Flying wing type energy-charging underwater glider for underwater cruise and working mode of flying wing type energy-charging underwater glider

Abstract

The flying wing type rechargeable underwater cruise underwater glider comprises a flying wing type shell, a main pressure-resistant cabin is installed on the top of the flying wing type shell, and a temperature difference energy power generation system, an underwater cruise system, an ocean current energy power generation system and a buoyancy adjusting system are sequentially and symmetrically installed on the two sides of the main pressure-resistant cabin; the ocean current energy power generation system comprises a power generation system, a supporting system and a retractable mechanism, the top of the supporting system is provided with the power generation system, and the bottom is connected with the retractable mechanism; the power generation system comprises an impeller system, and an impeller of the impeller system can stretch out, draw back and be folded. The system can be freely switched among three working modes of underwater gliding, underwater residing and underwater cruising, and tasks can be executed for a long time. According to the flying wing type underwater glider, the running system and the ocean current energy power generation system can be adjusted by the retracting and releasing system to rotate, the appearance of the flying wing type underwater glider is not changed while the underwater residence, cruising and power generation functions of the glider are achieved, and the excellent fluid performance in the gliding working mode is guaranteed.

Description

Technical Field

[0001] The invention relates to an underwater glider and a working mode, and in particular to a flying wing type rechargeable underwater cruising underwater glider and a working mode. Background Art

[0002] In order to better develop and utilize marine resources, it is necessary to conduct long-term detection of the ocean's three-dimensional space and underwater environment. Underwater gliders can use net buoyancy and attitude angle adjustment to obtain propulsion, with extremely low energy consumption. Only a small amount of energy is consumed when adjusting net buoyancy and attitude angle. It has the characteristics of high efficiency and long endurance. It is suitable for conducting large-scale, long-term three-dimensional space continuous ocean observation activities, and has broad application prospects in the field of ocean observation.

[0003] However, traditional underwater gliders cannot achieve long-term and large-scale detection of the underwater environment. Even hybrid-driven underwater gliders equipped with multiple thrusters can achieve temporary fixed-point detection by relying on the control of multiple thrusters, but they are in a dynamic equilibrium state and require a large amount of energy consumption, which cannot achieve the purpose of long-term detection. Application number: 202410122604.7, the patent with the invention name "An underwater landing system and a landing underwater glider" proposes an underwater landing system that enables an underwater glider to land on the bottom of the water and stay for detection. It does not require energy to achieve fixed-point control and can perform long-term fixed-point detection on the bottom of the water, but it cannot cruise underwater and cannot achieve large-scale underwater environment detection. Application number: 202410565468.9, the patent with the invention name "An underwater cruising system and an underwater glider capable of underwater cruising" proposes an underwater cruising system that enables an underwater glider to land on the bottom of the water and stay or cruise for detection, but its cruising system support structure cannot arbitrarily adjust the attitude of the glider. The above gliders do not have charging devices, and their detection time is limited. Summary of the invention

[0004] Purpose of the invention: The purpose of the present invention is to propose a flying wing type rechargeable underwater cruising underwater glider and working mode, which has strong adaptability and long detection time.

[0005] Technical solution: The present invention includes a flying wing shell, a main pressure cabin is installed on the top of the flying wing shell, and a temperature difference energy generation system, an underwater cruising system, an ocean current energy generation system and a buoyancy adjustment system are symmetrically installed on both sides of the main pressure cabin; the ocean current energy generation system includes a power generation system, a support system and a retracting and extending mechanism, the power generation system is provided on the top of the support system, and the retracting and extending mechanism is connected to the bottom; the power generation system includes an impeller system, and the impeller of the impeller system can be extended and folded; there is an attitude adjustment system in the main pressure cabin.

[0006] The impeller system includes a hub and a bearing box. A shaft sleeve is provided on the outer side of the shaft between the hub and the bearing box. A V-shaped connector is provided at the end of the hub. A hydraulic rod is hinged between one end of the V-shaped connector and the shaft sleeve, and a retractable blade is hinged at the other end of the V-shaped connector.

[0007] The retractable blade comprises a blade root, a root blade and a tip blade. One end of the root blade is fixedly connected with the blade root, and the other end is connected with the tip blade. A hydraulic retractable rod is hinged between the blade root and the tip blade.

[0008] The two ends of the hydraulic retractable rod are spherically hinged with the blade root and the tip blade, and the top of the root blade is designed to have the same airfoil shape as the root of the tip blade. After the tip blade is extended, the root is completely fitted with the top of the root blade.

