A tail module for underwater autonomous navigation unmanned platform towed line array

Abstract

The application discloses a tail module for a towed line array of an underwater autonomous navigation unmanned platform, which comprises a connecting piece, a rotating ring, a guide head, a guide rod, the connecting piece is connected to the tail of the towed line array, the guide head is rotationally connected with the connecting piece through the rotating ring, the guide rod is arranged at the tail of the guide head, a sliding block is slidably arranged on the side wall of the guide rod, a resistance body is fixedly arranged at the tail end of the guide rod, and a spring is arranged outside the guide rod between the sliding block and the resistance body; the diameter of the guide head and the outer diameter of the sliding block are both smaller than the inner diameter of the tail pipe of the unmanned platform; an expansion part is arranged at the tail end of the sliding block, and the outer diameter of the expansion part is larger than the inner diameter of the tail pipe of the unmanned platform. The tail module can assist in the initial active release of the towed line array, and can reduce the complexity, space size and energy consumption demand of the winding and unwinding device.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of towed line array, and particularly relates to a tail module for underwater autonomous navigation unmanned platform towed line array. BACKGROUND

[0002] The towed line array is a slender line-shaped underwater acoustic detection device internally arranged with multiple sensors in series and moving at a certain speed underwater. The tail module is installed at the tail of the towed line array, and its functions mainly include two aspects: one is to use the stability of its underwater movement to reduce the swing of the tail of the towed line array, so as to avoid obvious vibration of the tail; the other is to use the resistance generated by itself to straighten the towed line array, so as to maintain the straight line array shape of the towed line array. The resistance of the tail module is related to the speed, the flow area, the cross-sectional shape and other factors.

[0003] The towed line array deployed on manned platforms can be released, towed and recovered by artificial means, and is not sensitive to the complexity of the towed line array storage and release mechanism and the towed resistance of the tail module, and the emergency situations affecting the safety of towing can be artificially decided and intervened. The towed line array deployed on underwater autonomous navigation unmanned platforms is stored in the release device inside the platform, and is released and recovered by the release device. When the towed line array is completely recovered, the resistance of the tail module exposed outside the platform is required to be as small as possible to reduce the power consumption of the platform when it performs other operations, and when the towed line array is working, the tail module can provide sufficient resistance to maintain the array shape. However, the conventional tail module does not change its shape, and the resistance is only related to the speed. When the head is hidden in the tail pipe of the platform, without special structure to push it outwards, the initial release of the tail module is insufficient to pull out the towed line array, and the ability to maintain the array shape is also lacking. Moreover, due to the limitation of platform space, it is difficult to arrange complex mechanical traction devices, and how to realize the initial active release of the towed line array on the unmanned platform is a difficult problem.

[0004] The existing design changes the resistance coefficient to meet the resistance requirement at different speeds. For example, Zhu Zhangli and Zhao Linjian's "A self-adaptive variable characteristic size resistance umbrella design" focuses on changing the flow area of the resistance umbrella through a spring structure to achieve the purpose of reducing the resistance coefficient of the tail module as the speed increases. For another example, Zhu Zhangli, Hong Youcai and Jiang Bo-hua's "A self-adaptive variable flow area resistance device" has invented a tail module that changes the resistance coefficient by changing the flow area of the film. However, this design is not suitable for unmanned platforms that mainly sail at low speed. During the period when the towed line array is completely recovered, the excessive resistance of the tail module will increase the energy consumption of the platform, and once the tail module with complex umbrella structure is damaged or entangled due to underwater foreign object impact, the cross-sectional deformation will destroy the lateral force balance, and the generated lateral lift will cause the towed line array to move laterally, and the stability will decrease sharply. SUMMARY

[0005] The purpose of this invention is to provide a tail module for a towed linear array of underwater autonomous unmanned platforms to solve the problems mentioned in the background art.

[0006] To achieve the above objectives, the present invention provides the following technical solution:

[0007] A tail module for a towed linear array of an underwater autonomous unmanned platform includes a connector, a rotating ring, a guide head, and a guide rod. The connector is connected to the tail of the towed linear array. The guide head is rotatably connected to the connector via the rotating ring. The guide rod is disposed at the tail of the guide head. A slider is slidably mounted on the side wall of the guide rod. A resistance body is fixedly disposed at the tail end of the guide rod. A spring is sleeved on the guide rod between the slider and the resistance body. The diameter of the guide head and the outer diameter of the slider are both smaller than the inner diameter of the platform tail tube of the unmanned platform. An expansion portion extends from the tail end of the slider, and the outer diameter of the expansion portion is larger than the inner diameter of the platform tail tube of the unmanned platform.

[0008] Preferably, the tensile strength of the rotating ring is higher than the limiting tension when the towed linear array is retracted, and both are lower than the tensile strength of the towed linear array, the guide head, the guide rod, and the resistance body.

