Navigation body underwater load reduction structure and attitude adjustment method

Abstract

The invention discloses a navigation body underwater load reduction structure and a posture adjustment method, relates to the technical field of navigation body underwater load reduction, and solves the problems that a conical head navigation body is poor in underwater navigation stability, tail flapping is very easy to occur, and even the navigation body turns over. A multi-cone combined head is arranged at the top end of a column body; the multi-cone combined head part comprises a central cone head and a plurality of circumferential cone heads; the circumferential cone heads are uniformly distributed around the central cone head; a plurality of through holes penetrating through the column body are formed in the column body; the tops of the through holes are arranged between the central conical head and the plurality of circumferential conical heads and are uniformly arranged around the central conical head, and the bottoms of the through holes are arranged on the side surface of the column body; a control device arranged in the column body controls opening and closing of the through hole. The through holes are formed in the columns, so that the slamming action of the head of the navigation body and water is relieved in the underwater stage of the navigation body, water flow is discharged, and the purpose of load reduction is achieved; the posture of the navigation body is adjusted by controlling opening and closing of the through hole underwater.

Description

Technical Field

[0001] The present invention relates to the technical field of water-entering load reduction for a navigation body, and in particular to a water-entering load reduction structure for a navigation body and a posture adjustment method. Background Art

[0002] When a cross-medium vehicle enters the water at high speed, there will be a violent slamming effect between the head and the water surface, which can easily cause damage to the structure and internal instruments. Therefore, the choice of head shape determines whether the vehicle can successfully enter the water. At present, in order to obtain excellent navigation stability, cross-medium vehicles mostly use head shapes such as flat heads and truncated cone heads. However, the slamming phenomenon of such vehicles entering the water is severe, thus forming a huge impact load. In comparison, the transition from the head to the column of the cone-head vehicle is smoother, and the peak impact load during the entry stage is small, so it has obvious advantages in reducing impact loads. However, the underwater navigation stability of the cone-head vehicle is poor, and it is very easy to have a tail beat, and even the vehicle flips. Therefore, it is of positive significance to design a configuration that can both achieve water entry load reduction and adjust the underwater navigation posture. Summary of the invention

[0003] In order to solve the above-mentioned problems of poor underwater navigation stability, easy tail slapping, and even flipping of the existing cone-headed navigation bodies, the present invention proposes a navigation body entry load reduction structure and attitude adjustment method. The present invention provides a through hole in the column body to relieve the impact of the navigation body head and water during the entry stage to discharge the water flow and achieve the purpose of load reduction; the navigation body attitude is adjusted by controlling the opening and closing of the through hole underwater.

[0004] The present invention proposes a water-entering load-reducing structure for a navigation body, which specifically includes a multi-cone combined head and a column, wherein the multi-cone combined head is arranged at the top of the column; the multi-cone combined head includes a central cone head and a plurality of circular cone heads, and the circumferences of the circular cone heads are evenly distributed around the central cone head; a plurality of through holes are arranged in the column, and the through holes penetrate the column; the through hole tops of the through holes are arranged between the central cone head and the plurality of circular cone heads and are evenly arranged around the central cone head, and the through hole bottoms are arranged on the side surfaces of the column; a control device is arranged in the column, and the control device includes a through hole switch, and the through hole switch is arranged at the top position of the through hole.

[0005] Furthermore, the circumferential cone heads are connected to each other in sequence to form an annular structure, and the central cone head is arranged at the center of the annular structure.

[0006] Furthermore, the top ends of the central cone head and the circumferential cone head are flat head structures.

[0007] Furthermore, the top shape of the through hole is a triangle formed by connecting the bottom of the central cone head and the circumferential cone head.

[0008] Furthermore, a transition structure is provided at the connection position between the bottom of the circular cone head and the side of the cylinder, the transition structure is V-shaped, and both sides of the transition structure are curved surface structures.

[0009] Furthermore, the semi-cone angle of the central cone head is 8 degrees, and the semi-cone angle of the circumferential cone head is 11 degrees.

[0010] Furthermore, the angle between the through hole axis and the column axis is 18 degrees.

[0011] Furthermore, the through-hole switch includes an electronic switch and a through-hole valve. The through-hole valve is arranged at the top of the through-hole, and the electronic switch controls the switch of the through-hole valve.

[0012] Furthermore, the control device also includes a gyroscope and a processor, and the processor is connected to the gyroscope and the electronic switch respectively.

