An underwater vehicle test mechanism and method capable of adjusting attitude angle and buoyancy size

Abstract

The application discloses a kind of underwater vehicle test mechanism and method of adjustable attitude angle and buoyancy size. Including underwater vehicle, pontoon, connecting bracket and several buoyancy materials, underwater vehicle and pontoon are detachably connected together by connecting bracket, several buoyancy materials are placed in pontoon, the position and quantity of buoyancy material can be adjusted according to the position of the floating center of vehicle, to facilitate the study of the navigation performance of underwater vehicle under different pitch angles, the quantity of buoyancy material can be adjusted according to the size of the required buoyancy of vehicle, to meet the demand of underwater vehicle on draught. By rotating the underwater vehicle in the hoop, the roll angle of the vehicle is changed, so that the resistance, mechanism functionality test and other tests of the vehicle for a certain specific attitude can be carried out.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of underwater vehicle test, and particularly relates to a test mechanism and method of an underwater vehicle with adjustable attitude angle and buoyancy size. BACKGROUND

[0002] With the continuous development of ocean exploration and development technology, unmanned underwater vehicles (UUV) have attracted widespread attention and research, and play an important role in the fields of military, scientific exploration and economy. In order to improve the working efficiency of UUV, the mother platform often needs to carry as many equipment loads as possible and quickly complete the precise launching operation. However, due to the complexity of the real sea environment and the launching action, the launching of the underwater unmanned vehicle has problems such as poor rapidity, insufficient safety, and insufficient precision of multi-load launching.

[0003] Due to the particularity of the vehicle launching function, it is difficult to ensure that the weight and buoyancy of the vehicle are equal and it is difficult to determine the position of the weight and buoyancy center, which leads to the occurrence of trim phenomenon in the navigation process, seriously affecting the safety of the vehicle and the stability of the launched load.

[0004] At present, the load launching method of the underwater unmanned vehicle is usually divided into two categories. The first category is external mounting type, which can use the negative buoyancy of the load itself or the power device to separate it from the vehicle carrying cabin. This method destroys the streamline of the vehicle. The second category is internal launching method, which relies on the negative buoyancy of the load itself or the launching device to realize the separation from the carrying cabin. The power load can use the self-propelled launching method, that is, through the load's own propulsion system, the load is separated from the vehicle, but this launching method is generally suitable for slow vehicles. The non-powered load needs to use external energy to assist, to realize the ramjet or catapult launching. The external flow field is complex and the load will interfere with the vehicle, so there is an urgent need to develop new load launching methods and devices. The design and development of such launching devices urgently need high-reliability test methods and experimental devices to provide support for their demonstration.

[0005] Underwater vehicle model test is an important part of studying the underwater navigation performance of the vehicle and verifying the feasibility of the internal device mechanism of the vehicle, such as vehicle resistance test, UUV functional load launching and recovery, etc. In order to further test the influence of the environment on the feasibility of the mechanism, the model needs to be tested on the lake, and the lake test is different from the towing tank test. The environment is complex, it is difficult to record data and video images, and its safety is difficult to guarantee.

[0006] To demonstrate the feasibility and stability of the underwater vehicle deployment device described in this paper, a lake test is necessary to record relevant parameters and video footage during the deployment process. This data will facilitate subsequent data analysis and development. No similar testing institutions or methods have been found in currently available literature.

[0007] Therefore, those skilled in the art are dedicated to developing a test mechanism and method for aircraft that can adjust the position of the center of buoyancy and attitude angles such as roll angle and pitch angle (i.e., tilt angle), so as to conduct tests such as drag and mechanism functionality tests on aircraft in a specific attitude. Summary of the Invention

[0008] In view of the above-mentioned deficiencies of the prior art, the technical problem to be solved by the present invention is to develop a method that changes the pitch angle of an underwater vehicle by adjusting the position and quantity of buoyancy material in the pontoon and changes the roll angle of the underwater vehicle by rotating the underwater vehicle in the clamp, thereby enabling drag and mechanical function tests to be performed on a vehicle in a specific attitude.

[0009] To achieve the above objectives, the present invention provides an underwater vehicle testing mechanism and method with adjustable attitude angle and buoyancy, characterized by comprising an underwater vehicle, a float, a connecting bracket, and several buoyancy materials. The underwater vehicle and the float are detachably connected together via the connecting bracket. Several buoyancy materials are placed inside the float. The position and quantity of the buoyancy materials can be adjusted according to the position of the vehicle's center of buoyancy, facilitating the study of the underwater vehicle's navigation performance at different pitch angles. The quantity of buoyancy materials can be adjusted according to the required buoyancy of the vehicle to meet the underwater vehicle's draft requirements.

