly, inability to self-propel and inability to detect different depths in the prior art.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of ocean engineering, in particular, especially relates to a self-propelled underwater towed body for detecting different depths. BACKGROUND

[0002] Underwater towed technology is developed with the development of underwater equipment or instrument development and other related fields, and is widely used in the fields of marine scientific research, underwater detection and rescue, military activity investigation, etc.

[0003] At present, almost all underwater towed body devices are developed in a special mode, which cannot be universal, and the device has a large volume and a complex structure. The underwater towed device can only carry a specified single detection equipment, has a single function, is inconvenient to replace and maintain, and is prone to resource waste. Therefore, it is labeled as a "disposable product", which increases the cost of underwater detection and development. At present, most of the towed bodies cannot realize self-propelling, and can only detect the ocean information at a specified depth, and cannot detect the ocean environment at different depths. SUMMARY

[0004] In view of the technical problems of large volume, high cost, inconvenient disassembly, inability to self-propel and inability to detect different depths of the above-mentioned towed body, a self-propelled underwater towed body for detecting different depths is provided. The present application mainly utilizes the wing plates with adjustable deflection angles to move up and down in water to control the water depth, adjusts the rudder of the towed body in water by controlling the rotating speed and direction of the propeller, and utilizes the electric energy of the internal battery and the umbilical cable on the ship body to provide power for the self-propelling of the towed body.

[0005] The technical means adopted by the present application are as follows:

[0006] A self-propelled underwater towed body for detecting different depths comprises a towing device part and a power supply part. The towing device part comprises a towing main body, wing arms, wing plates and propellers. The wing arms and the wing plates are fixedly connected to both sides of the towing main body. The wing plates are located in the gap between the wing arms and the towing main body. The propellers are connected to the bottom of the wing arms on both sides.

[0007] The power supply part comprises a battery, a stepping motor and a speed regulating motor. The battery and the stepping motor are installed inside the towing main body. The stepping motor is connected to the transmission rod toothed pulley on both sides of the wing plate through a synchronous belt II. The speed regulating motor is installed inside the front end of both sides of the wing arm. The speed regulating motor is connected to the propeller shaft through a synchronous belt I.

[0008] Further, the battery is electrically connected with the stepper motor and the speed-regulating motor respectively, the stepper motor is electrically connected with the umbilical cable on the ship, and the speed-regulating motor is electrically connected with the umbilical cable.

[0009] Further, the towing device part is connected with a detection device part, the detection device part comprises a connecting chain, a mounting shaft, a suspension chain and a detection unit, one connecting chain is connected to the bottom of each wing arm, the other end of the two connecting chains is connected with one end of the two suspension chains respectively, a plurality of mounting shafts are detachably mounted between the two suspension chains, the detection unit is mounted on the mounting shaft, and detection equipment is placed in the detection unit.

[0010] Further, the towing device part further comprises a towing block provided with a through hole, the towing block is fixed above the towing main body, and the towing device part is connected with the towing cable on the ship body through the through hole of the towing block.

[0011] Further, the shapes of the towing main body, the wing plate, the wing arm and the detection unit are all streamline structures, the upper part of the towing main body is a convex arc surface, the lower part is a flat surface and a concave arc surface splicing structure, the upper part of the wing plate is an arc structure, the upper part of the wing arm is a convex arc surface and a flat surface splicing structure, and the lower part is a flat surface and a concave arc surface splicing structure.

[0012] Further, an ear-shaped through hole is welded below the wing arm, and the inside of the rear end cavity of the wing arm is filled with foam.

[0013] Further, a counterweight is arranged in the towing main body.

[0014] Further, the materials of the towing main body, the wing arm, the wing plate, the connecting chain and the mounting shaft are 316 stainless steel.

[0015] Further, the suspension chain is connected by a plurality of cross-link chain rings with central holes.

[0016] Further, the mounting shaft is an elongated cylindrical rod with rectangular grooves and circular through holes at both ends.

[0017] Compared with the prior art, the present application has the following advantages:

[0018] 1、The underwater towing body provided by the present application can realize self-propulsion for detection at different depths, the wing plate with adjustable deflection angle is arranged, the rolling is reduced under the action of the stepper motor, the up-down movement in water is realized, the water depth is controlled, the propeller arranged at the bottom of the wing arm increases the forward power of the towing body under the condition that the ship speed is high, self-propulsion is realized, the towing cable tension is reduced, the towing cable is prevented from breaking, and the ship speed and the heading can be adjusted.

