A sinking wing for underwater towed survey equipment

Abstract

The present invention belongs to the technical field of underwater operation equipment, and specifically discloses a sinking wing for underwater towed investigation equipment, comprising: a wing plate structure, which is spaced apart from the underwater towed investigation equipment; the wing plate structure is used to form a force acting on the underwater towed investigation equipment; an adjusting component, which is installed on the underwater towed investigation equipment; the wing plate structure is rotatably installed on the adjusting component to adjust the swing angle of the wing plate structure relative to the water flow; the swing angle adjusts the diving depth of the underwater towed investigation equipment in the towing motion by changing the force; a limiting component, which includes a limiting part and a rod body extending along a first axis, an adjusting hole for the rod body to move around the first axis is formed on the adjusting component, and the rod body is connected to the wing plate structure through the adjusting hole; the limiting part is installed on the adjusting component, and the limiting part is used to fix the rod body; it has the following advantages: stepless adjustment of the wing plate is achieved, the equipment posture is stabilized, and the detection accuracy is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of underwater operation equipment, and in particular to a sinking wing for underwater towed survey equipment. Background Art

[0002] Marine engineering geophysical surveys primarily include survey equipment such as side-scan sonar, subsurface profilers, and ocean magnetometers. With the exception of some subsurface profilers, most survey equipment typically uses a towed method for measurement. The diving depth of the equipment during towed measurements directly affects the quality of the data and is a key factor in determining survey efficiency, accuracy, and completeness of the results. Therefore, while ensuring the safe operation of the equipment, the underwater towed body needs to be as close to the seabed as possible to obtain more accurate and complete survey data. In side-scan sonar surveys, because the equipment's scanning width is fixed, once the towfish's diving depth is determined, the effective scanning width decreases as the water depth increases, reducing the overall efficiency of the survey. In marine magnetic surveys, the detection effect of the magnetometer varies with the distance from the target object. The closer the device is to the target object, the stronger the measured magnetic induction intensity. When the towfish dives to a constant depth, as the water depth increases, the distance between the magnetometer and the target object increases, and the detected magnetic field intensity weakens. When the target object is small in size, the magnetic field signal may be difficult to detect effectively, thereby reducing the accuracy and completeness of the survey results.

[0003] Therefore, a sinking wing for underwater towed survey equipment is proposed to solve the above-mentioned problems. Summary of the Invention

[0004] The present invention aims to provide a sinking wing for underwater towed survey equipment to solve or improve the above-mentioned technical problem that it is difficult to accurately control the diving depth of the underwater towed survey equipment, resulting in difficulty in maintaining a stable distance between the towed body and the seabed, affecting the accuracy and integrity of the survey data.

[0005] In view of the above, a first aspect of the present invention is to provide a sinking wing for an underwater towed survey device.

[0006] A first aspect of the present invention provides a sinking wing for an underwater towed survey device, comprising: a wing structure arranged along an extension direction and spaced apart from the underwater towed survey device; the wing structure being configured to cooperate with a water flow generated by the underwater towed survey device during movement to generate a force acting on the underwater towed survey device; an adjustment assembly mounted on the underwater towed survey device; the wing structure being rotatably mounted on the adjustment assembly about a first axis to adjust a swing angle of the wing structure relative to the water flow; the swing angle adjusting the diving depth of the underwater towed survey device during towing by varying the force; and a limit assembly comprising a limit portion and a rod extending along the first axis; the adjustment assembly being formed with an adjustment hole for allowing the rod to move about the first axis; the rod being connected to the wing structure through the adjustment hole to drive the wing structure to swing; the limit portion being mounted on the adjustment assembly and configured to fix the rod in a direction perpendicular to the first axis after the rod moves to a preset position.

[0007] In any of the above technical solutions, the adjustment hole includes an arc-shaped hole body extending circumferentially around the first axis, and the circumferential side wall of the rod body is in contact with the arc-shaped inner wall of the arc-shaped hole body.

[0008] In any of the above technical solutions, the adjustment assembly includes: a connecting seat, which is fixedly assembled with the connecting handle on the underwater towed investigation equipment; a connecting plate, which is fixed on the connecting seat; the wing plate structure includes an extended edge connected to the rod body, and the extended edge and the connecting plate are rotatably connected by a rotating shaft passing through the middle.

[0009] In any of the above technical solutions, the arc-shaped hole is provided on the connecting plate, and the first axis passes through the central axis of the rotating shaft.

[0010] In any of the above technical solutions, two connecting plates are provided, and the extending edge is located between the two connecting plates.

[0011] In any of the above technical solutions, two limiting portions are provided and are respectively mounted on the connecting seat; the connecting plate and the extending edge are both located between the two limiting portions.

[0012] In any of the above technical solutions, the limiting part includes: an annular frame, a sliding hole in the middle of which is opened along the first axial direction; a limiting head, slidably installed in the sliding hole and screwed to the end of the annular frame; the limiting head is assembled with the end of the rod body to drive the rod body to move.

[0013] In any of the above technical solutions, a limiting hole is provided on the limiting head for the rod body to pass through, and the limiting hole extends in a direction perpendicular to the first axis so as to adapt to the arc movement of the rod body in the arc-shaped hole body when the limiting head moves uniaxially in the sliding hole.

[0014] In any of the above technical solutions, the limit head includes: a slider, which is slidably connected to the inner wall of the sliding hole; the limit hole is located on the slider; a screw, one end of which is rotatably connected to the end wall of the slider and the other end is screwed to the annular frame; two screws are set on each slider.

[0015] In any of the above technical solutions, the underwater towed survey equipment includes a cylindrical cabin extending along a second axis, the second axis is perpendicular to the first axis, and the underwater towed survey equipment moves in the water flow along the second axis.

[0016] Compared with the prior art, the present invention has the following beneficial effects:

[0017] Since the adjustment method of the wing structure is not limited to fixed gears, but can be adjusted by stepless swing, the equipment can quickly respond to changes in sea conditions, changes in operating water depth or changes in investigation needs, improving its adaptability in different areas and different target detection tasks.

[0018] When the equipment can stably maintain an optimal water depth and posture, the measured distance between the side-scan sonar, magnetometer or other detection device and the target is easier to control and maintain, thereby improving the integrity and accuracy of the detection data and meeting the needs of high-precision underwater surveys.