[0009] The support system includes an adjustable support rod, a support plate, and a direction adjustment system. One end of the adjustable support rod is hinged to the bracket, and the other end is connected to the support plate. The direction adjustment system is used to control the direction of the power generation system.

[0010] The underwater cruising system includes a driving system and a retracting and releasing system; the driving system is symmetrically connected to both sides of the retracting and releasing system, the driving system includes a power system, an execution system and a suspension system, and the power system is connected to the execution system and the suspension system; the retracting and releasing system includes symmetrically arranged hydraulic telescopic rods, one end of which is respectively connected to the suspension system on the corresponding side.

[0011] The suspension system, the retracting and launching system and the ocean current energy power generation system share a set of hydraulic power and control systems.

[0012] The hydraulic power and control system includes a power element, a control element, and a storage element containing hydraulic oil; the power element provides power to extract or recover the hydraulic oil; and the control element controls the extension and retraction of the hydraulic cylinder by controlling the flow direction of the hydraulic oil.

[0013] The working modes of a flying wing type rechargeable underwater cruising underwater glider include: underwater gliding, underwater residence and underwater cruising, and can be switched between the three modes:

[0014] In the underwater gliding working mode, the underwater cruising system and the ocean current energy power generation system are retracted into the shell, the underwater glider maintains a streamlined shape, and the attitude adjustment system and the buoyancy adjustment system are used to adjust the attitude and float up and down; in the underwater gliding working mode, the temperature difference energy power generation system works and charges the glider;

[0015] In the underwater stationing working mode, the underwater cruising system's retracting and releasing system controls the driving system to rotate out from the glider shell, the wheel hub motor does not work, the hydraulic support rod is extended, and the underwater glider changes gravity through the buoyancy adjustment system to achieve stable underwater stationing, and adjusts its attitude by adjusting the extension and retraction degree of the hydraulic support rod; at this time, the ocean current energy power generation system can rotate out to work;

[0016] When in underwater cruise working mode, the retraction and extension system of the underwater cruise system controls the driving system to rotate out from the inside of the glider shell, the hydraulic support rod is extended, and the underwater glider drastically changes the gravity to a negative buoyancy state through the buoyancy adjustment system. The hub motor works, and the attitude is adjusted by adjusting the extension and retraction degree of the hydraulic support rod, and the heading control is achieved by controlling the speed of each hub motor.

[0017] The underwater gliding working mode is directly switched to the underwater staying working mode, and the underwater staying working mode is directly switched to the underwater cruising working mode. When switching between the underwater gliding working mode and the underwater cruising working mode, the underwater staying working mode is switched.

[0018] Beneficial effects: The present invention has the following advantages:

[0019] (1) The underwater glider of the present invention has three working modes: underwater gliding, underwater residence and underwater cruise. The three working modes can be switched freely, and can complete the functions of underwater large-scale long-term continuous detection, underwater fixed-point detection and underwater cruise detection. In addition, the underwater glider of the present invention has two charging systems: a temperature difference energy power generation system and a sea current energy power generation system. The temperature difference energy power generation system can generate electricity when gliding underwater, and the sea current energy power generation system can generate electricity when staying underwater. The two can greatly extend the actual working time of the glider and greatly enhance the practicality of the invented glider.

[0020] (2) The driving system and the ocean current energy power generation system of the present invention can be adjusted and rotated by the retracting and releasing system, and the appearance of the flying wing underwater glider is not changed while realizing the underwater residence, cruising and power generation functions of the glider, thereby ensuring excellent fluid performance in the gliding working mode;

[0021] (3) The connecting rod mechanism in the retractable system of the present invention and the spiral wheel suspension mechanism of the travel system are designed as a four-bar linkage with a self-locking function, and the power system in the retractable system is a self-locking hydraulic system. The entire retractable system has the advantages of large contraction force, simple structure, convenient control, and double self-locking, and can safely and reliably control the rotation of the spiral wheel suspension mechanism;

[0022] (4) The actuator of the underwater cruising system of the present invention adopts a spiral wheel form, which has the advantages of strong grip and not easy to sink into the mud, etc., which is sufficient to cope with the harsh and rugged underwater environment and improve the environmental adaptability and detection performance of the glider during underwater cruising;

[0023] (5) The support rod in the underwater cruising suspension mechanism of the present invention is in the form of a hydraulic cylinder, which can adjust the posture of the glider when it is stationed underwater and cruising underwater through the extension and contraction of the hydraulic cylinder. The required posture of the glider can still be maintained in the harsh and rugged underwater environment, thereby improving the detection performance of the glider when it is stationed underwater and cruising.

