Water-entry load-reducing structure and attitude adjusting method for a watercraft

Abstract

The application discloses a water-entry load-reducing structure and an attitude adjusting method of a navigation body, relates to the technical field of water-entry load-reducing structures of navigation bodies, and solves the problems of poor underwater navigation stability of a conical-head navigation body, tail slapping of the navigation body, and even overturning of the navigation body. The multi-cone combined head is arranged at the top end of a column body; the multi-cone combined head comprises a central conical head and a plurality of circumferential conical heads which are uniformly distributed around the central conical head; a plurality of through holes are arranged in the column body; the top of the through hole is arranged between the central conical head and the plurality of circumferential conical heads and is uniformly arranged around the central conical head, and the bottom of the through hole is arranged on the side of the column body; and a control device arranged in the column body controls the opening and closing of the through hole. The through hole arranged in the column body can relieve the slamming effect of the head of the navigation body on water and expel water flow in the water-entry stage, so that the load-reducing purpose is achieved; and the opening and closing of the through hole is controlled underwater, so that the attitude of the navigation body is adjusted.

Description

Technical Field

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

[0002] When a cross-media 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-media 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 tail slapping, and even the vehicle flips over. Therefore, it is of positive significance to design a configuration that can achieve both water entry load reduction and adjustment of underwater navigation posture. Summary of the Invention

[0003] To address the aforementioned issues of existing conical-headed vehicles, such as poor underwater stability, susceptibility to tail-slapping, and even vehicle flipping, this invention proposes a vehicle-entry load-reduction structure and attitude adjustment method. This invention utilizes a through-hole within the column to mitigate the impact of the vehicle's head against the water during entry, displacing the water flow and achieving load reduction. The vehicle's attitude is adjusted underwater by controlling the opening and closing of the through-hole.

[0004] The present invention proposes a water-entering load reduction 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 pass through the column; the top of the through hole is arranged between the central cone head and the plurality of circular cone heads and is evenly arranged around the central cone head, and the bottom of the through hole is arranged on the side 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 sequentially connected to each other 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 of the through hole is in the shape of 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 axis of the through hole and the axis of the column 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 further 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 vehicle using the above-mentioned vehicle entry and water 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 vehicle head to change and thus changing the hydrodynamic torque, thereby completing the attitude adjustment of the vehicle.

[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 present invention discloses a structure for reducing the load of a navigation body when entering water and a method for adjusting its attitude, which overcomes the problems of poor underwater navigation stability, easy tail-slapping, and even flipping of the existing cone-head navigation body. Through holes are provided inside the column. During the entry phase, all the through holes are opened 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 and achieve the purpose of reducing the load. The attitude is adjusted and maneuvering control is achieved by adjusting the switch state of the through holes. During the underwater navigation phase of the navigation body, the hydrodynamic torque is changed by controlling the open and closed states of several through holes, and underwater leveling and multi-degree-of-freedom attitude adjustment are completed.

[0016] (2) The structure and attitude adjustment method for a navigation body entering water to reduce loads described in the present invention adopts a multi-cone head combination head shape. When the conical head navigation body enters water, the area of ​​interaction with the water body gradually transitions from the tip to the column, and the slamming load rises slowly with a low peak value. The intensity of the slamming with the water during the conical head entering water is much less than that of other head shapes. The head shape used in the present invention is equivalent to multiple conical heads entering water in parallel, which inherits the advantages of the low-load entry of the conical head to the maximum extent, perfectly inherits the load reduction characteristics of the conical 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 the 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 adopt 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 figure:

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

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

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

[0023] Figure 4 This is a schematic structural diagram of a control device for a water-entering load-reducing structure for a navigation body according to the present invention;

[0024] Figure 5 This is a schematic diagram of the through-hole shape of a structure for reducing the load when a navigation body enters water according to the present invention;