[0009] Preferably, the resistance body includes a rigid support head at the front and a flexible connecting strip at the rear, wherein the rigid support head is fixedly connected to the flexible connecting strip.

[0010] Preferably, the slider is cylindrical, and a through hole is formed at the central axis of the slider to cooperate with the guide rod, through which the guide rod passes through the slider.

[0011] Preferably, the diameter of the guide rod is smaller than the diameter of the guide head tail.

[0012] Preferably, the slider is provided with a positioning mounting groove in conjunction with the spring.

[0013] Preferably, the connector and the rotating ring, and the guide head and the rotating ring are all flexibly connected by ropes, and the ropes are non-metallic fiber ropes.

[0014] Preferably, the rotating ring is made of titanium alloy or stainless steel.

[0015] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0016] 1) During the initial release, the resistance body is pushed out of the platform tail tube by the spring. The large resistance generated by the resistance body helps to complete the initial active release of the towed linear array, reducing the complexity of the deployment and take-up device and the requirements for platform space size and energy consumption.

[0017] 2) By hiding and exposing the head of the resistance body, the resistance of the tail module is autonomously switched, which not only meets the requirement of small resistance of the tail module in the recycling state to reduce the energy consumption of the unmanned platform, but also meets the requirement of array shape keeping in the towing state;

[0018] 3) The entire tail module, especially the resistance body, is in the shape of a rotary body, and there is no lifting surface, so even if it is partially damaged, it will not generate lateral lift, which can ensure the stable movement of the towed array;

[0019] 4) The torque generated by the rotation of the tail module can be eliminated by the rotating ring, and the tail module can be actively detached when the tension is too large due to foreign object entanglement, thereby protecting the safety of the towed array and the platform. BRIEF DESCRIPTION OF DRAWINGS

[0020] Figure 1 The figure is a state diagram of the traditional tail module when the towed array is completely played back.

[0021] Figure 2 The figure is a structure diagram of the tail module in the embodiment of the application.

[0022] Figure 3 The figure is a working state diagram of the tail module in the embodiment of the application.

[0023] Figure 4 The figure is a working diagram of the towed array.

[0024] Figure 5 The figure is a state diagram of the tail module when the rotating ring is broken. DETAILED DESCRIPTION

[0025] The technical solutions in the embodiments of the application will be described clearly and completely below with reference to the drawings. Obviously, the described embodiments are only part of the embodiments of the application, rather than all the embodiments. Based on the embodiments of the application, all other embodiments obtained by those skilled in the art without creative labor fall within the protection scope of the application.

[0026] For the towed array deployed on the underwater autonomous navigation unmanned platform, the structure of the traditional tail module 3 and the cooperation relationship with the towed array in the platform tail pipe 2 are as follows: Figure 1The towed line array is stored in a platform tail pipe 2 of the platform, and the tail of the towed line array is connected to a tail module 3 through a rope, the inner cavity of the tail end of the platform tail pipe 2 is trumpet-shaped, and the diameter of the tail module 3 is greater than the minimum diameter of the trumpet-shaped inner cavity and less than the maximum diameter of the trumpet-shaped inner cavity. The platform releases and recovers the towed line array through a launching and recovering device: when releasing the towed line array, the towed line array is generally squeezed out to the rear by the way of the traction machine clamping, and the resistance generated by the tail module 3 can assist in pulling out the towed line array to the rear; when recovering the towed line array, when the head of the tail module 3 is jammed in the platform tail pipe 2, the tension sensor can measure the pulling force of the towed line array, and the recovery is stopped when the pulling force reaches a specified value. In the recovery state, Figure 1 The size of the tail module 3 is set so that the head of the tail module 3 can be clamped in the platform tail pipe 2, thereby reducing the exposed part and reducing the influence of the resistance of the tail module 3 on the movement of the platform. The traditional tail module 3 does not change its shape, which has the advantages of simple and reliable structure and stable movement, and the disadvantage is that the resistance is only related to the speed, and when the head is hidden in the platform tail pipe 2, there is no special structure to push it out, and the initial release of the towed line array is not enough to pull out the towed line array by itself, and the ability to maintain the array shape is also lacking.

[0027] The present application improves the traditional tail module, referring to Figure 2 As shown in the figure, a tail module for a towed line array of an underwater autonomous navigation unmanned platform, cooperates with a platform tail pipe 2 of the underwater autonomous navigation unmanned platform to realize the release and recovery of the towed line array; the platform tail pipe 2 uses a traditional platform tail pipe 2, the front end of which is provided with a cylindrical inner cavity, and the tail end of which is connected to the cylindrical inner cavity to form a trumpet-shaped inner cavity; the tail module includes a connecting piece 5, a rope 6, a rotating ring 7, a guide head 8, a guide rod 10, a sliding block 9, a spring 11, and a resistance body 12.