[0019] Additional aspects and advantages of embodiments according to the present invention will become apparent in the following description or may be learned through practice of embodiments according to the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The above and / or additional aspects and advantages of the present invention will become apparent and readily understood from the following description of the embodiments with reference to the accompanying drawings, in which:

[0021] Figure 1 It is a structural schematic diagram of the present invention;

[0022] Figure 2 Schematic diagram of the wing plate structure and its connection structure of the present invention;

[0023] Figure 3 Schematic diagram of the connecting plate and its connecting structure of the present invention;

[0024] Figure 4 This is a schematic diagram of the assembly structure of the connecting base and the connecting handle of the present invention;

[0025] Figure 5 Schematic diagram of the aileron plate structure of the present invention;

[0026] Figure 6 It is a schematic diagram of the connecting handle and its connecting structure of the present invention.

[0027] in, Figures 1-6 The corresponding relationship between the reference numerals and component names is as follows:

[0028] 1 underwater towed survey equipment, 2 main wing plate, 3 aileron plate, 301 connecting structure, 4 arc-shaped hole body, 5 connecting seat, 6 connecting handle, 7 connecting plate, 8 extension edge, 9 annular frame, 901 sliding hole, 10 limiting hole, 11 slider, 12 screw, 13 hanging plate, 14 rod body. DETAILED DESCRIPTION

[0029] In order to more clearly understand the above-mentioned objects, features and advantages of the present invention, the present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be noted that, in the absence of conflict, the embodiments of the present application and the features therein can be combined with each other.

[0030] In the following description, many specific details are set forth to facilitate a full understanding of the present invention. However, the present invention may also be implemented in other ways different from those described herein. Therefore, the scope of protection of the present invention is not limited to the specific embodiments disclosed below.

[0031] See also Figures 1-6 , the following describes a sinking wing for underwater towed survey equipment according to some embodiments of the present invention.

[0032] The embodiments of the first aspect of the present invention provide a sinking wing for an underwater towed survey device 1. In some embodiments of the present invention, such as Figures 1-6 As shown, the sinking wing for the underwater towed survey equipment 1 includes:

[0033] The wing structure is arranged along a direction of extension and spaced apart from the underwater towed survey equipment 1. The wing structure is used to cooperate with the water flow generated by the underwater towed survey equipment 1 during movement to generate a force acting on the underwater towed survey equipment 1. The wing structure includes a main wing 2 formed along the extension direction and at least two ailerons installed in sequence on the main wing 2 along the extension direction. The main wing 2 and ailerons are designed as separate components, allowing for independent replacement. Wear and tear will not affect the operation of the entire sinking wing.

[0034] An adjusting assembly is mounted on the underwater towed investigation equipment 1; the wing plate structure is mounted on the adjusting assembly and rotates around a first axis to adjust the swing angle of the wing plate structure relative to the water flow; the swing angle adjusts the diving depth of the underwater towed investigation equipment 1 in the towing motion by changing the acting force.

[0035] The limiting assembly includes a limiting portion and a rod body 14 extending along the first axis. An adjusting hole is formed on the adjusting assembly for the rod body 14 to move around the first axis. The rod body 14 is connected to the wing plate structure through the adjusting hole to drive the wing plate structure to swing. The rod body 14 realizes stepless adjustment by sliding in the adjusting hole and driving the wing plate structure to swing; the limiting portion is installed on the adjusting assembly. The limiting portion is used to fix the rod body 14 in a direction perpendicular to the first axis after the rod body 14 moves to a preset position and stops, so as to fix the wing plate structure through the rod body 14 after stepless adjustment.

[0036] The present invention provides a sinking wing for an underwater towed survey device 1, wherein the wing plate structure is arranged along a specific extension direction and maintains a certain spatial interval with the underwater towed survey device 1. By making the wing plate structure independent of the main body of the underwater towed survey device 1, when the device is towed, the water flow will first act on the wing plate structure, thereby forming a force between the wing plate structure and the water flow, and this force can eventually be transmitted or affect the underwater towed survey device 1 connected thereto, thereby achieving effective control of the diving depth and posture of the entire device in the water. The wing plate structure includes a main wing plate 2 formed along the extension direction and at least two aileron plates 3 arranged in sequence on the main wing plate 2 along the extension direction. The main wing plate 2 and the aileron plates 3 adopt a split design, that is, the main wing plate 2 and the aileron plates 3 can be disassembled, replaced or maintained independently of each other. After long-term use, if the wing surface suffers local wear or local structural failure due to water erosion, marine environment corrosion or accidental collision, only the damaged parts need to be replaced, so the entire sinking wing will not be unable to continue to be used, which greatly improves the efficiency of maintenance and replacement and reduces overall operating costs.

[0037] The main wing panel 2 generally plays the main load-bearing and shaping role in the overall wing panel structure. It usually has a large wingspan or a long extension dimension to generate significant lift or downforce in the water flow, thereby dominating the longitudinal movement trend of the underwater towed survey equipment 1. The main wing panel 2 can select its airfoil profile, thickness distribution and angle of attack setting according to the required diving depth and working environment of the equipment, so that it can obtain better fluid dynamic characteristics during underwater towing movement, reduce the adverse effects caused by turbulence or turbulence, and ensure stable operation under different flow rates or different water depths. The aileron panel 3 is mostly installed at different positions of the main wing panel 2, which can make more precise adjustments to the local flow field. For example, the angle change of the aileron panel 3 can locally change the velocity distribution and pressure distribution of the fluid when passing through the subsequent part of the main wing panel 2, thereby exerting a fine-tuning or compensating effect on the lift and drag balance, pitch attitude control and other aspects of the overall sinking wing. By flexibly arranging the number and installation positions of the flaps 3, the device can cope with different sea conditions (such as rapids, slow currents or complex water flow directions) more calmly, maintain a stable dive, or add additional lifting force (or downforce) to quickly change the depth when needed.