[0024] (6) The impeller of the ocean current energy power generation system of the present invention can be retracted and folded, so that a longer impeller can be designed in a smaller space, thereby increasing the torque on the impeller and further improving the working performance of the power generation system under low-speed ocean current conditions.

[0025] (7) The support rod in the retractable and deployable mechanism of the ocean current energy power generation system of the present invention is in the form of a hydraulic cylinder, which can increase the distance between the impeller and the water bottom during operation, increase the fluid velocity at the impeller, and thereby improve the working performance of the power generation system under low-speed ocean current conditions. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 It is a schematic diagram of the underwater stationing and charging state of the flying wing type rechargeable underwater cruising underwater glider;

[0027] Figure 2 This is a schematic diagram of the underwater cruise system in cruise state;

[0028] Figure 3 This is a structural diagram of the underwater cruise system in a non-working state;

[0029] Figure 4 It is a schematic diagram of the structure of the driving system in the underwater cruising system;

[0030] Figure 5 It is a schematic diagram of the hydraulic power and control system structure;

[0031] Figure 6 The schematic diagram of the valve block is shown in FIG.

[0032] Figure 7 It is a schematic diagram of the control principle of the hydraulic system;

[0033] Figure 8 This is a schematic diagram of the working state structure of the ocean current energy power generation system;

[0034] Fig. 9 This is a structural schematic diagram of the ocean current energy power generation system in a non-working state;

[0035] Fig.10 is a schematic diagram of the retractable blade structure;

[0036] Fig.11 It is a schematic diagram of the internal structure of the support system;

[0037] Fig.12 This is the working principle diagram of the temperature difference energy power generation system;

[0038] Fig.13 It is a schematic diagram of the underwater gliding state of a flying wing type rechargeable underwater cruising underwater glider;

[0039] Fig.14 This is a schematic diagram of the underwater cruising state of a flying wing-type rechargeable underwater cruising underwater glider. DETAILED DESCRIPTION

[0040] The present invention will be further described below in conjunction with the accompanying drawings.

[0041] Example 1

[0042] like Figure 1 , Figure 2 , Fig.13 , Fig.14 As shown, the flying wing type rechargeable underwater cruising underwater glider of this embodiment comprises a flying wing type shell 1, a main pressure cabin 2 is installed on the top of the flying wing type shell 1, and a temperature difference energy generation system 3, an underwater cruising system 4, a sea current energy generation system 5 and a buoyancy adjustment system 6 are symmetrically installed on both sides of the main pressure cabin 2. A detection system, a control system and an attitude adjustment system are installed inside the main pressure cabin.

[0043] The underwater cruising system 4 includes a driving system 11 and a retracting system 12; the driving system 11 is symmetrically connected to both sides of the retracting system 12. Figure 2 and Figure 4As shown, the travel system 11 includes a power system, an execution system and a suspension system, and the power system is connected with the execution system and the suspension system, wherein the power system provides power for the execution system to rotate, the execution system is the execution mechanism of the travel system, and the suspension system is the installation mechanism of the power system and the execution system. The power system includes a hub motor 13, which mainly includes a stator, a rotor, a stator protection shell and an integrated electronic control system, and the hub motor 13 is designed in a sealed form. The hub motor has the advantages of high transmission efficiency, compact structure, convenient installation and multiple drives; the execution system mainly includes a spiral wheel 14 and a rim, and the spiral wheel 14 has the advantages of strong grip and not easy to sink into the mud, etc. The hub motor 13 provides power for the spiral wheel 14 to rotate, and the spiral wheel 14 is the execution mechanism of the travel system 11. The rotor of the hub motor 13 is fixedly connected to the spiral wheel 14 through the rim, and the rotation of the rotor of the hub motor 13 drives the spiral wheel 14 to rotate. The suspension system adopts a rotatable four-bar linkage, including a hydraulic support rod 15, a connecting rod 16, a rocker 17 and a flange 18; one end of the hydraulic support rod 15 is fixedly connected to the stator protection shell of the hub motor 13 through the flange 18, and the other end is hinged to the mounting bracket 20. A hinge joint 15d is arranged in the middle of the hydraulic support rod 15, which is hinged to the connecting rod 16; the hinged end of the hydraulic support rod 15 includes two hinge joints 15e and 15f, and the center lines of the two hinge joints 15e and 15f are on the same straight line. When the hydraulic support rod 15 is hinged to the mounting bracket 20, the center line of the hinge axis is perpendicular to the longitudinal symmetry plane of the glider, which can generate a large circumferential moment and increase the structural strength of the suspension system when the propeller 14 is subjected to a lateral impact force. The hydraulic support rod 15 adopts a retractable hydraulic cylinder. Through the extension and retraction of the hydraulic support rod 15, the distance between the propeller 14 and the glider shell 1 can be adjusted when the cruise system is working, thereby adjusting the attitude of the glider when staying on the seabed and cruising.