[0013] A method for adjusting the attitude of a navigation body using the above-mentioned navigation body water entry load reduction structure includes the following steps: a gyroscope collects navigation attitude information and transmits the attitude information to a processor; the processor controls the opening and closing of a through-hole valve through an electronic switch; water flows through the open through-hole, causing the pressure state of the navigation body head to change and thus changing the hydrodynamic torque, thereby completing the attitude adjustment of the navigation body.

[0014] The beneficial effects of the water-entering load-reducing structure and attitude adjustment method of a navigation body described in the present invention are:

[0015] (1) The structure for reducing the load when a navigation body enters water and the method for adjusting the attitude of the navigation body described in the present invention overcome the problems of poor underwater navigation stability, easy tail slapping, and even flipping of the navigation body in existing cone-head navigation bodies. Through holes are set inside the column. All the through holes are opened during the entry stage to alleviate the impact between the head of the navigation body and the water, and at the same time, it is beneficial to drain the water flow to achieve the purpose of reducing the load. The attitude is adjusted and the maneuvering control is achieved by adjusting the switch state of the through holes. During the underwater navigation stage of the navigation body, the hydrodynamic torque is changed by controlling the open and closed states of several through holes, and the underwater leveling and multi-degree-of-freedom attitude adjustment are completed.

[0016] (2) The structure for reducing the load when a navigation body enters water and the method for adjusting the posture of the navigation body described in the present invention adopt a head shape of multiple cone heads. When the navigation body with the cone head enters water, the area of ​​interaction with the water body gradually transitions from the tip to the column, and the rising process of the impact load is slow and the peak value is low. The intensity of the impact of the cone head with the water during the entry of the cone head into the water is much less than that of other head shapes. The head shape used in the present invention is equivalent to multiple cone heads entering water in parallel, which maximizes the advantages of the cone head with low load when entering water, perfectly inherits the load reduction characteristics of the cone head, and at the same time increases the underwater navigation maneuverability, achieving the requirements of water entry load reduction and underwater leveling. Similarly, various through-hole states can be designed to achieve a series of goals such as maneuvering out of water, providing a reference for the design of cross-media navigation bodies.

[0017] (3) The structure for reducing the load when a navigation body enters water and the method for adjusting the posture of the navigation body described in the present invention adopts a gradual transition method at the connection between the head and the column, which is conducive to discharging water, reducing the intensity of the impact between the navigation body and the water body, and reducing the impact pressure when entering water. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The drawings constituting a part of this application are used to provide a further understanding of the present invention. The illustrative embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute improper limitations on the present invention.

[0019] In the attached picture:

[0020] Figure 1 It is a front view of a structure for reducing load when a navigation body enters water according to the present invention;

[0021] Figure 2 It is a side view of a structure for reducing load when a navigation body enters water according to the present invention;

[0022] Figure 3 It is a top view of a structure for reducing the load when a navigation body enters water according to the present invention;

[0023] Figure 4 It is a structural schematic diagram of a control device for a navigation body water entry load reduction structure according to the present invention;

[0024] Figure 5 It is a schematic diagram of the through hole shape of a navigation body water entry load reduction structure according to the present invention;

[0025] Figure 6 It is a schematic diagram of the arrangement of a through-hole valve and an electronic switch of a water-entering load-reducing structure for a navigation body according to the present invention;

[0026] Among them: 1-multi-cone head combination head, 2-column, 3-control device, 4-through hole top, 5-through hole bottom, 6-gyroscope, 7-processor, 8-electronic switch, 9-through hole valve. DETAILED DESCRIPTION

[0027] The technical solution of the present invention will be described clearly and completely below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0028] In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance.

[0029] In the description of the invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installation", "connection" and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the invention can be understood according to specific circumstances.

[0030] In addition, the technical features involved in different embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0031] Specific implementation method 1: See Figure 1-Figure 6 The present embodiment is described in detail. The present embodiment describes a structure for reducing the load when a navigation body enters the water, which specifically includes a multi-cone combined head 1 and a column 2. The multi-cone combined head 1 is arranged at the top of the column 2, and the maximum diameter of the multi-cone combined head 1 is equal to the diameter of the column 2; the multi-cone combined head 1 includes a central cone head 10 and a plurality of circumferential cone heads 11, the circumference of the circumferential cone heads 11 is evenly distributed around the central cone head 10, and the plurality of circumferential cone heads 11 are connected to each other in sequence to form an annular structure, the bottoms of the plurality of circumferential cone heads 11 intersect with each other, and the central cone head 10 is arranged at the center of the annular structure; a small part of the tip of the top of the central cone head 10 and the plurality of circumferential cone heads 11 is cut off to form a flat head structure, so as to be better applied to engineering.

