Underwater vehicle wire guiding and paying-off auxiliary device

Abstract

The invention discloses an underwater vehicle wire guiding and paying-off auxiliary device which is arranged in a vehicle shell, the vehicle shell is communicated with external water flow, the auxiliary device comprises a three-way pipe, the three-way pipe comprises a contraction section, a wire inlet section and a wire outlet section, a wire coil connected with an underwater vehicle enters the three-way pipe from the wire inlet section and then is paid off from the wire outlet section, and the wire coil enters the three-way pipe from the wire outlet section; the ship is connected with a mother ship; the contraction section is integrally in a curve shape, and a water pumping component is arranged at the inlet end of the contraction section and used for pumping external water flow into the three-way pipe from the contraction section and discharging the water flow from the wire outlet section. When the water pumping component works, pressure difference is formed at the junction of the contraction section and the wire inlet section, so that external water flow at the inlet of the wire inlet section is pumped to flow to the wire outlet section. According to the device, a pay-off auxiliary scheme of the water pump and the three-way pipe is adopted, a pressure difference is formed at the junction of the contraction section and the wire inlet section through pumped water flow, so that the water flow at the wire inlet end is sucked, the three-way pipe is continuously washed through the water flow, and fallen winding glue can be effectively removed.

Description

Technical Field

[0001] The present invention relates to the technical field of underwater vehicle guidance, and in particular to a line guiding and releasing auxiliary device for underwater vehicles. Background Art

[0002] Wire guidance is a common underwater vehicle guidance method. It transmits control signals through a wire (usually a thin cable) to guide the underwater vehicle. This wire connects the underwater vehicle and the mother ship to realize the communication between the underwater vehicle and the mother ship. The mother ship solves the guidance equation through the detection information of the vehicle and transmits instructions through the wire to make the underwater vehicle move along the set trajectory. The use of wire guidance can expand the maneuvering range of underwater vehicles and cruise faster. Both domestic and foreign long-range vehicles use wire guidance. However, during the release process of wire-guided underwater vehicles, the release of the wire is often hindered by the accumulation of winding glue. In severe cases, the wire breaks and the vehicle loses control. This shortcoming restricts the application of wire-guided underwater vehicles and limits their working performance. In order to give full play to the advantages of wire-guided navigation, it is urgent to solve the problem of winding glue accumulation during the release process of wire guidance.

[0003] During the wire-laying process, the wire-laying tube is accompanied by turbulent flow. The wire-winding glue attached to the conductor will not only fall off with the impact and vibration of the flow, but also peel off during the friction between the conductor and the inner wall of the wire-laying tube. The wire-winding glue has a certain adhesion, so in addition to a part of it being discharged into the tube with the conductor, the other part will adhere to the inner wall of the pipe. As the length of the wire-laying increases, the amount of wire-winding glue sludge increases, blocking the wire-laying tube, hindering the wire-laying and even breaking the conductor. A certain type of underwater vehicle using the traditional wire-laying method has a serious problem of wire-winding glue sludge when the length of the wire-laying exceeds 3,000 meters. Summary of the invention

[0004] In view of the above problems, the present invention provides an auxiliary device for guiding and releasing a line for an underwater vehicle, which is released when the vehicle is moving. The water flow generated by a water pump in the three-way pipe continuously flushes the colloid attached to the pipe. At the same time, the contraction section generates a pressure difference to draw water from the line inlet section into the three-way pipe. This part of the water flow wraps the wire for feeding, avoiding the problem of obstruction of wire release due to accumulation of winding glue, and even causing wire breakage.

[0005] Specifically, the present invention is achieved by:

[0006] A line-guiding and line-releasing auxiliary device for an underwater vehicle, arranged inside a vehicle shell, comprising:

[0007] The three-way pipe comprises: a contraction section, an inlet section and an outlet section. The wire coil connected to the underwater vehicle enters the three-way pipe from the inlet section and is released from the outlet section to be connected to the mother ship. The contraction section and the inlet section are in communication with external water.

[0008] A pumping component is provided at the inlet end of the contraction section, which is used to pump external water from the contraction section into the three-way pipe and discharge it from the outlet section; when the pumping component is working, a pressure difference is formed at the junction of the contraction section and the inlet section to suck the external water at the inlet section to flow to the outlet section.

[0009] Furthermore, the maximum vertical height h from the entrance of the incoming line section to the junction of the contraction section and the incoming line section is:

[0010] h=v 2 / 2g

[0011] Where v is the water velocity in the tee pipe; g is the acceleration due to gravity.