[0010] The attitude angle referred to in this invention refers to the combined pitch angle and roll angle described in this invention.

[0011] In a preferred embodiment of the present invention, the float is connected to the underwater vehicle by an aluminum alloy bracket to provide buoyancy, and the head of the float is streamlined to reduce resistance during navigation. The aluminum alloy material is strong and lightweight.

[0012] Furthermore, diagonal braces are welded between adjacent aluminum alloy connecting brackets, preventing them from detaching during towing tests.

[0013] Furthermore, the underwater vehicle and the support, as well as the support and the float, are fixedly connected by clamps or detachably connected by bolts. The roll angle of the underwater vehicle can be changed by rotating the underwater vehicle inside the clamps. This connection method facilitates the adjustment of the roll angle of the underwater vehicle. For example, in functional load release tests, it is convenient to adjust the load exit angle, test the optimal hatch position when releasing the load, and study the response law of the load and the parent body under different exit angles.

[0014] Furthermore, cameras are also installed on the bow and / or midsection of the underwater vehicle to observe the deployment experiment process.

[0015] Furthermore, a camera fairing is installed at the front of the camera to reduce the camera's navigation resistance, prevent excessive water flow from affecting the camera's shooting angle, ensure a fixed camera angle, and achieve visibility of the test process.

[0016] Furthermore, a float fairing is installed at the head of the float, which is streamlined to reduce resistance during navigation.

[0017] Furthermore, the pontoons are made of extruded PVC pipes, which are readily available and inexpensive. PVC pipes do not require watertight treatment, which reduces the difficulty of manufacturing the pontoons.

[0018] Furthermore, the number of clamps and bolts connecting the connecting bracket and the underwater vehicle, and connecting the connecting bracket and the pontoon, are all four.

[0019] Furthermore, the underwater vehicle testing mechanism of the present invention, taking an underwater deployment test as an example, includes four steps in its testing method:

[0020] Step 1: Model making: Based on the design scheme of the real vehicle and the launch device mechanism, make the underwater vehicle, connecting bracket and float. Adjust the roll angle of the underwater vehicle according to the test requirements. Secure the underwater vehicle to the connecting bracket and the connecting bracket to the float with clamps and bolts.

[0021] Step 2, Test Preparation: The propulsion chamber of the underwater vehicle is a watertight chamber. A pressurization device and pressure gauge are used to test its airtightness, and the propulsion chamber is appropriately pressurized to ensure watertightness during navigation. The model is launched into the water, and the tilt angle of the test model is observed. By adjusting the position and quantity of buoyancy material inside the floats, the buoyancy magnitude and the position of the center of buoyancy are adjusted to achieve the required pitch angle of the underwater vehicle for the test, while reserving a certain amount of residual buoyancy to ensure the safety of the vehicle during the test. A fairing and camera are installed, and the shooting angle is adjusted to ensure visibility during the test. The load is installed, and the control system of the deployment device is activated.

[0022] The third step is to conduct the test: the model is launched into the water and towed by connecting it with a flexible connection. The rope is connected at the first connecting bracket to reduce the impact on the sailing attitude and ensure the stability of the attitude during the sailing process. After reaching the test speed and stabilizing, the load drop test is carried out.

[0023] Step 4: End of Test: Observe the load distribution after deployment and retrieve the equipment; disassemble the test mechanism and process the data.

[0024] The following will further explain the concept, specific structure, and technical effects of the present invention in conjunction with the accompanying drawings, so as to fully understand the purpose, features, and effects of the present invention. Attached Figure Description

[0025] Figure 1 This is a schematic diagram of a preferred embodiment of the underwater vehicle testing mechanism with adjustable attitude angle and buoyancy of the present invention.

[0026] Figure 2 This is a schematic diagram of the underwater vehicle test mechanism with adjustable attitude angle and buoyancy according to the present invention.

[0027] Figure 3 This is a schematic diagram of the interior of the float of the underwater vehicle test mechanism with adjustable attitude angle and buoyancy according to the present invention. Detailed Implementation

[0028] The following description, with reference to the accompanying drawings, illustrates several preferred embodiments of the present invention to make its technical content clearer and easier to understand. The present invention can be embodied in many different forms, and the scope of protection of the present invention is not limited to the embodiments mentioned herein.

