阅读说明：本技术 用于滑翔器的变扭转刚度水下牵引机水翼系统 (Variable torsional stiffness underwater tractor hydrofoil system for glider ) 是由 陈卫星 张永矿 文娱 赵现朝 张卫东 高峰 于 2021-10-27 设计创作，主要内容包括：本发明提供一种用于滑翔器的变扭转刚度水下牵引机水翼系统,包括水面浮体船、柔性缆绳、水下牵引机、水翼刚度调节系统和传感单元,在所述水下牵引机中设有弹簧与水翼连接,在不同的弹簧初始拉力下,水翼表现出不同的俯仰刚度,从而在波浪中有着不同的推进力。在所述水翼刚度调节系统中,通过设置电机与绳索,拉动弹簧的可移动端,调节弹簧的拉紧力,从而控制水翼的刚度,最终得到不同的推进力。本发明采用串联结构,可通过一个电机直接控制多个水翼的俯仰刚度。所述传感单元,能够感知流速和位姿等信息,并将该信息反馈给控制系统,控制系统根据反馈信息进一步控制水翼俯仰刚度,实现对波浪滑翔器速度的调控,进而实现水下牵引机最佳推进性能。(The invention provides a variable torsional rigidity underwater tractor hydrofoil system for a glider, which comprises a water surface floating body ship, a flexible cable, an underwater tractor, a hydrofoil rigidity adjusting system and a sensing unit, wherein a spring is arranged in the underwater tractor and connected with a hydrofoil, and the hydrofoil shows different pitching rigidities under different initial tension forces of the spring, so that different propelling forces exist in waves. In the hydrofoil stiffness adjusting system, the motor and the rope are arranged, the movable end of the spring is pulled, and the tension force of the spring is adjusted, so that the stiffness of the hydrofoil is controlled, and different propelling forces are finally obtained. The invention adopts a series connection structure, and the pitching rigidity of a plurality of hydrofoils can be directly controlled by one motor. The sensing unit can sense information such as flow velocity, pose and the like and feed the information back to the control system, and the control system further controls the pitching stiffness of the hydrofoils according to the feedback information, so that the speed of the wave glider is regulated and controlled, and the optimal propelling performance of the underwater tractor is further realized.)

1. A variable torsional rigidity underwater tractor hydrofoil system for a glider is characterized by comprising a water surface floating body ship (1), a flexible cable (2) and an underwater tractor (3), wherein the water surface floating body ship is connected with the flexible cable which is connected with the underwater tractor;

the underwater tractor (3) comprises a hydrofoil pitching motion unit, a rigidity adjusting system, a speed sensing unit and a mounting plate frame assembly;

the hydrofoil pitching motion unit comprises a hydrofoil (301), a fixed rotating shaft (302), a motion shaft (303), a spring (304) and a spring connecting pin (305), wherein the hydrofoil (301) winds the fixed rotating shaft (302) to perform pitching motion, and the spring (304) provides a restoring moment of the pitching motion.

2. The variable torsional stiffness underwater tractor hydrofoil system for a glider according to claim 1 wherein the spring attachment pin (305) is connected to the stiffness adjustment system, the stiffness adjustment system controlling the position of the spring attachment pin (305) to be displaced, adjusting the initial deformation of the spring (304).

3. The variable torsional stiffness underwater tractor hydrofoil system for a glider according to claim 1 wherein the spring attachment pin (305) is mounted within a guide, the spring attachment pin (305) being slidably disposed within the guide.

4. The variable torsional stiffness underwater tractor hydrofoil system for a glider of claim 1 wherein the stiffness adjustment system comprises a drive, a controller and a transmission.

5. The variable torsional stiffness underwater tractor hydrofoil system for gliders according to claim 1, characterized in that the free ends of adjacent springs (304) are connected by a rope or rigid link, the drive means adjusting the pitch stiffness of a plurality of hydrofoils (301).

6. The variable torsional stiffness underwater tractor hydrofoil system for a glider of claim 1 wherein the cable is guided by a fixed pulley (317) device to vary the cable pulling path.