[0012] Furthermore, the diameter D at the outlet of the incoming line segment is:

[0013]

[0014] Where n is the reliability coefficient and d is the wire diameter.

[0015] Furthermore, the contraction section is in a shape that gradually contracts from the inlet end to the outlet end.

[0016] Furthermore, the contraction section contracts from the inlet end to the outlet end according to a Vickers curve or a bicubic curve.

[0017] Furthermore, the axial length of the contraction section is 130 mm.

[0018] Furthermore, the Vickers curve is expressed as:

[0019]

[0020] Among them, R x represents the cross-sectional radius at x; x is the axial coordinate of the contraction section; r represents the outlet cross-sectional radius; R represents the inlet cross-sectional radius; L is the axial length of the contraction section.

[0021] Furthermore, the bicubic curve is expressed as:

[0022]

[0023] Among them, R x represents the cross-sectional radius at x; x is the axial coordinate of the contraction section; R represents the inlet cross-sectional radius; L is the axial length of the contraction section; x m are the dimensionless coordinates of the point where the two curves are connected.

[0024] Working principle of the present invention:

[0025] One end of the wire is connected to the spacecraft. It is in a coiled shape before entering the incoming line segment. It passes through the incoming line segment and then passes through the outgoing line segment to connect to the mother ship. When the spacecraft is moving and the wire is released, the water pump at the outlet of the contraction section works, and the water flows in from the contraction section. The pumped water flow will cause a pressure difference at the junction of the contraction section and the incoming line segment. Under the action of the pressure difference, the water at the entrance of the incoming line segment overcomes gravity and is sucked into the three-way pipe. This part of the water flow is used to deliver the wire. The water flow continuously flushes the three-way pipe, which can effectively remove the fallen winding glue.

[0026] Compared with the prior art, the present invention has the following beneficial effects:

[0027] (1) The wire guiding and releasing auxiliary device provided by the present invention utilizes water flow to feed the wire, which can effectively reduce the friction between the wire and the pipe wall, improve the smoothness of wire feeding, and reduce the wear on the wire.

[0028] (2) A water pump + tee pipe auxiliary wire laying solution is used. The pumped water flow forms a pressure difference at the confluence of the contraction section and the incoming wire section, thereby sucking out the water flow at the incoming wire end and using the water flow to continuously flush the tee pipe, which can effectively remove the detached winding glue.

[0029] (3) The contraction section adopts a curved design, which will reduce flow loss, inhibit backflow, and ensure that a pressure difference can be formed at the junction of the contraction section and the inlet section, so that the water flow can overcome gravity and flow upward. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 This is a schematic diagram of the use status of the wire guide and wire release auxiliary device in Example 1;

[0031] Figure 2 It is a schematic diagram of the principle of the wire guiding and releasing auxiliary device in Example 1;

[0032] Figure 3 The mesh model of the longitudinal section of the three-way pipe in Example 1;

[0033] Figure 4 The velocity vector diagram of the three-way pipe in Example 1;

[0034] Figure 5 Schematic diagrams of different line types in Example 1;

[0035] Figure 6 Schematic diagram of the whole basin simulation model in Example 1.

[0036] Reference numerals:

[0037] 1-mother ship; 2-craft hull; 3-contraction section; 4-inlet section; 5-outlet section; 6-micro water pump; 7-conducting wire; A-inlet of contraction section; B-inlet of inlet section; C-junction of contraction section and inlet section; D-outlet of outlet section. DETAILED DESCRIPTION

[0038] The present invention will be further described in detail below through specific implementation modes in conjunction with the accompanying drawings.

[0039] Example 1

[0040] like Figure 1-2 As shown, this embodiment provides an underwater vehicle line guiding and releasing auxiliary device, which is arranged inside the vehicle shell 2, and the vehicle shell 2 is connected to the external water flow. The wire 7 passes through the auxiliary device and is connected to the mother ship 1. Part of the wire 7 forms a wire ball, which is placed inside the vehicle shell 2 and released when the underwater vehicle moves. The auxiliary device is a three-way pipe, which includes a contraction section 3, an inlet section 4 and an outlet section 5. The wire ball of the wire 7 connected to the underwater vehicle enters the three-way pipe from the inlet section 4 and is released from the outlet section 5, and is connected to the mother ship 1.