[0032] A plurality of through holes are arranged in the cylinder 2; the through hole top 4 of the through hole is arranged between the central cone head 10 and the plurality of circumferential cone heads 11 and is evenly arranged around the central cone head 10; the bottom of the central cone head 10 is cut into a regular polygon, and the bottom of the circumferential cone head 11 is cut into a teardrop shape; the tip of the teardrop-shaped structure is connected to the vertex of the regular polygon at the bottom of the central cone head 10; the edge of the through hole top 4 fits with the bottom edge of the central cone head 10 and the circumferential cone head 11; the shape of the through hole top 4 is a curved triangle with an inwardly concave edge surrounded by the regular polygon structure at the bottom of the central cone head 10 and the teardrop-shaped structure at the bottom of the circumferential cone head 11, such as Figure 3As shown; the bottom 5 of the through hole is arranged on the side of the column 2, the angle between the axis of the through hole and the axis of the column 2 is 18 degrees, and it obliquely penetrates the column 2 to reserve space for the installation of internal instruments, reducing the impact of the through hole on the installation of instruments in the navigation body, greatly improving the selectivity of instrument layout installation, and facilitating subsequent use; a control device 3 is arranged in the column 2, and the control device 3 includes a through hole switch, which is arranged at the top 4 of the through hole, thereby controlling the opening and closing of the inside of the through hole.

[0033] A transition structure 12 is provided at the connection position between the bottom of the circular cone head 11 and the side of the column 2. The transition structure 12 is V-shaped, and both sides of the transition structure 12 are curved structures and smoothly transitionally connected with the bottom of the circular cone head 11 and the side of the column 2, so as to reduce the resistance load during the water impact stage and the underwater navigation stage. Figure 3 shown.

[0034] The semi-cone angle of the central cone head 10 is 8 degrees, and the semi-cone angle of the circumferential cone head 11 is 11 degrees.

[0035] The through-hole switch includes an electronic switch 8 and a through-hole valve 9. The through-hole valve 9 is arranged at the through-hole top 4. The electronic switch 8 is arranged at the valve 9 at the through-hole top 4. The electronic switch 8 controls the through-hole valve 9 to open and close the corresponding through-hole.

[0036] The control device 3 further comprises a gyroscope 6 and a processor 7. The processor 7 is connected to the gyroscope 6 and the electronic switch 8 respectively. The electronic switch 8 is controlled independently by the processor 7 without affecting each other.

[0037] The overall structural aspect ratio of the navigation body is 5:1, and the distance between the center of mass and the tail is approximately 42.5% of the overall length.

[0038] A method for adjusting the attitude of a navigation body using the above-mentioned structure for reducing the load when the navigation body enters water comprises the following steps: a gyroscope 6 collects navigation attitude information and transmits the attitude information to a processor 7; the processor 7 controls the opening and closing of a through-hole valve 9 through an electronic switch 8; water flows through the open through-hole, so that the pressure state of the head of the navigation body changes and thus changes the hydrodynamic torque, thereby completing the attitude adjustment of the navigation body.

[0039] The specific working process of the water-entering load-reducing structure of a navigation body described in the present invention is as follows:

[0040] When the navigation body enters the water, all the through holes are opened, which is equivalent to the cone-head navigation body entering the water in parallel, and the impact load of entering the water is small. During underwater navigation, some through holes are closed, the head is subjected to uneven force, thereby forming a hydrodynamic torque, and the navigation body adjusts its posture. The combination of six through holes can be adjusted with multiple degrees of freedom. The head model can be adjusted according to specific requirements, the number of through holes can be increased, the degree of adjustment freedom can be increased, and more subtle adjustments can be made. It is also possible to write different programs to the processor 7 to realize functions such as motorized water exit that can be achieved by adjusting the posture.