7. The variable torsional stiffness underwater tractor hydrofoil system for gliders according to claim 1 wherein the motor (308) makes linear adjustments to the spring (304) active end position through a worm gear or lead screw nut arrangement.

8. The variable torsional stiffness underwater tractor hydrofoil system for gliders according to claim 1, characterized in that the velocity sensing unit comprises a flow rate meter and inertial sensor (309), the flow rate meter and inertial sensor (309) obtaining real-time flow rate information and tractor attitude information.

9. The variable torsional stiffness underwater tractor hydrofoil system for gliders according to claim 1, characterized in that the sensing unit obtains the moving speed and attitude of the tractor, feeds back the obtained speed information to the controller of the stiffness adjusting system, and performs stiffness control on the hydrofoil (301) through the motor control system to perform comprehensive performance control on the underwater tractor (3).

10. The variable torsional stiffness submarine tractor hydrofoil system for gliders according to claim 1, characterized in that the guide means is fixed to the submarine tractor (3) mounting plate frame, the guide means comprising a guide slot mating connection pin structure and a linear bearing mating connection pin structure.

Technical Field

The invention relates to the technical field of ship and ocean engineering, in particular to a variable torsional rigidity underwater tractor hydrofoil system for a glider, and particularly relates to a variable torsional rigidity underwater tractor hydrofoil design for a wave glider.

Background

The wave glider utilizes solar energy to supply power for the carried sensing communication equipment, and can realize one year and thousands of kilometers of endurance through the novel ocean mobile observation platform which directly converts wave power into forward power and comprehensively utilizes wave energy and solar energy, thereby becoming a research hotspot at home and abroad.

The wave glider mainly comprises three parts, namely a water surface floating body, a connecting flexible cable and an underwater tractor. The passive flapping wing motion of the hydrofoil carried by the underwater tractor generates forward thrust for the whole device, and is the key point of design and research.

The patent document with the publication number of CN110395376A discloses a hybrid drive wave glider, which comprises a mother ship on the water surface, a flexible flat cable and an underwater tractor, wherein the mother ship on the water surface and the underwater tractor are flexibly connected through the flexible flat cable, the mother ship on the water surface comprises a main floating body, a communication and positioning device, a main control system, a storage battery and a solar power generation device, the communication and positioning device, the main control system, the storage battery and the solar power generation device are hermetically fixed in the main floating body, the underwater tractor comprises a tractor main body structure, an electronic compass, a steering mechanism and a wave conversion mechanism, two sides of the bottom surface of the rear part of the main floating body are respectively provided with a water surface propeller, the middle position of the bottom of the tractor main body structure is provided with the underwater propeller, and the water surface propeller and the underwater propeller are both powered by the storage battery and controlled by the main control system.

The patent document with the publication number of CN110803271A 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 limit 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.

Patent document No. CN111669084A discloses an underwater driving method for a wave glider and a motor driver, which belong to the technical field of brushless dc motors, and are characterized by at least comprising: the MOSFET bridge controls the current flowing direction of the three-phase winding of the motor; the MOSFET driving module controls the working state of the MOSFET bridge; the current acquisition module is used for detecting the current output by the MOSFET bridge to the motor; the main control module is used for receiving a control signal of the upper computer, receiving a signal of the current acquisition module and sending the control signal to the motor; the communication module is used for realizing signal communication between the main control module and the upper computer; the power supply module is used for providing power for the main control module, the MOSFET driving module, the MOSFET bridge, the current acquisition module and the communication module; wherein: the main control module is connected with the MOSFET bridge through the MOSFET driving module, and the MOSFET bridge is connected with the motor.

The torsional rigidity of the hydrofoil has great influence on thrust conversion and propulsion efficiency. The existing underwater tractors of the wave glider are all in a fixed rigidity mode. During the manufacture of the underwater tractor, a relatively optimal hydrofoil torsional rigidity can be achieved by adjusting the structural parameters. However, this torsional stiffness is generally only sufficient to achieve optimum performance under a given set of operating conditions. In the wave glider, the wave state is random and greatly changed within the time span of several months to one year, and the prior design cannot achieve the optimal performance. Therefore, a technical solution is needed to improve the above technical problems.

