阅读说明：本技术 一种用于波浪滑翔器的水下牵引机 (Underwater tractor for wave glider ) 是由 孙秀军 桑宏强 李�灿 张进 于 2019-12-06 设计创作，主要内容包括：本发明公开了一种用于波浪滑翔器的水下牵引机,包括成对称结构的牵引机主梁侧板Ⅰ和牵引机主梁侧板Ⅱ、翼板、防护板Ⅰ、防护板Ⅱ、套环、机翼限位组件、钛合金轴Ⅰ、钛合金轴Ⅱ、主梁支撑、轴套Ⅰ、轴套Ⅱ。在牵引机主梁侧板Ⅰ和牵引机主梁侧板ⅠⅠ上开有通孔,螺栓依次穿过牵引机主梁侧板Ⅰ、套环、牵引机主梁侧板ⅠⅠ组装成框架式结构,机翼限位组件一侧固定在钛合金轴Ⅱ上,另一侧固定在螺栓上,并且将机翼限位组件中的拉簧用压簧代替,可以对机翼的摆动幅度进行限制。本发明成本低,精度高,稳定性强,用压簧代替拉簧,延长了牵引机的使用寿命,同时为水面波浪滑翔器提供了稳定且持续的动力。(The invention discloses an underwater tractor for a wave glider, which comprises a tractor main beam side plate I, a tractor main beam side plate II, wing plates, a protection plate I, a protection plate II, a lantern ring, a wing limiting component, a titanium alloy shaft I, a titanium alloy shaft II, a main beam support, a shaft sleeve I and a shaft sleeve II which are of symmetrical structures. The wing limiting assembly is characterized in that through holes are formed in the tractor girder side plate I and the tractor girder side plate I, a bolt sequentially penetrates through the tractor girder side plate I, the lantern ring and the tractor girder side plate I to be assembled into a frame type structure, one side of the wing limiting assembly is fixed on the titanium alloy shaft II, the other side of the wing limiting assembly is fixed on the bolt, a tension spring in the wing limiting assembly is replaced by a pressure spring, and the swing range of the wing can be limited. The invention has low cost, high precision and strong stability, and the tension spring is replaced by the pressure spring, thereby prolonging the service life of the tractor and providing stable and continuous power for the water surface wave glider.)

1. An underwater tractor for a wave glider is characterized by comprising a tractor main beam side plate I, a tractor main beam side plate II, wing plates, a protection plate I, a protection plate II, a lantern ring, a wing limiting component, a titanium alloy shaft I, a titanium alloy shaft II, a main beam support, a shaft sleeve I and a shaft sleeve II which are in symmetrical structures,

the tractor main beam side plate I and the tractor main beam side plate II are processed by a laser cutting process, through holes and crescent limiting holes are processed on the tractor main beam side plate I and the tractor main beam side plate II by the laser cutting process,

the tractor main beam side plate I, the lantern ring and the tractor main beam side plate II are sequentially connected by bolts and fastened by nuts, so that the tractor main beam side plate I and the tractor main beam side plate II are installed in parallel,

the distance between the tractor main beam side plate I and the tractor main beam side plate II is the length of the lantern ring, the lantern ring is used for keeping the distance between the tractor main beam side plate I and the tractor main beam side plate II unchanged,

the protection plate I is fastened on the tractor main beam side plate I through screws, the protection plate II is fastened on the tractor main beam side plate II through screws,

the wing plate is sleeved on two parallel titanium alloy shafts I and II which are vertically arranged on the tractor main beam side plate I and the tractor main beam side plate II and are fastened by screws,

the titanium alloy shaft I is connected with the tractor main beam side plate I and the tractor main beam side plate II through the shaft sleeve I, the shaft sleeve II and the main beam support,

the shaft sleeve I and the shaft sleeve II are symmetrically sleeved on the titanium alloy shaft I, the outer sides of the shaft sleeve I and the shaft sleeve II are tightly abutted against the inner sides of wing plates, the inner sides of the shaft sleeve I and the shaft sleeve II are clamped in the main beam support,

the main beam support is integrally sleeved between the tractor main beam side plate I and the tractor main beam side plate II,

the titanium alloy shaft II sequentially passes through the crescent limiting hole of the tractor main beam side plate I, the limiting hole on the wing limiting component reset spring cylinder and the crescent limiting hole of the tractor main beam side plate II, the titanium alloy shaft II is connected with the limiting hole on the wing limiting component reset spring cylinder through a spacing ring arranged in the limiting hole,

the wing limiting component consists of a limiting rod polytetrafluoroethylene bushing, a return spring piston rod, an isolating ring, a return spring cylinder, a return spring and a limiting rod,

one side of the limiting rod is provided with a limiting hole and is fixed on the bolt between the tractor main beam side plate I and the tractor main beam side plate II through the limiting hole, the other side of the limiting rod is connected with the return spring piston rod,

a part of the return spring piston rod is sleeved in the return spring and is integrally sleeved in the return spring cylinder together with the return spring, the return spring adopts a tension spring,

and the reset spring cylinder is provided with a limiting hole and is connected with the titanium alloy shaft II through an isolating ring.