[0029] In the accompanying drawings, components with the same structure are indicated by the same numerical designation, and components with similar structures or functions are indicated by similar numerical designations. The dimensions and thicknesses of each component shown in the drawings are arbitrary, and the present invention does not limit the dimensions and thicknesses of each component. To make the illustrations clearer, the thickness of some components has been appropriately exaggerated in the drawings.

[0030] To make the objectives, technical solutions, and advantages of the present invention clearer, the present invention will be further described in detail below with reference to specific embodiments and accompanying drawings.

[0031] Reference numerals: 1. Underwater vehicle; 2. Float; 3. Connecting bracket; 4. Diagonal brace; 5. Camera; 6. Camera fairing; 7. Clamp; 8. Bolt; 9. Buoyancy material; 10. Float end cap; 11. Screw; 12. Float fairing

[0032] The following embodiments are implemented based on the technical solution of the present invention, and detailed implementation methods and processes are given. However, the protection scope of the present invention is not limited to the following embodiments.

[0033] like Figure 1 As shown, the underwater vehicle test mechanism mainly consists of three parts: the underwater vehicle 1, the connecting bracket 3, and the float 2. The underwater vehicle 1 is used for the verification of functional modules. The connecting bracket 3 connects the float 2 to the underwater vehicle 1, and also allows the underwater vehicle 1 to be adjusted in depth below the waterline. The float 2 provides buoyancy, and its streamlined head reduces drag.

[0034] likeFigure 2 , Figure 3 As shown, the connecting bracket 4 is made of aluminum alloy, and a diagonal brace 4 is welded between every two vertical aluminum alloy rods, making the connecting bracket 4 strong and lightweight. The float 2 is fastened to the connecting bracket 3, and the underwater vehicle 1 is fastened to the connecting bracket 3 by four clamps 7 and four bolts 8, respectively. Loosening the bolts allows the underwater vehicle inside the clamp to rotate to the required angle for the test, and then tightening the bolts to fix it. This connection method facilitates the adjustment of the roll angle of the underwater vehicle. For example, in functional load release tests, it is convenient to adjust the load exit angle, test the optimal hatch position when releasing the load, and study the response law of the load and the parent body under different exit angles. The float 2 is made of extruded PVC pipe, which is readily available and inexpensive. A float deflector 12 is added to the front end of the float 2 to reduce the drag of the float 2 during navigation. The float 2 contains several buoyancy materials, and the float end cap 10 is detachably connected to the float 2 via screws 11. Buoyancy is provided by the buoyancy materials 9 inside the float 2, so the float 2 does not require watertight treatment, reducing the manufacturing difficulty of the float 2. Furthermore, the buoyancy and center of buoyancy of the underwater vehicle can be adjusted by adding or subtracting the amount of buoyancy materials and moving their positions, thus facilitating the study of the underwater vehicle's navigation performance at different pitch angles. This underwater vehicle is used for payload deployment. Its delivery compartment is divided into two sections, with cameras 5 positioned at the bow and middle of the delivery compartment, respectively, and fixed with screws and 3M adhesive for observing the deployment test process. Simultaneously, a camera fairing 6 is installed in front of the camera 5 to reduce the camera's drag and prevent excessive water flow from affecting the camera's shooting angle.

[0035] This deployment mechanism is not only suitable for underwater deployment tests, but also widely applicable to vehicle drag tests, UUV functional payload deployment and recovery, trajectory tracking tests, etc. It can also be used for indoor laboratory tests such as towing pools with simple adjustments, and has the advantages of simple structure and convenient adjustment.

[0036] The underwater vehicle testing mechanism based on this embodiment, taking an underwater deployment test as an example, includes four steps in its testing method:

[0037] Step 1: Model making: Based on the design scheme of the real vehicle and the launch device mechanism, make the underwater vehicle, connecting bracket and float. Adjust the roll angle of the vehicle according to the test requirements. Secure the underwater vehicle 1 to the connecting bracket 3 and the connecting bracket 3 to the float 2 with clamps and bolts.

[0038] Step 2, Test Preparation: The propulsion chamber of the underwater vehicle is a watertight chamber. A pressurization device and pressure gauge are used to test its airtightness, and the propulsion chamber is appropriately pressurized to ensure watertightness during navigation. The model is launched into the water, and the tilt angle of the test model is observed. By adjusting the position and quantity of buoyancy material inside the floats, the buoyancy magnitude and the position of the center of buoyancy are adjusted to achieve the required pitch angle for the test and reserve a certain amount of residual buoyancy to ensure the safety of the underwater vehicle during the test. The camera fairing and camera are installed, and the shooting angle is adjusted to ensure visibility during the test. The load is installed, and the control system of the deployment device is activated.