Disclosure of Invention

In view of the deficiencies in the prior art, it is an object of the present invention to provide a variable torsional stiffness underwater tractor hydrofoil system for gliders.

The invention provides a variable torsional rigidity underwater tractor hydrofoil system for a glider, which comprises a water surface floating body ship, a flexible cable and an underwater tractor, wherein the water surface floating body ship is connected with the flexible cable, and the flexible cable is connected with the underwater tractor;

the underwater tractor comprises a hydrofoil pitching motion unit, a rigidity adjusting system, a speed sensing unit and a mounting plate frame assembly;

the hydrofoil pitching motion unit comprises a hydrofoil, a fixed rotating shaft, a motion shaft, a spring and a spring connecting pin, the hydrofoil winds the fixed rotating shaft to perform pitching motion, and the spring provides a restoring moment of the pitching motion.

Preferably, the spring connecting pin is connected with the stiffness adjusting system, and the stiffness adjusting system controls and shifts the position of the spring connecting pin to adjust the initial deformation of the spring.

Preferably, the spring connecting pin is mounted in the guide means, and the spring connecting pin is slidably disposed in the guide means.

Preferably, the stiffness adjustment system comprises a drive device, a controller and a transmission mechanism.

Preferably, the movable ends of adjacent springs are connected by a rope or rigid link, and the drive means adjusts the pitch stiffness of the plurality of foils.

Preferably, the rope is guided by a fixed pulley device to change the rope traction path.

Preferably, the motor linearly adjusts the position of the movable end of the spring through a worm gear or a screw nut structure.

Preferably, the speed sensing unit comprises a flow rate measuring instrument and an inertial sensor, and the flow rate measuring instrument and the inertial sensor obtain real-time flow rate information and tractor position and attitude information.

Preferably, the sensing unit obtains the movement speed and the posture of the tractor, feeds the obtained speed information back to the controller of the rigidity adjusting system, and controls the rigidity of the hydrofoil and the comprehensive performance of the underwater tractor through the motor control system.

Preferably, the guiding device is fixed on the underwater tractor mounting plate frame and comprises a guiding groove matching connection pin structure and a linear bearing matching connection pin structure.

Compared with the prior art, the invention has the following beneficial effects:

1. according to the invention, the active regulation and control of the hydrofoil rigidity can be realized through the rigidity regulation system of the underwater tractor, so that the active control of the speed of the wave glider is realized;

2. according to the wave glider, the rigidity adjusting system is combined with the speed sensing unit, so that higher adaptability of the wave glider to wave conditions can be realized, and the maximum capture of wave energy is achieved;

3. according to the invention, six pairs of hydrofoil pitching motion units are connected in series, so that the rigidity of six hydrofoils can be adjusted by one driver at the same time, and the requirement of a driving device is lowered;

4. in the rigidity adjusting system, the self-locking of the system is realized through devices such as worm and gear matching, T-shaped lead screws or stepping motors and the like, so that the energy consumption is reduced;

5. according to the invention, the displacement of the hydrofoil spring connecting pin is limited within a certain range through the mechanical limiting device, so that the normal function of the underwater tractor of the traditional wave glider can be still maintained even if the rigidity adjusting system fails;

6. when the flexible rope is adopted to transmit the adjusting force, the interference problem of parts such as a moving shaft of the hydrofoil can be effectively avoided by arranging the fixed pulley.

Drawings

Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments with reference to the following drawings:

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

FIG. 2 is a parameter diagram for calculating hydrofoil torsional stiffness through spring force in the present invention;

FIG. 3 is a schematic structural diagram of a hydrofoil pitching motion unit according to the present invention;

FIG. 4 is a diagram of a Czochralski hydrofoil stiffness adjustment system in accordance with a preferred embodiment of the present invention;

FIG. 5 is a diagram of a sliding link hydrofoil stiffness adjustment system according to a preferred embodiment of the present invention;

FIG. 6 is a diagram of an offset stay wire hydrofoil stiffness adjustment system in accordance with a preferred embodiment of the present invention;

FIG. 7 is a diagram of a linear bearing slider hydrofoil stiffness adjustment system in accordance with a preferred embodiment of the present invention;

FIG. 8 is a block diagram of a hydrofoil control method of a variable torsional stiffness underwater tractor according to the invention.