[0041] A micro water pump 6 is fixedly installed at the entrance of the contraction section 3. The micro water pump 6 can be powered by a watertight battery compartment (not shown) installed outside the tee pipe. The micro water pump 6 adopts an axial flow water pump with a diameter of 50 mm. The battery in the watertight battery compartment is a DC lead-acid battery with a voltage between 0 and 12 V. The micro water pump 6 pumps water into the tee pipe, and uses the kinetic energy of the water to continuously flush the colloid attached to the pipe to avoid the accumulation of winding glue.

[0042] In numerical simulation, if the three-way pipe flow domain is calculated alone, the boundary condition at point B cannot be given because the flow from point B to point C is unknown. Therefore, in order to accurately simulate the flow of fluid in the three-way pipe, the calculation model includes the three-way pipe flow domain and the external flow domain. The calculation model is as follows Figure 3 As shown. In terms of meshing, considering that the pipe diameter is relatively thin and the flow in the pipe is a turbulent flow with a high Reynolds number, the boundary layer needs to be encrypted, and Star-ccm is used for structured meshing. In terms of boundary conditions, port A is set as the velocity inlet with a velocity of 2m / s. It is known that the speed of the vehicle is about 2 knots in the cruising state, so the basin inlet velocity is set to 1m / s, and port D and the basin outlet are set to pressure outlets. The flowing medium is liquid water, and the wall is set to an adiabatic no-slip wall. The simulation process uses a steady incompressible pressure-based three-dimensional solver. Considering the influence of gravity, the turbulence model uses the standard k-ε, and the residual convergence accuracy of each variable is set to 1×10-5.

[0043] After the calculation converges, the internal flow field characteristics of the three-way pipe are obtained, and the velocity vector diagram is as follows: Figure 4 As shown, the water pumped in from end A flows to point C and creates a pressure difference between B and C. By observing the flow state at point E, it can be seen that the flow velocity at this point is about 0.39 m / s. The pressure difference enables the fluid to overcome gravity and flow upward, indicating that the design of the three-way pipeline is reasonable and can meet the line laying requirements.

[0044] The cross section of the contraction section 3 contracts in the form of a Vickers curve or a bicubic curve to reduce flow loss. The Vickers curve is expressed as:

[0045]

[0046] Among them, R x represents the cross-sectional radius at x; x is the axial coordinate of the contraction section 3; r represents the outlet cross-sectional radius; R represents the inlet cross-sectional radius; L is the axial length of the contraction section 3.

[0047] Furthermore, the bicubic curve is expressed as:

[0048]

[0049] Among them, R x represents the cross-sectional radius at x; x is the axial coordinate of the contraction section 3; R represents the inlet cross-sectional radius; L is the axial length of the contraction section 3; x m It is the dimensionless coordinate of the connection point of the two curves, generally taken as 0.5.

[0050] The specific curve is Figure 5 As shown, the Witozinsky curve shrinks faster at the inlet and slower at the outlet, while the Double Cubic curve shrinks slower at the inlet and faster at the throat.

[0051] When the water from point A reaches point C, there are two possibilities: backflow to point B or flow to point D. To ensure that the water at point C does not flow back, it is best to have water flow from point B to point C. This is because the backflow of water will hinder the release of the line and even break up the wire ball, and send the winding glue back into the wire ball shell. In order to suppress backflow and increase the flow rate, the axial length of the contraction section 3 is increased to 130mm.

[0052] At the same time, it is necessary to select the maximum value of the height difference between B and C while considering the space margin of the aircraft. The maximum vertical height h of B and C is:

[0053] h=v 2 / 2g

[0054] Where v is the water velocity in the tee pipe; g is the acceleration due to gravity.

[0055] The flow velocity in the pay-off pipe is about 2-3m / s. Taking 2m / s as an example, ignoring the flow loss, p = ρv 2 / 2, we can see that the pressure at point C is about 2000Pa lower than that at point B. Then from h=v 2 / 2g can be calculated that the water head at point B is about 0.2 meters, and the maximum height difference available in the compartment is about 0.12 meters. Taking into account the flow loss, the height difference between B and C is taken as 0.1 meters. At this height, it can be guaranteed that the water flow at point B can overcome gravity and flow to point C under the action of pressure difference force.

[0056] Furthermore, the inlet wire section 4 should not be too thick, but also not too thin, otherwise it will increase the friction between the wire 7 and the tube wall, exacerbating the peeling of the winding glue. The diameter D at the outlet of the inlet wire section 4 is:

[0057]

[0058] Where n is the reliability coefficient and d is the wire diameter.