[0028] The connecting piece 5 is located at the head of the tail module, and is fixedly connected to the tail of the towed line array in front, and is connected to the front end of the rotating ring 7 through the rope 6 at the back.

[0029] The rotating ring 7 uses an 8-shaped rotating ring, and is made of a metal material resistant to seawater corrosion such as titanium alloy and stainless steel, and the rear end of the rotating ring 7 is connected to the guide head 8 through the rope 6, and the rotating ring 7 is used to realize the connection of the connecting piece 5 and the guide head 8, and the connecting piece 5 and the guide head 8 can rotate with each other to eliminate the torque generated by the rotation of the tail module.

[0030] In the present application, the tail module may rotate around the axis under the impact of the water flow, and the torque will be transmitted to the towed line array to make it rotate, affecting the performance, and the rotating ring 7 can eliminate the problem that the torque of the tail module cannot be eliminated by the impact of the water flow.

[0031] The guide head 8 is streamlined, and the diameter becomes larger and larger from the front to the back, so as to reduce the fluid resistance. The maximum diameter of the guide head 8 is smaller than the inner diameter of the platform tail pipe 2, so as to realize the movement of the guide head 8 in the platform tail pipe 2.

[0032] The guide rod 10 is circular in cross section, and is fixedly arranged at the tail of the guide head 8, and the diameter of the guide rod 10 is smaller than the diameter of the tail of the guide head 8. The slider 9 is cylindrical, and a through hole for mounting the guide rod 10 is arranged at the position of the central axis of the slider 9. The slider 9 is fitted outside the guide rod 10 through the through hole, so as to realize the forward and backward sliding of the slider 9 on the guide rod 10. The outer diameter of the cylindrical slider 9 is smaller than the inner diameter of the platform tail pipe 2, and an expansion part is arranged at the back of the slider 9. The expansion part is stepped in cross section, and the outer diameter of the expansion part is larger than the inner diameter of the platform tail pipe 2, so as to ensure the positioning of the slider 9 in the platform tail pipe 2. The spring 11 is sleeved on the guide rod 10, and the slider 9 is provided with a spring mounting groove matched with the spring 11. The front end of the spring 11 is arranged in the spring mounting groove and is in contact with the front end of the spring mounting groove, and the rear end is in contact with the rigid support head of the head part of the resistance body 12, and is in a slightly compressed state in normal times. The tail of the guide rod 10 is connected with the resistance body 12, and the diameter of the resistance body 12 is larger than the diameter of the spring 11, so as to realize the positioning of the spring 11 on the guide rod 10. In the case that the slider 9 is fixed relative to the platform tail pipe 2 through the expansion part, the rear movement of the resistance body 12 relative to the platform tail pipe 2 can be realized through the spring 11, so as to realize the autonomous release of the towed line array.

[0033] The resistance body 12 is the main source of the tail module resistance, and has a rotary body appearance and no lift in the transverse direction. The resistance body 12 includes a rigid support head 121 of the head part and a soft connecting strip 122 fixedly connected to the tail of the rigid support head. The rigid support head is made of rigid material and has the support force required for contacting the spring 11 and the slider 9. The soft connecting strip is made of soft material such as fiber rope.

[0034] Referring to Figure 3 , the release of the towed line array includes the following steps:

[0035] Step I: When the towed line array is in a completely recovered state, the connecting piece 5 is connected with the tail 1 of the towed line array, the slider 9 is located at the back of the expansion part and is clamped on the platform tail pipe 2, the spring 11 is in the maximum compression state, the rope 6 is in the tension state, and the head part of the resistance body 12 is in close contact with the slider 9. At this time, the front part of the resistance body 12 completely enters the platform tail pipe 2, and only the back part is exposed outside the platform tail pipe 2. The overall resistance is small, and the unmanned platform will not bring too much energy consumption.

[0036] Step II: When the towed line array is initially released, the launching and recovering mechanism in the unmanned platform starts to release the towed line array, and as soon as the rope 6 is slightly loose, the spring 11 will immediately expand to push the resistance body 12 out of the platform tail pipe 2, and as the exposed part of the resistance body 12 increases, the resistance gradually increases.

[0037] Step III: As the spring 11 expands, the head of the sliding block 9 will eventually come into contact with the guide head 8, and the spring 11 is fully expanded; at this time, the resistance body 12 is fully exposed in the fluid, and the resistance is significantly increased and sufficient to pull the towed line array out of the platform tail pipe 2.

[0038] Step IV: When the towed line array is released, it enters the towing working mode, as shown in Figure 4 , the underwater autonomous navigation unmanned platform is connected with the towed line array through the tow cable, and the rear end of the towed line array is connected with the tail module.