Wherein:

surface vessel 1 inertial sensor 309

Flexible cable 2 flow rate sensor 310

Underwater tractor 3 side plate 311

Hydrofoil 301 linear bearing module 312

Fixed rotating shaft 302 adapter part 313

Motion shaft 303 sliding connecting rod 314

Spring 304 lead screw nut mechanism 315

Spring connecting pin 305 motor 308

Wire rope 306 fixed pulley 317

Worm gear mechanism 307

Detailed Description

The present invention will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the invention, but are not intended to limit the invention in any way. It should be noted that it would be obvious to those skilled in the art that various changes and modifications can be made without departing from the spirit of the invention. All falling within the scope of the present invention.

In the present invention, the pitching motion of the hydrofoils about the fixed axis is described in some documents as a rotational motion about the fixed axis; the hydrofoil pitch angle is also referred to as the roll angle, the twist angle. Unless specifically stated otherwise, several designations shall have an equivalent meaning.

As shown in fig. 1, a variable torsional stiffness underwater tractor hydrofoil system for gliders comprises a surface float vessel 1, a flexible cable 2, and an underwater tractor 3. The underwater tractor 3 comprises a hydrofoil pitching motion unit, a rigidity adjusting system, a speed sensing unit, a mounting plate frame assembly and the like.

As shown in fig. 2, the hydrofoil pitching motion unit comprises a hydrofoil 301, a fixed rotating shaft 302, a motion shaft 303, a spring 304 and a spring connecting pin 305.

The hydrofoil 301 is fixedly connected with the fixed rotating shaft 302 and the moving shaft 303, and the spring 304 is respectively connected with the moving shaft 303 and the spring connecting pin 305. The fixed rotating shaft 302 and the spring connecting pin 305 are connected with the mounting plate frame assembly, the position is kept unchanged, the hydrofoil 301 can do pitching motion around the fixed rotating shaft 302, and the restoring moment of the pitching motion is provided by the spring 304.

As shown in FIG. 3, when the hydrofoil angle θ is zero, the hydrofoil is collinear with the spring, referred to as the initial state. Assuming that the spring tension is linear with the elongation, the relationship between the elongation of the spring and the stiffness of the hydrofoil in pitching motion at any rotation angle θ can be expressed as:

F₀＝T₀+KΔx₀

wherein M represents the equivalent stiffness in hydrofoil pitching motion; k represents the stiffness of the spring; theta is the hydrofoil rotation angle; x is the length of the spring at any hydrofoil rotation angle theta; x is the number of₀The spring is the original length of the spring in a natural state; Δ x₀When the hydrofoil and the spring are collinear (theta is 0), the spring is initially deformed; Δ x represents the length of the spring that is additionally stretched by the rotation angle θ. F₀The tension of the spring, also called initial tension, when the hydrofoil and the spring are collinear, comprises two parts: spring pretightening force T₀And initial spring deformation Δ x₀Induced K.DELTA.x₀。r₁The distance between the central points of the two shafts of the hydrofoil is taken as the distance; r is₂The distance between the fixed shaft of the hydrofoil and the end point of the fixed end of the spring is shown. The last approximation in the equation represents the first order result of the taylor expansion taken at θ ═ 0.

As the initial elongation of the spring increases, F₀Will increase and thus the stiffness of the hydrofoil in the pitching motion will increase.

Various embodiments of underwater tractors including various hydrofoil stiffness adjustment systems are shown below, and the scope of the present invention is not limited to the mentioned embodiments.