2. The underwater tractor for the wave glider of claim 1, wherein the tractor main beam side plates I and II are machined using a laser cutting process.

3. The underwater tractor for a wave glider of claim 1, wherein the collar is mounted between the tractor main beam side plate i and the tractor main beam side plate ii.

4. The underwater tractor for the wave glider of claim 1, wherein the tractor main beam side plate I, the tractor main beam side plate II and the titanium alloy shaft are fixedly connected through shaft sleeves.

5. The underwater tractor for a wave glider of claim 1, wherein the return spring in the wing stop assembly employs a compression spring instead of a tension spring.

Technical Field

The invention relates to the technical field of unmanned underwater vehicles, in particular to an underwater tractor for a wave glider.

Background

The wave glider is a catamaran-shaped water surface unmanned aircraft which fully utilizes wave energy and solar energy to realize forward driving. And the core component for acquiring the wave power is the underwater tractor, so that the high-efficiency underwater tractor can provide stable and continuous power for the wave glider, and has important significance for the development of the wave glider technology. The underwater tractor of the traditional wave glider adopts a closed steel structure, and mainly has the following three disadvantages: 1) the traditional underwater tractor adopts a closed steel structure design, so that the manufacturing cost is high; 2) the traditional underwater tractor is assembled in a welding and splicing mode, so that the precision is difficult to ensure; 3) Traditional underwater traction machine adopts extension spring pulling pterygoid lamina to rotate, because the fatigue life of extension spring is shorter, has directly influenced wave glider's life. Therefore, under the large trend of domestic batch production of the wave glider, an underwater tractor with low price, simple design and guaranteed precision and reliability is urgently needed.

Disclosure of Invention

The invention provides an underwater tractor for a wave glider, which has lower manufacturing cost, higher precision and better stability compared with the traditional mode, can prolong the service life of the tractor to a certain extent and provides stable and continuous power for the wave glider on the water surface.

The technical scheme adopted by the invention for solving the technical problems in the prior art is as follows: the utility model provides an underwater tractor for wave glider, includes into symmetrical structure's tractor girder curb plate I and tractor girder curb plate II, pterygoid lamina, guard plate I, guard plate II, lantern ring, wing spacing subassembly, titanium alloy axle I, titanium alloy axle II, girder support, axle sleeve I, axle sleeve II. The tractor main beam side plate I and the tractor main beam side plate II are processed by a laser cutting process, and a through hole and a crescent limiting hole are processed on the tractor main beam side plate I and the tractor main beam side plate II by a laser cutting process, and bolts are sequentially passed through the through holes on the tractor main beam side plate I, the lantern ring and the through hole on the tractor main beam side plate II, and is fastened by a nut, so that the side plate I of the main beam of the tractor and the side plate II of the main beam of the tractor are installed in parallel, the distance between the tractor main beam side plate I and the tractor main beam side plate II is the length of the lantern ring, the lantern ring is used for keeping the distance between the tractor main beam side plate I and the tractor main beam side plate II unchanged, the protection plate I is fastened on the tractor main beam side plate I through screws, and the protection plate II is fastened on the tractor main beam side plate II through screws.

The wing plate is sleeved on two parallel titanium alloy shafts I and II which are vertically arranged on the tractor main beam side plate I and the tractor main beam side plate II and is fastened by screws; the titanium alloy shaft I is connected with the tractor girder side plate I and the tractor girder side plate II through the shaft sleeve I, the shaft sleeve II and the girder support, the shaft sleeve I and the shaft sleeve II are sleeved on the titanium alloy shaft I in a symmetrical structure, the outer sides of the shaft sleeve I and the shaft sleeve II are abutted against the inner sides of wing plates, the inner sides of the shaft sleeve I and the shaft sleeve II are clamped in the girder support, and the girder support is integrally sleeved between the tractor girder side plate I and the tractor girder side plate II; the titanium alloy shaft II sequentially penetrates through the crescent arc limiting hole in the tractor main beam side plate I, the limiting hole in the wing limiting component reset spring cylinder and the crescent arc limiting hole in the tractor main beam side plate II, and the titanium alloy shaft II is connected with the limiting hole in the wing limiting component reset spring cylinder through a separation ring arranged in the limiting hole.