[0041] Summarizing the above implementation cases, the water-entering load-reducing structure of a navigation body described in the present invention overcomes the problems of poor underwater navigation stability of existing cone-head navigation bodies, easy tail slapping, and even flipping of the navigation body. A through-hole is arranged inside the column 2, and all the through-holes are opened during the water-entering stage to alleviate the impact of the head of the navigation body with the water, while being beneficial to discharging the water flow and achieving the purpose of load reduction; the attitude is adjusted and maneuvering control is achieved by adjusting the switching state of the through-holes. During the underwater navigation stage of the navigation body, the opening and closing states of several through-holes are controlled to change the hydrodynamic torque, and underwater leveling and multi-degree-of-freedom attitude adjustment are completed; the water-entering load-reducing structure and attitude adjustment method of a navigation body described in the present invention adopt a multi-cone head combination head shape. When the cone-head navigation body enters the water, it is in contact with the water body. The action area gradually transitions from the tip to the column 2, the rising process of the impact load is slow and the peak value is low; the intensity of the impact of the cone head on the water during the entry into the water is much less than that of other head shapes. The head shape used in the present invention is equivalent to multiple cone heads entering the water in parallel, which maximizes the advantage of the cone head entering the water with low load, perfectly inherits the load reduction characteristics of the cone head, and at the same time increases the underwater navigation maneuverability, achieving the requirements of water entry load reduction and underwater leveling; similarly, a variety of through-hole states can be designed to achieve a series of goals such as maneuverable water exit, providing a reference for the design of cross-medium navigation bodies; a navigation body water entry load reduction structure and attitude adjustment method described in the present invention adopts a gradual transition method at the connection between the head and the column, which is conducive to discharging water, reducing the intensity of the impact between the navigation body and the water body, and reducing the water entry impact pressure.

[0042] The specific embodiments described above further illustrate the purpose, technical solutions and beneficial effects of the present invention. It should be understood that the above description is only a specific embodiment of the present invention and is not intended to limit the invention. It can also be a reasonable combination of the features recorded in the above implementation methods. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A structure for reducing load when a navigation body enters water, characterized in that: The invention comprises a multi-cone combined head (1) and a column (2), wherein the multi-cone combined head (1) is arranged at the top end of the column (2); the multi-cone combined head (1) comprises a central cone head (10) and a plurality of circumferential cone heads (11), wherein the circumferential cone heads (11) are evenly distributed around the central cone head (10); a plurality of through holes are arranged in the column (2), and the through holes penetrate the column (2); the through hole tops (4) of the through holes are arranged between the central cone head (10) and the plurality of circumferential cone heads (11) and are evenly arranged around the central cone head (10), and the through hole bottoms (5) are arranged on the side of the column (2); a control device (3) is arranged in the column (2), and the control device (3) comprises a through hole switch, and the through hole switch is arranged at the position of the through hole top (4).

2. The structure for reducing load when a navigation body enters water according to claim 1, characterized in that: The circumferential cone heads (11) are connected to each other in sequence to form an annular structure, and the central cone head (10) is arranged at the center of the annular structure.

3. The structure for reducing load when a navigation body enters water according to claim 2, characterized in that: The top ends of the central cone head (10) and the circumferential cone head (11) are flat head structures.

4. The structure for reducing load when a navigation body enters water according to claim 2, characterized in that: The top (4) of the through hole is in the shape of a triangle formed by connecting the bottom of the central cone head (10) and the circumferential cone head (11).

5. The structure for reducing load when a navigation body enters water according to claim 2, characterized in that: A transition structure (12) is provided at the connection position between the bottom of the circular cone head (11) and the side of the column (2); the transition structure (12) is V-shaped, and both sides of the transition structure (12) are curved surface structures.

6. The water-entering load-reducing structure for a navigation body according to any one of claims 1 to 5, characterized in that: The semi-cone angle of the central cone head (10) is 8 degrees, and the semi-cone angle of the circumferential cone head (11) is 11 degrees.

7. The water-entering load-reducing structure for a navigation body according to any one of claims 1 to 5, characterized in that: The angle between the axis of the through hole and the axis of the column (2) is 18 degrees.

8. The structure for reducing load when a navigation body enters water according to claim 1, characterized in that: The through-hole switch comprises an electronic switch (8) and a through-hole valve (9); the through-hole valve (9) is arranged at the top (4) of the through-hole, and the electronic switch (8) controls the switch of the through-hole valve (9).

9. The structure for reducing load when a navigation body enters water according to claim 8, characterized in that: The control device (3) further comprises a gyroscope (6) and a processor (7), wherein the processor (7) is connected to the gyroscope (6) and the electronic switch (8) respectively.

10. A method for adjusting the attitude of a navigation body using the navigation body water entry load reduction structure of claim 9, characterized in that: The following steps are involved: The gyroscope (6) collects navigation attitude information and transmits the attitude information to the processor (7); the processor (7) controls the opening and closing of the through-hole valve (9) through the electronic switch (8); water flows through the open through-hole, causing the pressure state of the head of the navigation body to change and thus changing the hydrodynamic torque, thereby completing the adjustment of the navigation body's attitude.

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