[0039] The third step is to conduct the test: the model is launched into the water and towed by connecting it with a flexible connection. The rope is connected at the first aluminum alloy support to reduce the impact on the sailing attitude and ensure the stability of the attitude during the sailing process. After reaching the test speed and stabilizing, the load drop test is carried out.

[0040] Step 4: End of test: Observe the load distribution after deployment and retrieve the equipment, disassemble the test mechanism and process the data.

[0041] The preferred embodiments of the present invention have been described in detail above. It should be understood that those skilled in the art can make numerous modifications and variations based on the concept of the present invention without creative effort. Therefore, all technical solutions that can be obtained by those skilled in the art based on the concept of the present invention through logical analysis, reasoning, or limited experimentation on the basis of existing technology should be within the scope of protection defined by the claims.

Claims

1. A testing method for an underwater vehicle with adjustable attitude angle and buoyancy, comprising a testing mechanism for the underwater vehicle with adjustable attitude angle and buoyancy, the testing mechanism including the underwater vehicle, floats, connecting brackets, and several buoyancy materials. The underwater vehicle and the buoy are detachably connected together via the connecting bracket; The aforementioned buoyancy materials are placed inside the aforementioned pontoon; The position and quantity of the buoyancy material are adjusted according to the position of the buoyancy center of the underwater vehicle to facilitate the study of the vehicle's navigation performance at different pitch angles; The amount of buoyancy material is adjusted according to the buoyancy required by the underwater vehicle to meet the vehicle's draft requirements. The underwater vehicle, the support frame, and the float are detachably connected by clamps and bolts. The roll angle of the underwater vehicle can be adjusted by rotating the underwater vehicle inside the clamps. The underwater vehicle is also equipped with a camera at its bow and / or midsection, which is used to observe the deployment experiment process. The camera is equipped with a camera fairing at the front, which is used to reduce the camera's navigation resistance and prevent excessive water flow from affecting the camera's shooting angle. Its features are, It includes the following four steps: Step 1: Model making: Based on the design scheme of the actual underwater vehicle and the deployment device mechanism, make the underwater vehicle, the connecting bracket and the float. According to the test requirements, adjust the roll angle of the underwater vehicle by rotating the underwater vehicle in the clamp. Secure the underwater vehicle to the connecting bracket and the connecting bracket to the float with the clamp and the bolt respectively. Step 2, Test Preparation: The propulsion chamber of the underwater vehicle is a watertight chamber. A pressurization device and pressure gauge are used to test its airtightness, and the propulsion chamber is appropriately pressurized to ensure watertightness during navigation. The model is launched into the water, and the tilt angle of the test model is observed. By adjusting the position and quantity of the buoyancy material inside the float, the buoyancy magnitude and the position of the center of buoyancy are adjusted to achieve the required pitch angle of the underwater vehicle for the test, while reserving a certain amount of residual buoyancy to ensure the safety of the vehicle during the test. The camera fairing and camera are installed, and the shooting angle is adjusted to ensure visibility during the test. The load is installed, and the control system of the deployment device is activated. Step 3: Test execution: The model is launched into the water and towed by connecting it with a soft connection. The rope is connected at the first connecting bracket to reduce the impact on the sailing attitude and ensure the attitude stability during the sailing process. After reaching the test speed and stabilizing, the load drop test is carried out. Step 4: End of test: Observe the load distribution after deployment and retrieve the equipment, disassemble the test mechanism and process the data.

2. The test method for an underwater vehicle with adjustable attitude angle and buoyancy as described in claim 1, characterized in that, The connecting bracket is made of aluminum alloy.

3. The test method for an underwater vehicle with adjustable attitude angle and buoyancy as described in claim 1, characterized in that, The connecting brackets are welded with diagonal braces between adjacent brackets.

4. The test method for an underwater vehicle with adjustable attitude angle and buoyancy as described in claim 1, characterized in that, The head of the pontoon is also equipped with a pontoon flow deflector, which is streamlined.

5. The test method for an underwater vehicle with adjustable attitude angle and buoyancy as described in claim 1, characterized in that, The pontoon is made of extruded PVC pipe.

6. The test method for an underwater vehicle with adjustable attitude angle and buoyancy as described in claim 1, characterized in that, The number of clamps and bolts is four.

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