The wing limiting assembly consists of a limiting rod polytetrafluoroethylene bushing, a reset spring piston rod, an isolating ring, a reset spring cylinder, a reset spring and a limiting rod, wherein a limiting hole is formed in one side of the limiting rod and is fixed on a bolt between the tractor main beam side plate I and the tractor main beam side plate II through the limiting hole, and the other side of the limiting rod is connected with the reset spring piston rod; the utility model discloses a titanium alloy aircraft wing, including reset spring, reset spring cylinder, spacing rod polytetrafluoroethylene bush, reset spring piston rod, spacer ring, reset spring jar, reset spring piston rod partly cover inside reset spring, and with the whole cover of reset spring is in the reset spring jar, reset spring adopt the extension spring, the reset spring jar is opened there is spacing hole to through the spacer ring with titanium alloy axle II is connected, the spacer rod polytetrafluoroethylene bush, reset spring piston rod, spacer ring, reset spring jar, reset spring, gag lever post make the spacing subassembly of wing can rotate around titanium alloy axle II through organic combination to can make reset spring linear motion in the reset spring jar.

The wing plate is fixed on the tractor girder side plate I and the tractor girder side plate II through the titanium alloy shaft I and the titanium alloy shaft II, so that the wing plate can only rotate in a crescent limiting hole and cannot move left and right, and the wing plate is formed.

The invention has the advantages and positive effects that: the side plates of the main beam of the tractor are manufactured by adopting a laser cutting process, and the two side plates of the main beam are connected into a frame type structure through bolts, so that the manufacturing cost is reduced; the lantern ring and the shaft sleeve are used for positioning the two tractor girder side plates, the traditional welding and splicing mode is abandoned, and the manufacturing precision of the tractor is greatly guaranteed; the tractor adopts a frame structure, so that the tractor has enough space to be additionally provided with sensors of different types, and meanwhile, the mass center of the tractor can be changed by additionally arranging a balancing weight, so that the stability of the underwater tractor is improved; by the bionics principle, the shape of the bionic birds when the bionic birds glide in the air, the multi-wing plate design is carried out on the bionic underwater tractor of the wave glider, the resistance of the underwater tractor to forward movement is reduced, and larger forward power can be provided for the water surface mother ship under the same condition; the wing limiting assembly of the tractor is redesigned, the tension spring is replaced by the pressure spring, and the pressure spring has longer fatigue life than the tension spring, so that the service life of the underwater tractor of the wave glider can be effectively prolonged.

Drawings

FIG. 1 is a schematic view of the overall structure of the present invention;

FIG. 2 is a schematic view of the internal structure of the present invention;

FIG. 3 is a schematic view of the internal structure of the wing restraint assembly of the present invention;

FIG. 4 is a partially enlarged schematic view of the position relationship of the wing-limiting assembly of the present invention.

In the figure: 1. a side plate I of a main beam of the tractor; 2. a wing plate; 3. a protection plate I; 4. a protection plate II; 5. a main beam side plate II of the tractor; 6. A collar; 7. a wing limiting assembly; 7-1, limiting rod polytetrafluoroethylene lining; 7-2, a return spring piston rod; 7-3, a spacer ring; 7-4, a limiting rod; 7-5, a return spring cylinder; 7-6, a return spring; 8. a titanium alloy shaft I; 9. a titanium alloy shaft II; 10. a main beam support; 11. a shaft sleeve I; 12. and a shaft sleeve II.

Detailed Description

In order to further understand the contents, features and effects of the present invention, the following embodiments are illustrated and described in detail with reference to the accompanying drawings:

referring to fig. 1 to 4, an underwater tractor for a wave glider comprises a tractor main beam side plate I1, a tractor main beam side plate II 5, wing plates 2, a protection plate I3, a protection plate II 4, a lantern ring 6, a wing limiting assembly 7, a titanium alloy shaft I8, a titanium alloy shaft II 9, a main beam support 10, a shaft sleeve I11 and a shaft sleeve II 12 which are in a symmetrical structure. The tractor main beam side plate I1 and the tractor main beam side plate II 5 are processed by a laser cutting process, through holes and crescent limiting holes are processed on the tractor main beam side plate I1 and the tractor main beam side plate II 5 by the laser cutting process, bolts sequentially penetrate through the through holes on the tractor main beam side plate I1, the lantern ring 6 and the through holes on the tractor main beam side plate II 5 and are fastened by nuts, so that the tractor main beam side plate I1 and the tractor main beam side plate II 5 are installed in parallel, the distance between the tractor main beam side plate I1 and the tractor main beam side plate II 5 is the length of the lantern ring 6, the lantern ring 6 is used for keeping the distance between the tractor main beam side plate I1 and the tractor main beam side plate II 5 unchanged, the protection plate I3 is fastened on the tractor main beam side plate I1 by screws, and the protection plate II 4 is fastened on the tractor main beam side plate II 5 by using screws.