[0039] In the present application, the working steps of the recovery process are opposite to the release process. The launching and recovering mechanism recovers the towed line array until the sliding block 9 is stuck in the platform tail pipe 2, as shown in Figure 3 Step III, the spring 11 is gradually compressed, as shown in Figure 3 Step II. When the sliding block 9 comes into contact with the resistance body 12, the spring 11 reaches the maximum compression state, the tail module stops moving, and the front part of the resistance body 12 completely enters the platform tail pipe 2, as shown in Figure 3 Step I, and thereafter the tension on the towed line array and the rope 6 rapidly increases, and when it reaches the set tension value, the launching and recovering mechanism stops working, and the recovery operation is completed.

[0040] In the present application, the tail module can assist the launching and recovering mechanism to complete the initial active release of the towed line array; and can realize autonomous switching of the resistance in the recovery and towing states. Specifically, in the fully recovered state, the spring 11 is fully compressed, the front part of the resistance body 12 is hidden in the platform tail pipe 2, the exposed part is small, the resistance of the tail module is small, and the power consumption of the unmanned platform can be effectively reduced. In the towing state, the entire resistance body 12 is completely exposed in the water, the resistance of the tail module is large, and the towed line array can maintain a good array pattern; and the tail module of the present application is different from the umbrella-shaped structure, and has no lifting surface, so that even if it is partially damaged, it will not produce unstable motion.

[0041] Further, the rotating ring 7 is a low-strength rotating ring 7, and the low strength here is relative, which means that the strength of the rotating ring 7 is less than the strength of each part in the towed line array and the tail module, as shown in Figure 5 When the tension is too large, it will actively break, so that the rest of the tail module falls off, ensuring the safety of the towed line array and the unmanned navigation platform, and releasing the risk; but the strength of the low-strength rotating ring 7 is higher than the limiting tension when the launching and recovering device is recovered, and can withstand the locking tension when the towed line array is recovered in place.

[0042] The existing tail module is easy to be entangled with foreign matters due to the shape when moving underwater, and if the entanglement cannot be broken, it will directly harm the motion stability and safety of the towed line array and even the platform, in the present application, the low-strength rotating ring 7 is arranged, when the tail module is entangled with foreign matters and generates too large tension, the low-strength rotating ring 7 will break actively, so that the tail module falls off, and the towed line array and the platform are protected.

[0043] The tail module can rotate under the impact of water flow during towing, the front and rear parts of the rotating ring 7 can rotate with each other, so that the torque transmitted to the towed line array due to the rotation of the tail module can be eliminated, and the safety of the towed line array is protected.

[0044] The above only describes the preferred embodiments of the present application and is not used to limit the present application, any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A tail module for underwater autonomous navigation unmanned platform towed line array, characterized in that, The device comprises a connecting piece, a rotating ring, a guide head, a guide rod, a sliding block and a resistance body. The connecting piece is connected to the tail of the towed line array. The guide head is rotationally connected to the connecting piece through the rotating ring. The guide rod is arranged at the tail of the guide head. The sliding block is slidingly installed on the side wall of the guide rod. The resistance body is fixedly arranged at the tail end of the guide rod. A spring is arranged between the guide rod outer sleeve of the sliding block and the resistance body. The diameter of the guide head and the outer diameter of the sliding block are smaller than the inner diameter of the platform tail pipe of the unmanned platform. An expansion part is arranged at the tail end of the sliding block. The outer diameter of the expansion part is larger than the inner diameter of the platform tail pipe of the unmanned platform. The tensile strength of the rotating ring is higher than the limiting tension when the towed line array is recovered, and is lower than the tensile strength of the towed line array, the guide head, the guide rod and the resistance body. The resistance body comprises a rigid support head at the head and a soft connection strip at the tail. The rigid support head is fixedly connected to the soft connection strip. The sliding block is in a cylindrical shape. A through hole matched with the guide rod is arranged at the center axis position of the sliding block. The guide rod penetrates through the sliding block through the through hole.

2. The tail module for underwater autonomous unmanned platform towed line array of claim 1, wherein, The diameter of the guide rod is smaller than the diameter of the tail of the guide head.

3. The tail module for underwater autonomous unmanned platform towed line array of claim 1, wherein, The sliding block is provided with a positioning installation groove matched with the spring.

4. The tail module for underwater autonomous unmanned platform towed line array of claim 1, wherein, The connecting piece and the rotating ring, and the guide head and the rotating ring piece are flexibly connected through a rope. The rope uses a non-metal fiber rope.

5. The tail module for underwater autonomous unmanned platform towed line array of claim 1, wherein, The rotating ring is made of titanium alloy or stainless steel material.

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