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

[0026] Among them: 1-multi-cone head combination head, 2-cylinder, 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 following will clearly and completely describe the technical solutions of the present invention in conjunction with the accompanying drawings. Obviously, the embodiments described are only some 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 making any creative efforts shall fall 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," and the like, indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings and are intended solely to facilitate the description of the present invention and simplify the description. They do not indicate or imply that the devices or components referred to must have a specific orientation, be constructed, or operate in a specific orientation. Therefore, they should not be construed as limitations on the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0029] In the description of the present invention, it should be noted that, unless otherwise expressly specified or limited, the terms "installed," "connected," and "connected" should be understood in a broad sense. For example, they can refer to fixed connections, detachable connections, or integral connections; they can refer to mechanical connections or electrical connections; they can refer to direct connections or indirect connections through an intermediate medium; and they can refer to internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on the 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 Figures 1-6 The present embodiment is described in detail. The structure for reducing the load when a navigation body enters water in the present embodiment specifically comprises 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 comprises a central cone head 10 and a plurality of circumferential cone heads 11. The circumferential cone heads 11 are 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 portion of the tips of the tops of the central cone head 10 and the plurality of circumferential cone heads 11 are cut off to form a flat head structure for better application in engineering.

[0032] A plurality of through holes are provided in the cylinder 2; the through hole top 4 of the through hole is provided 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, 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 is fitted with the bottom edge of the central cone head 10 and the circumferential cone head 11, and 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, and the angle between the axis of the through hole and the axis of the column 2 is 18 degrees. It obliquely penetrates the column 2, reserving 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 the 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 circumferential 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 transition connected with the bottom of the circumferential cone head 11 and the side of the column 2, thereby reducing 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 set at the top 4 of the through-hole. The electronic switch 8 is arranged at the valve 9 at the top 4 of the through-hole. The electronic switch 8 controls the switch of the through-hole valve 9 to realize the opening and closing of the corresponding through-hole.

[0036] The control device 3 further includes 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 vehicle 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 vehicle using the above-mentioned vehicle entry and water load reduction structure includes 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, causing the pressure state of the vehicle head to change and thus changing the hydrodynamic torque, thereby completing the attitude adjustment of the vehicle.

[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 vehicle enters the water, all through-holes are open, equivalent to a parallel entry of a cone-shaped vehicle, resulting in a smaller impact load. During underwater navigation, some through-holes are closed, creating an uneven force on the head, which in turn generates a hydrodynamic torque, allowing the vehicle to adjust its attitude. The combination of six through-holes allows for multiple degrees of freedom of adjustment. The head model can be adjusted to meet specific requirements, and increasing the number of through-holes increases the degree of adjustment and allows for more subtle adjustments. Furthermore, by writing different programs to processor 7, functions such as maneuvering out of the water, which can be achieved through attitude adjustment, can be realized.

[0041] Summarizing the above implementation cases, the water-entering load-reduction structure of the 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 set inside the column 2, and all the through-holes are opened during the water-entry stage to alleviate the impact of the navigation body's head and water, while being beneficial to discharging water flow and achieving the purpose of load reduction; the attitude adjustment and maneuverability control are 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, complete underwater leveling and multi-degree-of-freedom attitude adjustment; the water-entering load-reduction structure and attitude adjustment method of the 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 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, various through-hole states can be designed to achieve a series of goals such as maneuverable exit from the water, providing a reference for the design of cross-media navigation bodies; the present invention describes a water entry load reduction structure and attitude adjustment method for a navigation body, and a gradual transition method is adopted at the connection between the head and the column, which is conducive to displacing 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 objectives, technical solutions, and beneficial effects of the present invention. It should be understood that the above description is merely a specific embodiment of the present invention and is not intended to limit the invention. Reasonable combinations of the features described in the above embodiments are also possible. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention shall be included in the scope of protection of the present invention.

Claims

1. A structure for reducing load when a navigation body enters water, characterized by: 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 distributed 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 vehicle 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 (10) and the circumferential cone (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 circumferential 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 through-hole top (4); and the electronic switch (8) controls the opening and closing 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 vehicle using the vehicle entry and load reduction structure according to 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 navigation body attitude adjustment.

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