[0038] The main wing panel 2 and the aileron panel 3 are mechanically connected via a connecting structure 301 or fasteners, maintaining a relatively stable installation angle or an adjustable connection. For an adjustable angle design, by varying the angle of attack of the aileron panel 3 relative to the main wing panel 2, more precise control of the direction and magnitude of the water force can be achieved. For example, when operating in shallow waters, requiring a lower diving depth, the aileron panel 3 can be adjusted to a position closer to the plane of the main wing panel 2 to reduce overall downforce. When a greater diving depth is required in deep-sea areas, the angle of attack of the aileron panel 3 can be increased, thereby increasing the downward force component and enabling the towed device to quickly and stably dive to the target depth. Furthermore, if the device encounters unstable water flow or other disturbances underwater, appropriately adjusting the angle of the aileron panel 3 can correct the pitch attitude of the device, improving overall anti-interference and stability. During use, the hydrodynamic forces from the wing structure are transmitted to the underwater towed survey equipment 1 via a positioning device or connection mechanism between the wing structure and the equipment, enabling the equipment to precisely maintain a specific depth range or posture underwater, as required. Furthermore, to ensure the overall structural strength and durability, the main wing panels 2 and aileron panels 3 are typically constructed from high-strength, corrosion-resistant materials (such as high-strength alloys or composite materials suitable for underwater use) to withstand the high salinity, high water pressure, and impact wear that may be experienced in long-term marine environments.

[0039] The sinking wing is mounted on the underwater towed survey vehicle 1. The key lies in the coordinated coordination between the adjustment assembly and the wing structure. The adjustment assembly is securely mounted on the body of the underwater towed survey vehicle 1, providing stable support and an adjustable mounting platform for the wing structure. The wing structure is also rotatably mounted on the adjustment assembly about a first axis. This rotatable mounting about the first axis allows the wing structure to vary its swing angle relative to the incoming water flow (i.e., the current encountered in the navigational or towing direction) according to actual needs, thereby achieving flexible control of hydrodynamic forces. When the underwater towed survey vehicle 1 is towed in aquatic environments such as oceans and lakes, the water flowing over the wing structure generates a combination of hydrodynamic forces, including lift, drag, and other components. By driving the wing structure to rotate about the first axis through the adjustment assembly, the angle of attack of the wing's incoming water surface (i.e., the relative angle between the water flow and the wing surface) can be varied. Once the angle of attack is adjusted, the pressure distribution on the wing in the water changes accordingly, significantly affecting the overall lift, pitching moment, and longitudinal drag acting on the underwater towed survey device 1. Specifically, when the wing structure's swing angle is increased (e.g., by raising the leading edge), the device receives a greater upward force component, which helps prevent it from diving or tends to float upward. Conversely, when the wing structure's swing angle is reduced (by pushing the leading edge downward), the hydrodynamic force acting on the wing becomes more biased downward, pushing the towed device further downward.

[0040] By changing the swing angle to "convert" or "adjust" the direction and magnitude of the hydrodynamic forces, the underwater towed survey device 1 can not only actively control its diving depth but also effectively change its longitudinal posture. During seafloor topography surveys, magnetic surveys, and side-scan sonar operations, users can flexibly adjust the swing angle of the wing using the adjustment component based on factors such as real-time water depth, seabed topography, towing speed, and equipment safety clearance, keeping the towed device within the optimal operating depth range. This improves detection resolution and accuracy while also avoiding the risk of equipment collision or grounding due to excessive diving. Furthermore, since the adjustment component of the sinking wing typically includes a corresponding mechanical or hydraulic drive mechanism, angle sensor, and control interface, it can be connected to a shipboard control system or an automatic control system during actual use. By monitoring parameters such as water depth, diving speed, and towing force in real time, the swing angle of the wing can be dynamically fine-tuned. The use of automated or semi-automated control methods not only significantly improves operational efficiency but also ensures the stability and safety of the device underwater. When the external environment changes suddenly (such as changes in water flow, ship speed, or a complex seabed environment), the adjustment component can respond in a timely manner and continuously adjust the wing plate structure.

[0041] Since the proposed sinking wing is primarily mounted on an underwater towed survey device 1, the wing structure is capable of stepless adjustment about a first axis through the coordinated interaction of a stop assembly and an adjustment assembly. The stop assembly includes a rod 14 for providing support and rotational movement along the first axis, and a cooperating stop portion. The rod 14 extends along the first axis and can pass through an adjustment hole formed in the adjustment assembly, connecting the rod 14 to the wing structure. As the rod 14 slides or rotates within the adjustment hole, it directly drives the wing structure to swing or adjust its angle accordingly. When the underwater towed device is towed, water flow acts on the wing structure, generating hydrodynamic components such as lift and drag on its surface. By providing an adjustment hole in the adjustment assembly that accommodates and guides the movement of the rod 14, the wing structure can achieve wide-ranging and continuous angle adjustment (i.e., stepless adjustment) according to actual needs, without the limitations of discrete tooth slots or stepped structures used in traditional mechanical stoppers. In other words, the user or the automatic control system can flexibly set or fine-tune the swing angle of the wing structure within a range infinitely close to "arbitrary" angle, so as to quickly and accurately adapt to different sea conditions, different water depths and different operational requirements.

[0042] When the rod 14 moves to a preset position within the adjustment hole and needs to remain in that position, the stopper comes into play. The stopper is mounted on the adjustment assembly and functions to lock or secure the rod 14 in a direction perpendicular to the first axis after it has settled in the preset position. This locking of the stopper effectively suppresses sliding and swinging of the rod 14 in that position, thereby securing the wing structure at the corresponding angle. This means that once the optimal angle of attack or attitude of the wing relative to the incoming water flow is determined, the operator or automatic control system can use the stopper to ensure that this angle remains stable during towing operations, making it less susceptible to errors caused by factors such as current impact, ship speed fluctuations, or vibrations. The stepless adjustment and precise fixing mechanism achieved through the adjustment hole and the stopper assembly help improve the overall adaptability and efficiency of the underwater towed survey equipment 1 during actual operations. Specifically, as the water depth or seabed topography of the operating area changes, the equipment's requirements for diving depth, pitch attitude, and data acquisition accuracy may change at any time. At this point, the adjustment assembly can drive the rod body 14 to slide or rotate smoothly within the adjustment hole, and the wing structure can also achieve continuous angle adjustment, thereby changing the direction and magnitude of the hydrodynamic force to quickly adapt to the new working conditions. Once the optimal posture that balances safety distance and data collection efficiency is found, the limiter immediately "locks" the rod body 14 in place, ensuring that this posture is maintained and stable operation.