[0044] like Figure 2 , Figure 3 and Figure 4As shown, the retractable system 12 includes symmetrically arranged hydraulic telescopic rods 12a and 12b; the hydraulic telescopic rods 12a and 12b are the actuators of the retractable system 12, which provide power for the action of the suspension system connecting rod mechanism; one end of the hydraulic telescopic rod is respectively hinged to the middle of the rocker 17 on the corresponding side, and the rocker 17 is driven to rotate by the extension and rotation of the hydraulic telescopic rod, thereby driving the connecting rod 16 and the hydraulic support rod 15 to rotate. One end of the rocker 17 is hinged to the mounting bracket 20, and a hinge joint 17a is also arranged in the middle to be hinged to the hydraulic telescopic rod of the retractable system 12, and the other end is hinged to the connecting rod 16. The hinged end of the rocker 17 and the mounting bracket 20 includes two hinge joints 17b and 17c, and the center lines of the two hinge joints 17b and 17c are on the same straight line. When the rocker 17 is hinged to the bracket 20, the center line of the hinge axis is perpendicular to the longitudinal symmetry plane of the glider, which can generate a large circumferential moment, and together with the hydraulic support rod 15, the structural strength of the suspension system of the spiral wheel 14 is increased when it is subjected to a lateral impact force. One end of the connecting rod 16 is hinged to the rocker 17, and the other end is hinged to the hydraulic support rod 15. The extension and rotation of the hydraulic telescopic rod of the retracting and releasing system 12 drives the rocker 17 to rotate, thereby driving the connecting rod 16 and the hydraulic support rod 15 to rotate. When the glider is cruising underwater and the hydraulic support rod 15 is perpendicular to the horizontal plane of the glider, the rocker 17 and the connecting rod 16 of the connecting rod mechanism are on the same straight line, forming a self-locking, eliminating the impact of the impact force of the driving system on the retracting and releasing system 12. Moreover, at this time, the hydraulic support rod 15, the connecting rod 16 and the rocker 17 of the suspension system form a stable triangular connecting rod mechanism, which can enhance the structural strength and stability during underwater cruising.

[0045] like Figure 8 , Fig. 9 , Fig.11 As shown, the ocean current energy power generation system 5 includes a power generation system 33, a support system 34 and a retractable mechanism 35. The power generation system 33 is provided on the top of the support system 34, and the retractable mechanism 35 is connected to the bottom. The power generation system 33 includes an impeller system 36, a speed increasing mechanism 37, and a generator 38. The impeller system 36 and the generator 38 are installed on the speed increasing mechanism 37. The input shaft of the speed increasing mechanism 37 is connected to the impeller system 36, and the output shaft of the speed increasing mechanism 37 is connected to the input shaft of the generator 38. The impeller system 36 provides power for the generator 38. The speed increasing mechanism 37 adopts a multi-stage planetary gear form. The multi-stage planetary gear speed increasing mechanism has the advantages of high transmission efficiency, large transmission ratio and compact structure. Its high transmission ratio can greatly increase the speed provided by the impeller system to the generator 38, thereby improving the power generation capacity of the generator 38. The speed increasing mechanism 37 is fixedly connected to the support plate 62 of the support system 34 by bolts; the impeller system 36 is installed on the speed increasing mechanism 37 through the bearing box 39, and the generator 38 is installed on the speed increasing mechanism 37 by bolts.