[0019] 2、The underwater towed body which can realize self-propelled and is used for different depth detection provided by the application adopts the structure that the detection device part is separated from the towing device part, so that the maintenance and replacement are facilitated, the workload of equipment installation and disassembly is reduced, the detection device part and the towing device part adopt streamline design, the overall volume of the towed body is reduced, the three-dimensional towed structure of the detection device part can detect the marine information at different water depths at the same time by adjusting the spacing of the detection units, different number and type of detection equipment can be installed according to the detection requirement to carry out detection, the application range and utilization rate of the towed body are improved, the detection cost is reduced, and good economic benefits are obtained.

[0020] Based on the above reasons, the application can be widely popularized in the field of ocean engineering. BRIEF DESCRIPTION OF DRAWINGS

[0021] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings needed to be used in the embodiments or the prior art description will be briefly introduced. Obviously, the drawings in the following description are some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0022] Fig. 1 The structural diagram of the underwater towed body which can realize self-propelled and is used for different depth detection.

[0023] Fig. 2 The structural diagram of the towing device part of the underwater towed body which can realize self-propelled and is used for different depth detection.

[0024] Fig. 3 The structural diagram of the detection device part of the underwater towed body which can realize self-propelled and is used for different depth detection.

[0025] In the drawings: 1, towed block; 2, towed main body; 3, wing arm; 4, wing plate; 5, propeller; 6, connecting chain; 7, mounting shaft; 8, detection unit; 9, suspension chain. DETAILED DESCRIPTION

[0026] It should be noted that the embodiments in the present application and the features in the embodiments can be combined with each other without conflict. The present application will be described in detail below with reference to the drawings and in combination with the embodiments.

[0027] In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the following will clearly and completely describe the technical solutions in the embodiments of the present application with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments of the present application. The following description of at least one example embodiment is merely illustrative in nature and is in no way limiting on the application or its applications or uses. Based upon a review of the embodiments contained herein, those of ordinary skill in the art can make other embodiments that are within the scope of the application without undue experimentation. Persons of ordinary skill in the art can obtain all other embodiments from the embodiments in the present application without any creative work under the premise that no creative work is made.

[0028] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments in accordance with the present application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms "comprises" and / or "comprising," when used in this specification, specify the presence of stated features, steps, operations, elements, components, and / or groups thereof, but do not preclude the presence or addition of one or more other features, steps, operations, elements, components, and / or groups thereof.

[0029] The relative arrangement of parts and steps, numerical expressions, and numerical values set forth in the examples are not intended to limit the scope of the application unless otherwise specifically stated. It should be apparent that the dimensions of the various parts shown in the drawings are not to scale and are only meant to illustrate the general principles of the application. Techniques, methods, and apparatus known to those of ordinary skill are not discussed in detail because they would be apparent in light of the description herein. In all examples shown and discussed herein, any specific values are to be interpreted as illustrative only and not limiting. Thus, other examples of example embodiments can have different values. It should be noted that like reference numerals and letters in the various figures indicate like elements, and therefore, further discussion of the same will not be repeated in the subsequent figures.

[0030] In the description of the present application, it should be understood that the orientation words such as "front, back, up, down, left, right", "transverse, vertical, perpendicular, horizontal" and "top, bottom" and the like indicated orientation or position relationship are generally based on the orientation or position relationship shown in the drawings, only for the convenience of describing the present application and simplifying the description, without the opposite indication, these orientation words do not indicate and imply that the indicated device or element must have a specific orientation or be constructed and operated in a specific orientation, therefore, it cannot be understood as a limitation on the scope of protection of the present application: the orientation words "inner, outer" refer to the inner and outer relative to the contour of each component.

[0031] For ease of description, spatial relative terms such as "above," "over," "on the upper surface of," "above," etc., are used herein to describe the spatial positional relationship of a device or feature as shown in the figures to other devices or features. It should be understood that spatial relative terms are intended to encompass different orientations in use or operation besides the orientation of the device as described in the figures. For example, if the device in the figures is inverted, a device described as "above" or "above" other devices or structures would subsequently be positioned as "below" or "under" other devices or structures. Thus, the exemplary term "above" can include both "above" and "below." The device may also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatial relative descriptions used herein will be interpreted accordingly.