[0043] In any of the above embodiments, the adjustment hole includes an arc-shaped hole body 4 extending circumferentially around the first axis, the circumferential side wall of the rod body 14 is in contact with the arc-shaped inner wall of the arc-shaped hole body 4, the central angle of the arc-shaped hole body 4 is 30 degrees, and the wing plate structure is adjusted steplessly within a range of 30 degrees by sliding the rod body 14 on the inner wall of the arc-shaped hole body 4. The preset position is a corresponding adjustment angle position within the range of 30 degrees.

[0044] In this embodiment, the adjustment hole formed in the adjustment assembly includes an arcuate hole 4 extending circumferentially about the first axis, with a central angle of 30 degrees. Specifically, the arcuate hole 4 is a segmented arcuate groove or channel, its inner wall shaped to correspond to a predetermined arc and concentric with the first axis. The rod 14, which interacts with the arcuate hole 4, has a corresponding circumferential curvature of its sidewalls, precisely aligning its shape and dimensions with the inner wall of the arcuate hole 4. This creates a stable and relatively low-friction sliding or rolling contact interface between the adjustment assembly and the wing structure. When the underwater towed survey device 1 is towed, the external water flow exerts multi-directional hydrodynamic forces, including lift, downforce, and drag, on the wing structure. To enable the towed survey device to maintain or quickly adjust to the desired diving depth and posture, the operator or an automatic control system can drive or apply force to the rod 14, causing it to slide along the arcuate inner wall of the arcuate hole 4 around the first axis. During this process, the movement of the rod 14 along the arc path simultaneously drives the connected wing structure to rotate about the first axis, thus achieving continuous change in the wing plate's swing angle. Because the central angle of the arc-shaped hole 4 is set to 30 degrees, the wing plate structure can be adjusted steplessly within a swing range of 0 to 30 degrees, thereby achieving more flexible and precise angle control capabilities.

[0045] It is worth emphasizing that "stepless adjustment" means that there are no fixed gear positions or steps within this 30-degree range, so the operator can adjust the angle at any position - such as 1 degree, 5 degrees, 15 degrees, or even 26.7 degrees - and lock it. In this way, when the towed survey equipment faces large changes in sea conditions or complex seabed topography, the water-facing angle of the wing plate can be fine-tuned according to actual needs. Compared with the traditional method of only being able to switch between a few fixed angles, this significantly improves the ability to accurately control the diving depth of the equipment in different operating environments. In the process of achieving the above-mentioned adjustment, the "preset position" refers to the specific position of the rod body 14 in the arc-shaped hole body 4 corresponding to any target adjustment angle within this 30-degree range. By cooperating with the limiting and fixing functions imposed on the rod body 14 by the limiting assembly, when the rod body 14 slides to the angle position that meets the operational requirements, it can be locked in the direction perpendicular to the first axis, so that the wing plate structure is stably maintained at the adjustment angle. This can effectively prevent the wing panels from automatically rebounding or moving due to external forces when encountering wave impacts, water flow changes or vibrations, thereby ensuring the stability and safety of the underwater towed investigation equipment 1 in a predetermined posture.

[0046] In any of the above embodiments, the adjustment component includes:

[0047] The connecting seat 5 is fixedly assembled with the connecting handle 6 on the underwater towable investigation equipment 1 .

[0048] The connecting plate 7 is fixed to the connecting seat 5. The wing structure includes an extension edge 8 connected to the rod body 14. The extension edge 8 and the connecting plate 7 are rotatably connected by a rotating shaft that passes through the middle. The relative rotation of the connecting plate 7 and the extension edge 8 realizes the infinite swing of the wing structure.

[0049] In this embodiment, the adjustment assembly primarily comprises a connecting seat 5, a connecting plate 7, and an extended edge 8 of a wing structure that is rotationally connected to the connecting plate 7 via a rotating shaft. The connecting seat 5 serves as a key interface element between the adjustment assembly and the underwater towed survey equipment 1, and its function is to provide a stable and reliable mounting platform to support and secure the entire adjustment structure. Specifically, the connecting seat 5 is securely assembled to the connecting handle 6 on the underwater towed survey equipment 1 through mechanical fastening, locking devices, or welding. The connecting handle 6 is typically located at a specific location on the exterior of the towing equipment body and possesses sufficient strength and rigidity to ensure that the hydrodynamic loads generated during operation of the equipment are smoothly transmitted to the connecting seat 5 without causing structural deformation or damage. Through the secure connection between the connecting seat 5 and the connecting handle 6, the entire adjustment assembly is securely fixed to the equipment body, enabling it to stably withstand the hydrodynamic loads in the towing state, thereby providing a solid foundation for the subsequent rotational adjustment of the wing structure. The connecting plate 7, as the core load-bearing component in the adjustment assembly, is fixedly mounted on the connecting seat 5. The connecting plate 7 is usually a plate-like structure with a compact structure and high strength. Its main function is, on the one hand, to realize the mechanical connection and force transmission between the connecting seat 5 and the wing plate structure, and on the other hand, to provide the necessary rotation reference and smooth motion trajectory support for the rotation adjustment of the wing plate structure.

[0050] The extended edge 8 and the connecting plate 7 in the wing structure are rotatably connected to each other through a rotating shaft that passes through the middle, allowing the wing structure to rotate relative to the connecting plate 7 around the axis of the rotating shaft, thereby realizing angle adjustment and dynamic swing of the wing structure. Specifically, the extended edge 8 is a protruding part of the wing structure, and the wing structure is connected to the rotating shaft through the extended edge 8, so that the mechanical pivot formed by the rotating shaft becomes the core rotation point for the wing structure to swing or adjust the angle. During actual use, when the towing equipment enters the water and faces different water flow conditions or diving depth requirements, the user or the automatic control device can make the extended edge 8 of the wing structure rotate continuously and smoothly around the rotating shaft relative to the connecting plate 7 to change the water attack angle of the wing structure. The rotation mechanism enables the wing structure to achieve infinite swing, that is, fine adjustment at any angle position within its adjustable range, avoiding the limitations of traditional graded or step-by-step adjustment mechanisms, and greatly improving the adjustment accuracy and flexibility.