[0046] like Figure 8As shown, the impeller system 36 includes a retractable blade 41, a hub 42, a V-shaped connector 43, a hydraulic rod 44, a shaft, a bearing box 39, and a sleeve 45. The shaft is connected to the speed increasing mechanism 37 through the bearing box 39. The hub 42 and the sleeve 45 are both connected to the shaft through a key; the hub 42 and the sleeve 45 both have three hinge seats evenly arranged in the circumference; both ends of the hydraulic rod 44 are provided with hinge joints for installation; the top of the V-shaped connector 43 is provided with a hinge hole for hinge connection, one end of the end is provided with a through hole for riveting, and the other end is provided with an ear-shaped hinge seat; the root of the retractable blade 41 is provided with a hinge hole and fixedly connected to one end of the V-shaped connector 43 through a rivet; the other end of the V-shaped connector 43 is hinged to one end of the hydraulic rod 44 through a hinge shaft; the top of the V-shaped connector 43 is hinged to the hinge seat of the hub 42 through a hinge shaft. The other end of the hydraulic rod 44 is hinged to the hinge seat of the sleeve 45. The hydraulic rod 44 can drive the V-shaped connector 43 to rotate around the top hinge shaft by contraction, thereby controlling the folding and deployment of the retractable blades 41. When the hydraulic rod 44 contracts, the retractable blades 41 are folded, and when the hydraulic rod 44 extends, the retractable blades 41 are deployed.

[0047] like Fig.10 As shown, the retractable blade 41 includes a blade root 51, a root blade 52, a tip blade 53, a hydraulic retracting rod 54, a root spherical hinge seat 55, and a tip spherical hinge seat 56. The blade root 51 is fixedly connected to the root blade 52 by screws; the root blade 52 and the tip blade 53 are both designed to be in the form of a hollow shell, so that a mechanism for controlling blade retraction can be installed inside; the top of the root blade 52 is designed to be completely the same as the airfoil shape of the root of the tip blade 53, and the root of the tip blade 53 is completely in contact with the top of the root blade 52 after the tip blade 53 is extended. The root spherical hinge seat 55 is installed on the end surface of the blade root 51 inside the blade by screws, and the tip spherical hinge seat 56 is installed on the inner end surface of the tip blade 53; both ends of the hydraulic retracting rod 54 are provided with spherical hinge joints, one end is hinged to the root spherical hinge seat 55, and the other end is hinged to the tip spherical hinge seat 56. The extension and retraction of the retractable blade 41 can be controlled by controlling the extension and retraction of the hydraulic retractable rod 54. The spherical hinge form adopted by the hydraulic retractable rod 54 enables the connection to rotate arbitrarily, which can ensure that the hydraulic retractable rod 54 will not get stuck during the extension and retraction of the retractable blade 41, thereby ensuring that the hydraulic retractable rod 54 can normally drive the extension and retraction of the retractable blade 41. The hydraulic retractable rod 54 only provides the radial force required by the tip blade 53 when the retractable blade 41 is extended and retracted. The circumferential and axial forces required by the tip blade 53 of the retractable blade 41 are provided by the close fit between the tip blade 53 and the root blade 52 when the retractable blade 41 is working. A through hole is opened on the blade root 51 to facilitate the laying of the hydraulic pipeline required by the hydraulic retractable rod 54.

[0048] like Fig. 9 and Fig.11As shown, the support system 34 includes an adjustable support rod 61, a support plate 62, a direction adjustment system, and an articulated seat 63. The direction adjustment system mainly includes a large gear 64, a small gear 65, a bearing 66, a sleeve, a bearing sleeve 67, a flange 68, a fixing nut 69, a motor 70, a reducer 71, and a shaft system 72. The articulated seat 63 is fixedly connected to the bracket 20 by bolts; a hinge joint is provided at the root of the adjustable support rod 61, and is articulated with the articulated seat 63 through an articulated shaft; the adjustable support rod 61 includes a top piston rod 73; the top piston rod 73 is connected to the support plate 62 through a bearing 66, a sleeve, a bearing sleeve 67, a flange 68, and a fixing nut 69, and the support plate 62 and the top piston rod 73 can achieve relative rotation through the bearing 66; a large gear 64 is also provided at the connection between the top piston rod 73 and the support plate 62, and the large gear 64 is connected to the top piston rod 73 through a key to limit the relative rotation between the large gear 64 and the top piston rod 73. The pinion 65 is mounted on the support plate 62 through the shaft system 72, and is connected to the reducer 71 through the shaft system 72. The motor 70 can control the rotation of the shaft system 72 through the reducer 71, thereby rotating the pinion 65. The pinion 65 is meshed with the large gear 64. After the pinion 65 rotates, since the large gear 64 and the top piston rod 73 cannot rotate relative to each other, the pinion 65 will rotate around the large gear 64 as a whole, thereby driving the support plate 62 to rotate relative to the top piston rod 73, thereby realizing the direction control of the power generation system 33 fixedly connected to the support plate 62.