[0032] Furthermore, it should be noted that the use of terms such as "first" and "second" to define components is merely for the purpose of distinguishing the corresponding components. Unless otherwise stated, the above terms have no special meaning and therefore should not be construed as limiting the scope of protection of this invention.

[0033] Example 1

[0034] like Figs. 1-3 As shown, the present invention provides an underwater towed body capable of self-propelled exploration at different depths, comprising: a detection device, a towing device, and a power supply. The towing device includes a towing block 1, a towing body 2, wing arms 3, wing plates 4, and a propeller 5. The towing body 2, the wing plates 4, and the wing arms 3 are all streamlined structures. The upper part of the towing body 2 is a convex arc surface, and the lower part is a structure combining a plane and a concave arc surface. The upper part of the wing plate 4 is an arc structure. The upper part of the wing arm 3 is a structure combining a convex arc surface and a plane, and the lower part is a structure combining a plane and a concave arc surface. Ear-shaped through holes are welded below the wing arms 3.

[0035] The towing block 1 is welded and fixed on the top of the towing body 2. The towing block 1 has four circular through holes arranged side by side. The towing body is connected to the towing cable of the hull through the through holes. The wing arms 3 are fixedly connected to both sides of the towing body 2. The wing plates 4 are fixedly connected to both sides of the towing body 2 and located in the gap between the wing arms 3 and the towing body 2. The propellers 5 are connected to the concave arc surfaces below the wing arms 3 on both sides.

[0036] The propeller 5 can provide self-propulsion for the towed body, and the steering and self-propulsion speed of the towed body can be adjusted by controlling the speed difference of the propeller 5. The buoyancy and the depth of the towed body in the water can be adjusted by controlling the deflection angle of the wing plate 4.

[0037] The power supply part includes a battery, a stepper motor and a speed regulating motor, the battery and the stepper motor are installed inside the towing body 2, the stepper motor is connected with the transmission rod toothed belt wheel on the wing plate 4 on both sides through the synchronous belt II, the speed regulating motor is installed inside the front end of the wing arm 3 on both sides, the speed regulating motor is connected with the propeller 5 shaft through the synchronous belt I.

[0038] The battery is electrically connected with the stepper motor and the speed regulating motor respectively, the stepper motor is electrically connected with the umbilical cord on the ship, and the speed regulating motor is also electrically connected with the umbilical cord.

[0039] The power required for the self-propelled towing body in water comes from the battery and the umbilical cord, the battery and the umbilical cord deliver electric energy to the stepper motor and the speed regulating motor, the stepper motor and the speed regulating motor drive the propeller 5 and adjust the rotation angle of the wing plate 4, so as to realize the conversion from towing type to autonomous navigation type, and small range accurate detection can be carried out.

[0040] The detection device part includes a connecting chain 6, a mounting shaft 7, a suspension chain 9, a detection unit 8 and a detection equipment, the connecting chain 6 is a double U-shaped connecting fork structure, the mounting shaft 7 is an elongated cylindrical rod with rectangular grooves and circular through holes at both ends, and the suspension chain 9 is connected by a plurality of chain links with central hole crosspieces.

[0041] One end of each of the two suspension chains 9 is connected with the connecting chain 6 through a bolt I, and a plurality of mounting shafts 7 are detachably installed between the two suspension chains 9 through the cooperation of the bolt II with the central hole of the crosspiece of the suspension chain 9, the detection unit 8 has a streamlined structure and is provided with a suspension hole in the upper part, the detection unit 8 is installed on the mounting shaft 7 through the suspension hole, different types of detection equipment are placed in the detection unit 8, and the towing device part is connected with the detection device part through the bolt III passing through the ear-shaped through hole and the through hole above the connecting chain 6.

[0042] The double U-shaped connecting fork structure of the connecting chain 6 can provide greater relative freedom for the connected towing device part and detection device part, reduce the interference and stress concentration between parts, prolong the service life of the towing body, the detection device part is connected through bolts, the detection unit 8 is convenient to maintain and replace, the detection equipment and the number can be flexibly replaced according to the specific detection requirement, and the switching of different functions of the underwater towing body is realized.

[0043] Further, the towing body 2 is further provided with a counterweight, the rear end cavity of the wing arm 3 is filled with foam, and the counterweight and the filled foam are used to adjust the balance of the center of buoyancy and the center of gravity.