[0051] Rod 14 is connected to extension edge 8 and passes through a pre-set adjustment hole in connecting plate 7. The movement of rod 14 drives relative rotation between extension edge 8 and connecting plate 7, thereby achieving oscillation of the wing structure. As rod 14 slides along the arc-shaped trajectory of the adjustment hole, the angle of extension edge 8 changes accordingly around the rotation axis, and the wing structure also adjusts its posture, directly changing the longitudinal force state of the underwater towed device under the action of the water flow, thereby achieving the purpose of controlling the device's diving depth and posture.

[0052] In any of the above embodiments, the arc-shaped hole 4 is formed on the connecting plate 7 , and the first axis passes through the central axis of the rotating shaft.

[0053] In this embodiment, an arc-shaped hole body 4 is provided on the connecting plate 7. The arc-shaped hole body 4 is in the shape of an arc structure extending in the circumferential direction around a first axis, wherein the first axis is arranged collinearly with the central axis of the rotating shaft. The connecting plate 7, as a part of the adjustment assembly, plays a fixing and supporting role. The arc-shaped hole body 4 provided thereon provides a motion trajectory for the rod body 14. The rod body 14 forms a matching relationship with the connecting plate 7 by passing through the arc-shaped hole body 4 and fitting with its inner wall. The other end of the rod body 14 is connected to the extended edge 8 of the wing plate structure. The extended edge 8 and the connecting plate 7 form a mechanical connection through the rotating shaft, so that the extended edge 8 can rotate around the rotating shaft. The above structure enables the rod body 14 to directly drive the extended edge 8 to generate a corresponding swinging motion with the rotating shaft as the pivot when sliding along the inner wall of the arc-shaped hole body 4, that is, the relative swing of the wing plate structure relative to the connecting plate 7.

[0054] Specifically, because the central axis (i.e., the first axis) of the arcuate hole 4 is coaxial with the central axis of the rotating shaft, the rod 14's motion trajectory within the arcuate hole 4 follows an arc centered on the rotating shaft. This creates a clear one-to-one correspondence between the linear displacement of the rod 14 and the rotation angle of the extended edge 8 about the rotating shaft. This correspondence ensures that the swing angle of the wing structure can be directly and continuously controlled by the sliding displacement of the rod 14 along the inner wall of the hole. Furthermore, the rod 14's position at any given point corresponds to the maintenance of the specific angular position of the wing structure, without the need for an additional mechanical conversion mechanism.

[0055] In any of the above embodiments, two connecting plates 7 are provided, and the extension edge 8 is located between the two connecting plates 7; a first adjustment gap is formed between the extension edge 8 and each connecting plate 7 along the direction of the first axis. Through the first adjustment gap, the extension edge 8 can be allowed to deviate from the connecting plate 7, and different micro-angles can be formed between the water flow and the underwater towed survey equipment 1, so as to adapt to the center of gravity deviation caused by different installation positions of electronic components in the underwater towed survey equipment 1, and ensure that the underwater towed survey equipment 1 maintains a stable posture when diving close to the object to be measured.

[0056] In this embodiment, two connecting plates 7 are provided in the adjustment assembly, and the two connecting plates 7 are arranged in a manner parallel to each other and spaced apart along the first axis direction, and are respectively fixedly mounted on the connecting seat 5, and the two connecting plates 7 jointly provide a structural basis for supporting the wing plate structure; the wing plate structure includes an extended edge 8, and the extended edge 8 is located between the two connecting plates 7 along the first axis direction, and forms a rotational connection with the two connecting plates 7 respectively, and the two connecting plates 7 are respectively mechanically connected to the extended edge 8 through a rotating shaft passing through the middle thereof, so that the extended edge 8 can swing around the rotating shaft to adjust the angle of attack of the wing plate structure.

[0057] A first adjustment gap is provided between the extension edge 8 and each connecting plate 7 along the first axis. This first adjustment gap, in terms of structural design, allows a certain degree of axial freedom for the extension edge 8 between the connecting plates 7. This allows the extension edge 8 to swing about the axis of rotation while also allowing a certain degree of lateral displacement deviation along the first axis between the two connecting plates 7. This deviation allows the extension edge 8 to be slightly misaligned relative to the connecting plates 7 along the axis, further driving a slight angular difference in the wing structure relative to the main body of the towed survey equipment under the influence of water flow.

[0058] Specifically, during actual operation of the underwater towed survey equipment 1, due to the internal installation of electronic components with different functions and weight distributions, the overall center of gravity of the equipment may deviate to a certain extent in the lateral or longitudinal directions. This deviation will cause the equipment to tilt in the water during actual operation, thereby affecting the accuracy and stability of the measurement data. The first adjustment gap allows the wing plate structure to produce a slight deviation within a certain range along the first axis in addition to the expected swing adjustment when subjected to the water flow. This deviation causes the wing plate structure to produce an additional slight deflection angle, thereby correcting or compensating for the posture imbalance caused by the deviation of the center of gravity position within the underwater towed survey equipment 1.

[0059] Specifically, after the water flow acts on the surface of the wing plate structure, the wing plate structure generates corresponding hydrodynamic force, which is transmitted to the connecting plate 7 through the extended edge 8, and then acts on the connecting seat 5, and finally acts on the device body. When the center of gravity inside the device body is offset, the wing plate structure allows fine adjustment of the axial position generated by the first adjustment gap between the connecting plates 7, forming an asymmetric fluid action torque, that is, the hydrodynamic force generated at one end of the wing plate structure is slightly different from the hydrodynamic force generated at the other end in terms of action direction and magnitude. The asymmetric hydrodynamic torque can automatically offset or reduce the overturning moment caused by the deviation of the center of gravity inside the device, so that the device can actively restore or maintain a stable horizontal posture during towing operation.

[0060] With this structural arrangement, when the towed device descends underwater to approach the object being measured, even if the installation position of the device's internal electronic components varies, resulting in a slight deviation in the center of gravity, the axial displacement generated by the first adjustment gap between the extended edge 8 and the connecting plate 7, in conjunction with the water flow, automatically and dynamically adjusts its posture, allowing the underwater towed survey device 1 to maintain a stable and balanced posture. This ensures that the survey device obtains more stable and reliable data measurement results when approaching the target object.