Example one

As shown in fig. 4, the underwater tractor comprising the straight pull type hydrofoil rigidity adjusting system comprises a hydrofoil pitching motion unit, a rigidity adjusting system, a speed sensing unit and a mounting plate frame assembly. The hydrofoil pitching motion unit comprises a hydrofoil 301, a fixed rotating shaft 302, a motion shaft 303, a spring 304 and a spring connecting pin 305, the rigidity adjusting system comprises a steel wire rope 306, a worm gear transmission structure 307 and a motor 308, the speed sensing unit comprises an inertial sensor 309 and a flow velocity sensor 310, and the mounting plate assembly comprises a side plate 311 and other connecting fasteners.

The inertial sensor 309 and the flow rate sensor 310 are both independently mounted, with the flow rate sensor mounted in front of the underwater tractor, avoiding interference from hydrofoil wakes,

the underwater tractor has 6 pitching motion units, and a fixed rotating shaft 302 is arranged on a side plate 311. Six grooves with the length of 5cm are formed in the side plates, the spring connecting pins 305 are installed in long grooves of the two side plates 311, the spring connecting pins 305 slide in the long grooves, and the long grooves provide mechanical limit for the spring connecting pins 305. To reduce the resistance to movement, two micro-bearings are mounted at the locations where the spring connecting pin 305 contacts the two side plates 311.

The spring connecting pins 305 are connected in series by a steel wire rope 306, so that synchronous position adjustment is realized. Every two spring connecting pins 305 are connected by two spring steel wire ropes 306, and four grooves with parallel axes are formed in the spring connecting pins 305 in the direction perpendicular to the axes and used for threading the steel wire ropes 306. The spring connecting pin 305 is provided with an annular groove at a middle position so that the spring 304 can be buckled on the spring connecting pin 305.

The worm gear structure 307 can convert the rotation motion of the motor 308 into the linear pulling of the steel wire 306. The turbine is connected with the two side plates 311 through a shaft and a bearing, winding grooves are formed in the two sides of the turbine, when the turbine rotates, the steel wire ropes 306 rotate on the grooves, the steel wire ropes 306 are pulled or released, displacement of each spring connecting pin 305 is achieved, the tension of the springs 304 is adjusted and controlled, and accordingly the change of the torsional rigidity of the pitching motion of the hydrofoils 301 is caused.

Example two

As shown in fig. 5, the underwater tractor including the rigid sliding link type hydrofoil stiffness adjusting system includes a hydrofoil pitching motion unit, a stiffness adjusting system, a speed sensing unit, and a mounting plate frame assembly. The hydrofoil pitching motion unit comprises a hydrofoil 301, a fixed rotating shaft 302, a motion shaft 303, a spring 304 and a spring connecting pin 305, the stiffness adjusting system comprises a linear bearing module 312, a switching part 313, a sliding connecting rod 314, a screw and nut mechanism 315 and a motor 308, the speed sensing unit comprises an inertial sensor 309 and a flow velocity sensor 310, and the mounting plate assembly comprises a side plate 311.

Both the inertial sensor 309 and the flow rate sensor 310 may be strapdown mounted.

The underwater tractor has 6 pitching motion units, and a fixed rotating shaft 302 is arranged on a side plate 311. Six grooves with the length of 5cm are formed in the side plates, the spring connecting pins 305 are installed in the positions of long grooves of the two side plates 311, and the long grooves provide mechanical limit for the spring connecting pins 305. To reduce the resistance to movement, two micro-bearings are mounted at the locations where the spring connecting pin 305 contacts the two side plates 311.

The spring connecting pin 305 is connected with the adapting part 313 through a screw, and two screw holes are formed on the spring connecting pin and are respectively connected with two ends of the adapting part 313. The lower end of the adapter part 313 is provided with a through hole with a diameter of 8mm, and the sliding link 314 passes through the through hole. The sliding link 314 is provided with a threaded hole at the position of the adapter part 313, and the sliding link 314 is fastened and connected with the six adapter parts 313 through screws. The linear bearing modules 312 include linear bearings and linear bearing mounting parts, the three linear bearing modules 312 are mounted on the side plates 311, and the sliding link 314 passes through the three linear bearing modules 312. The end of the slide link 314 near the motor 308 is connected to the nut end of a feed screw-nut mechanism 315. The shaft of the motor 308 is connected to a feed screw nut mechanism 315 via a coupling

When the motor 308 rotates, the lead screw nut mechanism 315 is driven to move, so that the sliding link 314 moves along a straight line, the spring connecting pin 305 is driven to move, the stretching length of the spring 304 is changed, and the movement stiffness of the hydrofoil 301 is influenced.