[0059] The full flow field simulation is performed for different line types, such as Figure 5 As shown in the figure, the working conditions of the vehicle under maneuvering conditions, in addition to the pump and the contraction tube, the calculation domain also includes the external flow domain. The various parts are connected using interfaces, and the boundary conditions are set as velocity inlet and pressure outlet. In terms of meshing, due to the large distortion of the impeller, the mesh transition is difficult to handle, so the sharp corners and subtle local structures are ignored without affecting the flow field. The meshing is performed in a multi-block topological structure, so that the mesh distribution from the blade inlet to the outlet is regular, the transition is smooth, and the flow domain around the blade is encrypted to ensure the accuracy of the flow near the blade during CFD calculation. A boundary layer is added to the wall of the contraction section to make each part have a smooth transition. After mesh independence verification, it was finally confirmed that the flow field division result of the pay-off device with a mesh volume of 5.1 million meets the mesh independence requirements.

[0060] The MRF model is used to process the pump flow field with the rotating impeller as the reference system. The simulation process uses a steady incompressible pressure-based three-dimensional solver, the turbulence model is k-ωSST, the flow medium is liquid water, and the wall boundary is set to a no-slip adiabatic boundary condition. The solution format of the convection term is set to a high-order solution format, and the solution format of the turbulence numerical term is set to a second-order format. The outlet flow of the contraction section is monitored, and the calculation is considered to be converged when it is stable.

[0061] The inlet velocity is set to 1m / s, the outlet pressure is set to 300000Pa, and the pump speed is set to 1000r / min. To match the model pump, the conical tube used in the test is enlarged in proportion. Comparison of the flow coefficients of different line types. The results are shown in Table 1.

[0062] Table 1 Comparison of flow coefficients under different working conditions

[0063]

[0064] The calculation results show that the flow coefficient of the pipes designed with the extended Vickers curve and the bicubic curve is greatly improved compared with the tapered pipe.

[0065] The above specific examples are used to illustrate the present invention, which is only used to help understand the present invention and is not intended to limit the present invention. For those skilled in the art, according to the concept of the present invention, some simple deductions, modifications or substitutions can be made.

Claims

1. A line guiding and releasing auxiliary device for an underwater vehicle, arranged inside a vehicle shell (2), characterized in that: include: The three-way pipe comprises: a contraction section (3), an inlet section (4) and an outlet section (5); a wire coil of a conductor (7) connected to the underwater vehicle enters the three-way pipe from the inlet section (4) and is released from the outlet section (5) and connected to the mother ship (1); the contraction section (3) and the inlet section (4) are in communication with external water; The inlet end of the contraction section (3) is provided with a pumping component for pumping external water and injecting it into the three-way pipe; when the pumping component is in operation, a pressure difference is formed at the junction of the contraction section (3) and the inlet section (4), so as to pump the external water flow at the inlet of the inlet section (3) toward the outlet section (5).

2. The underwater vehicle line guiding and releasing auxiliary device according to claim 1, characterized in that: The maximum vertical height h from the entrance of the incoming line section (4) to the junction of the contraction section (3) and the incoming line section (4) is: h=v 2 / 2g Where v is the water velocity in the tee pipe; g is the acceleration due to gravity.

3. The underwater vehicle line guiding and releasing auxiliary device as claimed in claim 2, characterized in that: The diameter D of the outlet of the inlet segment (4) is: Where n is the reliability coefficient and d is the wire diameter.

4. The underwater vehicle line guiding and releasing auxiliary device according to claim 1, characterized in that: The contraction section (3) is in a shape that gradually contracts from the inlet end to the outlet end.

5. The underwater vehicle line guiding and releasing auxiliary device as claimed in claim 4, characterized in that: The contraction section (3) contracts from the inlet end to the outlet end according to a Vickers curve or a bicubic curve.

6. The underwater vehicle line guiding and releasing auxiliary device as claimed in claim 2, characterized in that: The axial length of the contraction section (3) is 130 mm.

7. The underwater vehicle line guiding and releasing auxiliary device as claimed in claim 5, characterized in that: The Vickers curve is expressed as: Among them, R x represents the cross-sectional radius at x; x is the axial coordinate of the contraction section; r represents the outlet cross-sectional radius; R represents the inlet cross-sectional radius; and L is the axial length of the contraction section (3).

8. The underwater vehicle line guiding and releasing auxiliary device as claimed in claim 5, characterized in that: The bicubic curve is represented as: Among them, R x represents the cross-sectional radius at x; x is the axial coordinate of the contraction section (3); R represents the inlet cross-sectional radius; L is the axial length of the contraction section (3); x m are the dimensionless coordinates of the point where the two curves are connected.

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