[0061] In any of the above embodiments, two limiting parts are provided and are respectively installed on the connecting seat 5; the connecting plate 7 and the extension edge 8 are both located between the two limiting parts, and the two ends of the rod body 14 can be limited to different positions through the two limiting parts to form deviations of different micro-angles.

[0062] In this embodiment, two stoppers are provided and fixedly mounted on either side of the connecting seat 5. The two stoppers are arranged relative to each other along the first axis to form a symmetrical structure. The connecting plate 7 and the extension edge 8 are located between the two stoppers, forming a stable and reliable clamping structure. Specifically, each stopper corresponds to an end position of the rod 14 and mechanically limits the rod 14 in a direction perpendicular to the first axis, ensuring that the rod 14 remains stationary and maintains a predetermined adjustment angle after sliding along the arc-shaped hole 4 to a predetermined position, thereby achieving stable swing angle fixation of the wing structure relative to the connecting plate 7. Because the two stoppers can independently limit and fix the two ends of the rod 14 at different positions, after the rod 14 slides and adjusts within the arc-shaped hole 4, its two ends can stay at different circumferential positions. That is, the rod 14 has a certain tilt angle or slight deviation in the axial direction relative to the connecting plate 7. The deviation causes the wing structure to have a slight tilt or deflection angle in different directions in addition to the swinging around the rotation axis.

[0063] The aforementioned structural feature, which applies asymmetric limits to the ends of the rod body 14 via two stoppers, further enhances the wing plate structure's swing angle control function. If the underwater towed survey device 1 experiences imbalance during operation due to a shift in center of gravity caused by differences in the layout or installation positions of internal electronic components, the aforementioned structural arrangement allows slightly different limit fixation positions to be applied to the two ends of the rod body 14, resulting in a slight deflection of the wing plate structure relative to the device body along the first axis.

[0064] When the wing plate structure forms the above-mentioned deflection micro-angle, the force of the water flow passing through the wing plate structure will show an asymmetric distribution, that is, the magnitude and direction of the fluid force on both sides of the wing plate structure are slightly different, thereby generating a small but clear correction torque on the wing plate structure. This torque is transmitted to the connecting seat 5 through the extended edge 8, the rotating shaft and the connecting plate 7 and finally acts on the main body of the underwater towed investigation equipment 1, so that the equipment can dynamically offset or correct the attitude overturning torque caused by the center of gravity deviation, and actively restore to a balanced and stable working posture.

[0065] In any of the above embodiments, the limiting portion includes:

[0066] The annular frame 9 has a sliding hole 901 in the middle thereof opened along the first axial direction; a second adjustment gap is formed between the annular frame 9 and the adjacent extension edge 8; the second adjustment gap can ensure that the extension edge 8 can swing relative to the connecting plate 7 when different micro-angle deviations are performed.

[0067] The stopper head slides within the slide hole 901 and is threadedly connected to the end of the annular frame 9. The stopper head is assembled with the end of the rod body 14 to drive the movement of the rod body 14. The sliding assembly of the stopper head with the rod body 14 and the threaded connection with the end of the annular frame 9 facilitate stepless adjustment. Different degrees of threading of the stopper heads of the two stopper parts can achieve different micro-angle deviations.

[0068] In this embodiment, the limiting portion specifically includes two structural units: an annular frame 9 and a limiting head. The annular frame 9 is mechanically fixed to the connecting seat 5 and is arranged on the side of the connecting plate 7 and the extension edge 8 along the first axis. A sliding hole 901 extending along the first axis is provided through the center of each annular frame 9. The inner wall surface of the sliding hole 901 is processed to form an inner hole channel, which allows the limiting head to slide smoothly and accurately position. A second adjustment gap is formed between the annular frame 9 and the adjacent extension edge 8. This second adjustment gap structurally provides the extension edge 8 with a moderate degree of freedom of displacement along the first axis. Specifically, the second adjustment gap allows the extension edge 8 to produce a certain range of displacement deviation in the axial direction during rotation, in addition to circumferential rotation and swing around the axis of rotation. The axial displacement deviation provides an additional degree of freedom for the wing plate structure, allowing the wing plate structure to make precise and dynamic micro-angle corrections to the deviation of the internal center of gravity of the device during actual operation, thereby better achieving the stability and balance of the device's posture when operating underwater.

[0069] The limit head is slidably assembled in the sliding hole 901 in the annular frame 9 and can freely slide along the sliding hole 901 to adjust its axial position. The external structure of the limit head is provided with a threaded portion that corresponds to the inner wall of the end of the annular frame 9, so that it can be screwed to the inner wall of the end of the annular frame 9. By rotating and adjusting the limit head, the limit head can be accurately axially displaced in the annular frame 9 along the first axis direction, thereby determining the final positioning position of the rod body 14. The limit head is mechanically assembled and connected to the end of the rod body 14, and can drive the axial displacement of the rod body 14 while adjusting the position of the limit head, so as to drive the rod body 14 to adjust its position along the inner wall of the arc-shaped hole 4 on the connecting plate 7.

[0070] After the stopper is rotated, adjusted, and fixed in a predetermined position, the corresponding end of the rod body 14 is also fixed in a specific position, which determines the circumferential stop point of the rod body 14 along the arc-shaped hole 4. Because there are two stoppers, each stopper can independently adjust its position. Therefore, by rotating and adjusting the two stoppers separately, the two ends of the rod body 14 can be fixed in different axial positions, thereby forming an axial tilt of the rod body 14 relative to the connecting plate 7. This tilt state is transmitted to the wing plate structure through the connection between the rod body 14 and the extension edge 8, allowing the wing plate structure to not only achieve conventional swing adjustment around the rotation axis, but also to form a slight tilt in the axial direction, thereby realizing the compound angle adjustment function of the wing plate structure.

[0071] In any of the above embodiments, a limiting hole 10 is provided on the limiting head for the rod body 14 to pass through, and the limiting hole 10 extends in a direction perpendicular to the first axis so as to adapt to the arc movement of the rod body 14 in the arc hole body 4 when the limiting head moves uniaxially in the sliding hole 901, so as to ensure that the lateral movement of the limiting head will not interfere with the arc movement of the rod body 14 in the arc hole body 4.