[0044] Further, the material of the towing body 2, the wing arm 3, the wing plate 4, the connecting chain 6 and the mounting shaft 7 is 316 stainless steel.

[0045] The working process of the underwater towing body is as follows: when the towing body needs to self-propel and turn, differential control is realized by controlling the rotating speed and turning direction of the propellers 5, specifically: the rotating speed (uniform speed or variable speed) and direction of the propellers 5 are controlled to start, when there is a rotating speed difference or opposite turning direction between the two propellers 5, the towing body will be subjected to a horizontal turning moment, which provides an initial induced moment for the sway and turning motion of the towing body, and realizes and maintains turning under the premise of maintaining stable posture, when the required direction is reached, the rotating speed of the two propellers 5 is adjusted and the rotating speed and direction are kept consistent, at this time the towing body will travel straight along the deflected direction.

[0046] When self-propelled and need to float up and down to detect different depths, the turning of the stepping motor can be controlled to realize, specifically: when the stepping motor is stopped, the towing body travels smoothly in water, the wing plate 4 is in a horizontal state, when the stepping motor works, the stepping motor controls the deflection angle of the wing plate 4, so that the wing plate 4 is in a state of high front and low back or low front and high back, changes the induced attack angle of the towing body, so that the towing body generates lift or forced sinking force, continues to adjust the deflection angle of the wing plate 4, so that the forced sinking force decreases to generate greater lift to drive the towing body to rise, or the forced sinking force increases to drive the towing body to sink, after the towing body reaches the specified depth, the wing plate 4 returns to the horizontal state to achieve buoyancy balance, and the stepping motor stops working, thereby realizing the control of the towing body to detect the depth of travel.

[0047] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, and not to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: it can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement for part or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. An underwater towed body capable of self-propulsion for probing at different depths, characterized in that, The utility model relates to a kind of tow device and power supply unit comprising: Tow device part and power supply part; The tow device part includes tow main body, wing arm, wing plate and propeller, the wing arm and the wing plate are fixedly connected on both sides of the tow main body, the wing plate is located at the gap between the wing arm and the tow main body, the bottom of both sides of the wing arm is respectively connected with the propeller; The power supply part includes battery, stepper motor and speed regulating motor, the battery and the stepper motor are installed inside the tow main body, the stepper motor is connected with the transmission rod sprocket on both sides of the wing plate through synchronous belt II, the speed regulating motor is installed inside the front end of both sides of the wing arm, the speed regulating motor is connected with propeller shaft through synchronous belt I; The battery is electrically connected with the stepper motor and speed regulating motor respectively, the stepper motor is electrically connected with the umbilical cable on the ship, and the speed regulating motor is electrically connected with the umbilical cable; The bottom of the tow device part is connected with detection device part, the detection device part includes guide chain, mounting shaft, suspension chain and detection unit, one guide chain is connected to the bottom of both sides of the wing arm, the other end of the two guide chains is respectively connected with one end of the two suspension chains, a plurality of mounting shafts are detachably installed between the two suspension chains, the detection unit is installed on the mounting shaft, and detection equipment is placed inside the detection unit; The tow device part further includes tow block provided with through hole, the tow block is fixed above the tow main body, and the tow device part is connected with tow cable on the ship body through the through hole on the tow block; The shape of the tow main body, the wing plate, the wing arm and the detection unit is streamline structure, the upper part of the tow main body is convex arc surface, the lower part is flat surface and concave arc surface splicing structure, the upper part of the wing plate is arc structure, the upper part of the wing arm is convex arc surface and flat surface splicing structure, and the lower part is flat surface and concave arc surface splicing structure.

2. The underwater towed body according to claim 1, capable of self-propulsion for probing different depths, characterized in that, Ears type through hole is welded below the wing arm, and the cavity inside the rear end of the wing arm is filled with foam.

3. The underwater towed body according to claim 2, capable of self-propulsion for probing different depths, characterized in that, Counterweight is further arranged in the tow main body.

4. The underwater towed body of claim 2, wherein, The material of the tow main body, the wing arm, the wing plate, the guide chain and the mounting shaft is 316 stainless steel.

5. The underwater towed body of claim 1, wherein, The suspension chain is connected by a plurality of crosspiece links with central hole.

6. The underwater towed body of claim 1, wherein, The mounting shaft is elongated cylindrical rod with rectangular recess and circular through hole at both ends.

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