The wing plate 2 is sleeved on two parallel titanium alloy shafts I8 and II 9 which are vertically arranged on the tractor main beam side plate I1 and the tractor main beam side plate II 5 and is fastened by screws; the titanium alloy shaft I8 is connected with the tractor main beam side plate I1 and the tractor main beam side plate II 5 through the shaft sleeve I11, the shaft sleeve II 12 and the main beam support 10, the shaft sleeve I11 and the shaft sleeve II 12 are sleeved on the titanium alloy shaft I8 in a symmetrical structure, the outer sides of the shaft sleeve I11 and the shaft sleeve II 12 are abutted against the inner side of the wing plate 2, the inner sides of the shaft sleeve I11 and the shaft sleeve II 12 are clamped in the main beam support 10, and the main beam support 10 is integrally sleeved between the tractor main beam side plate I1 and the tractor main beam side plate II 5; the titanium alloy shaft II 12 sequentially penetrates through the crescent arc limiting hole of the tractor main beam side plate I1, the limiting hole of the reset spring cylinder 7-5 of the wing limiting component 7 and the crescent arc limiting hole of the tractor main beam side plate II 5, and the titanium alloy shaft II 12 is connected with the limiting hole of the reset spring cylinder 7-5 of the wing limiting component 7 through the isolating ring 7-3 arranged in the limiting hole.

The wing limiting component 7 consists of a limiting rod polytetrafluoroethylene bushing 7-1, a return spring piston rod 7-2, an isolating ring 7-3, a limiting rod 7-4, a return spring cylinder 7-5 and a return spring 7-6, wherein a limiting hole is formed in one side of the limiting rod 7-4 and is fixed on a bolt between the tractor main beam side plate I1 and the tractor main beam side plate II 5 through the limiting hole, and the other side of the limiting rod is connected with the return spring piston rod 7-2; a part of the reset spring piston rod 7-2 is sleeved inside the reset spring 7-6 and integrally sleeved with the reset spring 7-6 in the reset spring cylinder 7-5, the reset spring 7-6 adopts a tension spring, the reset spring cylinder 7-5 is provided with a limiting hole and is connected with the titanium alloy shaft II 9 through an isolating ring 7-3, and the limiting rod PTFE bush 7-1, the reset spring piston rod 7-2, the isolating ring 7-3, the limiting rod 7-4, the reset spring cylinder 7-5 and the reset spring 7-6 are organically combined, so that the wing limiting component 7 can rotate around the titanium alloy shaft II 9, and the reset spring 7-6 can linearly move in the reset spring cylinder 7-5.

The wing plate type aircraft tractor is characterized in that the shaft sleeve I11, the shaft sleeve II 12, the titanium alloy shaft I8, the titanium alloy shaft II 9, the protection plate I3, the protection plate II 4, the main beam support 10, the wing limiting component 7, the wing plate 2, the tractor main beam side plate I1 and the tractor main beam side plate II 5 are organically combined, and the wing plate 2 is fixed on the tractor main beam side plate I1 and the tractor main beam side plate II 5 through the titanium alloy shaft I8 and the titanium alloy shaft II 9, so that the wing plate 2 can only rotate in a crescent limiting hole and cannot move front and back and left and right, and the aircraft tractor is formed.

The return springs 7-6 in the wing limiting assemblies 7 are compression springs, the vertical fluctuation of sea surface waves drives the fluctuation of an underwater tractor through an armored cable, the fluctuation of the tractor drives the wing plates 2 to swing up and down, the wing limiting assemblies 7 can pull the wings 2 back to the original positions after fluctuation every time, and the compression springs under the same specification have longer fatigue life than the tension springs, so that the return springs 7-6 in the wing limiting assemblies 7 can replace the tension springs with the compression springs, and the service life of the wave glider can be prolonged.

During the installation, will 6 covers of lantern ring are used for connecting above all being used for connecting tractor girder curb plate I1 and the II 5 bolts of tractor girder curb plate of tractor for make I1 of tractor girder curb plate and II 5 parallel mount of tractor girder curb plate, make the whole frame rack structure that becomes of tractor, can reduce the manufacturing cost of tractor and improve the precision, frame rack structure has more space installation balancing weights simultaneously, and then changes the barycenter of tractor, makes the tractor have stronger stability.

Although the preferred embodiments of the present invention have been described above with reference to the accompanying drawings, the present invention is not limited to the above-described embodiments, which are merely illustrative and not restrictive, and those skilled in the art can make many modifications without departing from the spirit and scope of the present invention as defined in the appended claims.