[0072] In this embodiment, the stopper head is specifically configured with a stopper hole 10 extending through its main body. This hole 10 extends perpendicular to the first axis and through the sidewall of the stopper head, allowing the rod 14 to pass through and form a sliding engagement therewith. This structural design ensures that the rod 14 can slide freely within the stopper head, preventing mechanical interference between the rod 14 and the stopper head during angle adjustment.

[0073] Specifically, the stopper is installed in the sliding hole 901 of the annular frame 9 and slides uniaxially along the axial direction of the first axis to adjust the axial position of the rod 14. The rod 14 then passes through the stopper hole 10 of the stopper and enters the arc-shaped hole 4 on the connecting plate 7, and moves in an arc along the circumferential direction of the first axis within the arc-shaped hole 4. This allows the rod 14 to simultaneously have two motion modes: one is axial displacement caused by the axial position adjustment of the stopper along the first axis, and the other is circumferential swing achieved within the arc-shaped hole 4.

[0074] Since the limiting hole 10 is a long hole provided through the limiting head in a direction perpendicular to the first axis, its length direction is substantially parallel to the arcuate motion trajectory of the rod body 14 within the arcuate hole body 4. This design allows the rod body 14 to freely slide circumferentially along the arc direction within the limiting hole 10 when the limiting head slides axially within the sliding hole 901, thereby achieving motion decoupling between the arcuate swinging motion of the rod body 14 and the axial adjustment motion of the limiting head, thereby avoiding interference or mechanical collision between the two. In other words, when the limiting head performs axial position adjustment to determine the rest position of the rod body 14, the circumferential swinging adjustment motion of the rod body 14 within the arcuate hole body 4 will not be restricted by the position adjustment of the limiting head, and the motion trajectory of the rod body 14 and the axial motion trajectory of the limiting head are independent of each other and do not interfere with each other.

[0075] In any of the above embodiments, the limiting head includes:

[0076] The slider 11 is slidably connected to the inner wall of the sliding hole 901 ; the limiting hole 10 is located on the slider 11 .

[0077] One end of the screw rod 12 is rotatably connected to the end wall of the slider 11 , and the other end is screwed to the annular frame 9 ; two screw rods 12 are provided on each slider 11 .

[0078] In this embodiment, the limit head further includes two structural units, a slider 11 and a screw 12, wherein the slider 11 is arranged in the sliding hole 901 of the annular frame 9, and forms a sliding fit with the inner wall of the sliding hole 901 to realize the axial movement of the limit head relative to the annular frame 9 in the direction of the first axis. The outer surface of the slider 11 cooperates with the inner wall of the sliding hole 901 to ensure the stability and positioning accuracy of the slider 11 when it moves axially. A limit hole 10 is provided on the main body of the slider 11, and the limit hole 10 extends in a direction perpendicular to the first axis and passes through the slider 11, so that the rod body 14 can pass through and slide in the limit hole 10; through this structure, when the slider 11 moves axially, it will not limit the circumferential swing of the rod body 14 in the arc-shaped hole body 4, so that the circumferential swing of the rod body 14 and the axial displacement of the slider 11 remain independent and do not interfere with each other.

[0079] The end wall of the slider 11 forms an adjustable spiral connection structure with the annular frame 9 through a screw 12. Specifically, two screws 12 are installed on the end wall of each slider 11. These two screws 12 are arranged side by side or linearly along the first axis direction, and are rotatably connected to the end wall of the slider 11, so that when the screw 12 rotates axially, it will not cause the slider 11 to rotate itself, and only realize the linear displacement of the slider 11 in the axial direction. The other end of the screw 12 forms a threaded connection with the inner wall of the end of the annular frame 9. By rotating the screw 12, the axial position of the slider 11 in the sliding hole 901 can be adjusted, thereby accurately controlling the specific limit position corresponding to the end of the rod body 14 and realizing precise positioning of the rod body 14 in the axial direction.

[0080] Because each slider 11 is provided with two screws 12, during adjustment, the two screws 12 can independently adjust the degree to which they are screwed into the inner wall of the end of the annular frame 9, thereby generating independent and controllable axial forces on the slider 11. The dual screw 12 arrangement allows for more stable and reliable positioning of the slider 11 within the slide hole 901, preventing the slider 11 from tilting or becoming unstable when driven by a single screw 12. This ensures that the end face of the slider 11 is always perpendicular to the first axis, thereby improving the accuracy and stability of axial positioning.

[0081] Because each stopper includes two screws 12, the depth of the screws 12 in the two stoppers on either side of the connecting plate 7 can be adjusted to position the slider 11 at different axial positions, thereby limiting the axial positional differences between the two ends of the rod 14. This positional difference in turn causes the rod 14 to form a certain axial tilt angle, thereby allowing the wing structure to generate a slight tilt angle along the axis in addition to the existing swing angle adjustment around the axis of rotation, thus achieving compound micro-angle deviation adjustment of the wing structure.

[0082] In any of the above embodiments, the underwater towed investigation equipment 1 includes a cylindrical cabin extending along a second axis, the second axis is perpendicular to the first axis, and the underwater towed investigation equipment 1 moves in the water flow along the second axis.

[0083] In this embodiment, the underwater towed investigation equipment 1 as a whole includes a cylindrical cabin, which extends along the second axis and presents a columnar structure to meet the fluid dynamics requirements and reduce the fluid resistance during towing movement; wherein the second axis is the main axis of the equipment movement, that is, the direction of movement of the equipment when towing investigation in the water flow, and the first axis is arranged perpendicular to the second axis, forming an axis reference relationship in the overall structural layout of the equipment.

[0084] Specifically, the cylindrical cabin, as the main body of the equipment, adopts a streamlined columnar structure in its design. It can effectively reduce water flow resistance and maintain the stability of the equipment's longitudinal movement when towing along the second axis. Various electronic components, sensors and equipment control systems for investigation are installed in the cabin. When these components are arranged axially or radially in the cabin, due to differences in weight, size and installation position of different components, it is easy to cause a slight offset in the center of gravity of the equipment, resulting in a slight tilt or imbalance in the equipment's posture during the actual towing movement. The unbalanced state will further adversely affect the quality of the equipment's measurement data and the safety of the equipment during the investigation, so effective posture adjustment and compensation are required through external structures.