EXAMPLE III

As shown in fig. 6, the underwater tractor comprising the straight pull type hydrofoil rigidity adjusting system comprises a hydrofoil pitching motion unit, a rigidity adjusting system, a speed sensing unit and a mounting plate frame assembly. The hydrofoil pitching motion unit comprises a hydrofoil 301, a fixed rotating shaft 302, a motion shaft 303, a spring 304 and a spring connecting pin 305, the rigidity adjusting system comprises a steel wire rope 306, a worm and gear transmission structure 307, a motor 308 and a fixed pulley 317, the speed sensing unit comprises an inertial sensor 309 and a flow velocity sensor 310, and the mounting plate assembly comprises a side plate 311.

The third embodiment is substantially the same as the first embodiment except that a fixed pulley structure is added. After the fixed pulley structure is added, the position of the spring connecting pin 305 can be moved down, thereby preventing the interference of the wire rope 306 with the hydrofoil 301. The fixed pulley 317 is connected with the side plate 311 through a bearing, and two annular grooves are formed in the fixed pulley 317, so that the steel wire rope 306 can be wound on the fixed pulley 317, and the change of a steel wire rope traction path is realized.

Example four

As shown in fig. 7, the underwater tractor comprising the straight pull type hydrofoil rigidity adjusting system comprises a hydrofoil pitching motion unit, a rigidity adjusting system, a speed sensing unit and a mounting plate frame assembly. The hydrofoil pitching motion unit comprises a hydrofoil 301, a fixed rotating shaft 302, a motion shaft 303, a spring 304 and a spring connecting pin 305, the rigidity adjusting system comprises a steel wire rope 306, a worm and gear transmission structure 307, a motor 308, a linear bearing module 312 and a fixed pulley 317, the speed sensing unit comprises an inertial sensor 309 and a flow velocity sensor 310, and the mounting plate assembly comprises a side plate 311.

The fourth embodiment is substantially the same as the third embodiment except that the moving pair of the spring connecting pin is changed. The spring connecting pin 305 is a smooth cylinder about 7cm long. The linear bearing module 312 is installed on the side plate 311, the spring connecting pin 305 is matched with the linear bearing module 312, the spring connecting pin 305 makes linear motion in the linear bearing, and the spring connecting pin 305 can be provided with a mechanical retainer ring to realize mechanical limit of front and back sliding. The spring connecting pin 305 has a plurality of holes formed in a direction perpendicular to the axial direction, the spring 304 is connected to the spring connecting pin 305 through the holes, and the wire rope 306 connects the plurality of spring connecting pins 305 through the holes formed in the spring connecting pin 305.

For all the above embodiments, the velocity feedback control can be performed according to the method of fig. 8. The underwater tractor is provided with a speed sensing unit, the position of the speed sensing unit refers to fig. 7, the speed sensing unit comprises an inertial sensor 309 and a speed sensor 310, and the speed sensing unit can sense information such as real-time flow speed and pose of the tractor. The information such as the movement speed, the posture and the like of the tractor are obtained through the sensing unit, the obtained speed information is fed back to the motor control system, the initial stretching degree of the spring is controlled through the motor control system, the control of the rigidity of the hydrofoil is further realized, and finally the comprehensive performance control of the underwater tractor is realized.

In the description of the present application, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience in describing the present application and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present application.

The foregoing description of specific embodiments of the present invention has been presented. It is to be understood that the present invention is not limited to the specific embodiments described above, and that various changes or modifications may be made by one skilled in the art within the scope of the appended claims without departing from the spirit of the invention. The embodiments and features of the embodiments of the present application may be combined with each other arbitrarily without conflict.