[0085] To achieve stable and balanced posture, the device features an external wing structure that swings and adjusts around a first axis to control the device's longitudinal position and submergence depth within the water flow. The first axis, perpendicular to the second axis, forms the reference axis of rotation for the wing structure's adjustment. The wing structure is mounted to a designated location on the outer wall of the cylindrical hull via a connector 5. Connecting plates 7 and position-limiting components are further mounted on the connector 5. These components work together to enable the wing structure to swing along the first axis and maintain precise positioning.

[0086] When the underwater towed survey equipment 1 moves in the water along the second axis, the water first acts on the surface of the wing structure disposed on the outside of the cylindrical cabin. The wing structure generates controllable lift or downforce by adjusting the angle of attack relative to the water flow, thereby adjusting the overall longitudinal motion of the equipment and controlling its diving depth. The wing structure is connected by an extension edge 8 between two connecting plates 7 arranged parallel to each other along the first axis. The extension edge 8 forms a mechanical rotational connection with the connecting plates 7 via a rotating shaft, allowing the extension edge 8 and the wing structure to swing freely about the first axis to adjust the posture.

[0087] Furthermore, a hanging plate 13 is formed in the middle of the upper surface of the main wing plate 2. The hanging plate 13 is provided with a plurality of holes to which external cables can be hung, so as to suspend the entire equipment in water.

[0088] As can be seen above, a hanging plate 13 is further provided in the middle region of the upper surface of the main wing plate 2, centered along the length of the main wing plate 2. This creates a stable mechanical connection between the hanging plate 13 and the main wing plate 2, effectively bearing the overall weight of the equipment as well as the dynamic loads generated by the water flow. The hanging plate 13 is provided with multiple holes extending through its thickness. The shape and size of these holes are adapted to the external suspension cables. There are multiple holes, spaced evenly or at predetermined intervals along the length of the hanging plate 13, to enable the selection of different suspension points.

[0089] During actual underwater operations, the equipment is connected to a towing vessel or other surface platform via external cables, with the lower end of the suspension cable hooked onto a hanging plate 13 through an aperture. By pulling the equipment upward via the external cable, hanging plate 13 transfers the equipment's overall gravity load to the hanging cable, ensuring stable transportation and suspension of the equipment before and after it is launched into the water. While suspended above the water surface, adjusting the selected apertures on hanging plate 13 allows for fine-tuning of the equipment's forward and backward counterweights and tilt angles in the water, ensuring a balanced entry posture and preventing drastic swinging or tilting during surface suspension or entry.

[0090] In the description of the present invention, it should be understood that the terms "longitudinal", "transverse", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing the present invention, 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.

[0091] The embodiments described above are merely descriptions of preferred embodiments of the present invention and are not intended to limit the scope of the present invention. Without departing from the spirit of the present invention, various modifications and improvements made to the technical solutions of the present invention by persons skilled in the art should fall within the scope of protection defined by the claims of the present invention.

Claims

1. A sinking wing for underwater towed survey equipment, characterized in that: include: a wing plate structure arranged along an extension direction and spaced apart from the underwater towed survey equipment; the wing plate structure is used to cooperate with the water flow generated by the underwater towed survey equipment when it moves to form a force acting on the underwater towed survey equipment; an adjusting assembly mounted on the underwater towed survey device; the wing plate structure is rotatably mounted on the adjusting assembly around a first axis to adjust a swing angle of the wing plate structure relative to the water flow; The swing angle adjusts the diving depth of the underwater towed survey equipment during the towing motion by changing the acting force; A limit assembly comprising a limit portion and a rod extending along the first axis; an adjustment hole for allowing the rod to move around the first axis is formed on the adjustment assembly; the rod is connected to the wing structure through the adjustment hole to drive the wing structure to swing; the limit portion is mounted on the adjustment assembly, and is used to fix the rod in a direction perpendicular to the first axis after the rod moves to a preset position; the adjustment hole comprises an arc-shaped hole extending circumferentially around the first axis, and the circumferential side wall of the rod is in contact with the arc-shaped inner wall of the arc-shaped hole; The adjustment assembly includes: a connecting seat and a connecting plate; the connecting seat is fixedly assembled with the connecting handle of the underwater towed survey equipment; the connecting plate is fixed to the connecting seat; the wing plate structure includes an extension edge connected to the rod body, and the extension edge and the connecting plate are rotatably connected via a rotating shaft passing through the middle; In which, the limiting part includes: an annular frame and a limiting head; the sliding hole in the middle of the annular frame is opened along the direction of the first axis; a second adjustment gap is formed between the annular frame and the adjacent extended edge; the limiting head is slidably installed in the sliding hole and is screwed to the end of the annular frame; the limiting head is assembled with the end of the rod body to drive the rod body to move; a limiting hole for the rod body to pass through is opened on the limiting head, and the limiting hole extends in a direction perpendicular to the first axis, so as to adapt to the arc movement of the rod body in the arc-shaped hole body when the limiting head moves uniaxially in the sliding hole.

2. The sinking wing for underwater towed survey equipment according to claim 1, characterized in that: The arc-shaped hole is provided on the connecting plate, and the first axis passes through the central axis of the rotating shaft.

3. The sinking wing for underwater towed survey equipment according to claim 1, characterized in that: Two connecting plates are provided, and the extending edge is located between the two connecting plates; a first adjustment gap is formed between the extending edge and each connecting plate along the direction of the first axis.

4. The sinking wing for underwater towed survey equipment according to claim 1, characterized in that: Two limiting parts are provided and are respectively mounted on the connecting seat; the connecting plate and the extending edge are both located between the two limiting parts.

5. The sinking wing for underwater towed survey equipment according to claim 1, characterized in that: The limit head includes: A slider is slidably connected to the inner wall of the sliding hole; the limiting hole is located on the slider; A screw rod has one end rotatably connected to the end wall of the slider, and the other end is screwed to the annular frame; two screw rods are provided on each slider.

6. The sinking wing for underwater towed survey equipment according to any one of claims 1 to 5, characterized in that: The underwater towed survey equipment includes a cylindrical cabin extending along a second axis, wherein the second axis is perpendicular to the first axis, and the underwater towed survey equipment moves in the water flow along the second axis.

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