[0049] like Fig. 9As shown, the retracting and releasing mechanism 35 adopts a screw nut mechanism; the screw nut mechanism mainly includes a screw 81, a screw nut 82, a guide rod 83, a fixed side support unit 84, a support side support unit 85, a motor 86, a coupling 87, a hinge seat 88 and a connecting rod 89; the screw 81 adopts a self-locking trapezoidal screw mechanism, which can prevent the screw nut 82 from moving under the force transmitted by the connecting rod 89; the screw 81 is connected to the motor 86 through the coupling 87; the left end of the screw 81 is sealed by a self-sealing The single-row deep groove ball bearing and the shaft elastic retaining ring are installed on the support side support unit 85; the right end of the screw rod 81 is installed on the fixed side support unit 84 through two self-sealing radial ball bearings, sleeves and flanges installed back to back symmetrically; the two self-sealing radial ball bearings installed back to back symmetrically can provide a large axial force to the screw rod 81 to prevent the screw rod 81 from moving axially; the left end of the guide rod 83 is connected to the support side support unit 85 through a thread, and the right end is connected to the fixed side support unit 84 through a nut. The screw rod nut 82 is connected to the screw rod 81 through a trapezoidal threaded hole; the screw rod nut 82 is connected to the guide rod 83 through a common hole; the guide rod 83 guides the screw rod nut 82 and prevents it from rotating. The upper end of the screw nut 82 is connected to the connecting rod 89 through a hinge seat 88, so that the rotation of the adjustable support rod 61 can be controlled by the movement of the screw nut 82; the retraction mechanism 35 can convert the rotation of the motor 86 into the movement of the screw nut 82, and drive the adjustable support rod 61 to rotate through the connecting rod 89 and the hinge seat 88, thereby completing the retraction and extension of the ocean current energy power generation system.

[0050] like Figure 1 , Fig.12As shown, the temperature difference energy power generation system 3 includes a heat exchanger 90, a first one-way valve 91, a second one-way valve 92, an accumulator 93, a pressure sensor 94, a solenoid valve 95, a hydraulic motor 96, a gear speed increasing mechanism 97, a second generator 98, a voltage stabilizing and rectifying unit 99, a battery 100, an oil bag 101 and a pressure-resistant shell. The main components of the temperature difference energy power generation system 3 are all sealed inside the pressure-resistant shell. The temperature difference energy power generation system 3 uses the transition between the solid-liquid phase of the phase change material in the heat exchanger 90 to capture the ocean temperature difference energy, and uses the accumulator 93 to convert the temperature difference energy into the gas potential energy in the accumulator, and then uses the hydraulic motor 96 to convert the energy stored in the accumulator 93 into rotational mechanical energy, and transmits it to the second generator 98 after increasing the speed through the gear speed increasing mechanism 97, and finally converts the temperature difference energy into the electrical energy of the battery through the voltage stabilizing and rectifying unit 99 and the battery 100. Heat exchanger 90 includes a cylindrical pressure-resistant shell and an internal phase-change material; the heat exchange solution of heat exchanger 90 adopts a rubber isolation solution, which uses a rubber bladder to separate the phase-change material from the hydraulic oil. One side of the rubber bladder is filled with hydraulic oil, and the other side of the rubber bladder and the cylindrical pressure-resistant shell are filled with phase-change material. When the phase-change material solidifies, the rubber bladder deforms toward the phase-change material side, and the hydraulic oil enters the heat exchanger 90 from the external oil bladder. The rubber isolation solution has good isolation effect and light weight. The phase-change material is n-hexadecane C 16 H 34 The melting point of hexadecane is 18.2 degrees, which is within the temperature difference range of seawater, and the solid-liquid phase change volume change rate is high. The hydraulic motor 96 adopts the form of a plunger hydraulic motor, which has the advantages of compact structure, high power density, high efficiency and long life. The second generator 98 adopts the form of a permanent magnet synchronous generator, which has the advantages of high efficiency, wide speed range, small size and long service life.

[0051] The buoyancy adjustment system 6 includes multiple groups of buoyancy adjustment cabins symmetrically installed about the longitudinal symmetry plane of the underwater glider. The buoyancy adjustment cabin includes a driving mechanism, a piston mechanism, an installation positioning mechanism and a water leakage detection sensor. The driving mechanism adopts a screw nut mechanism, including a motor, a screw and a nut; the piston mechanism includes a piston cylinder, a piston cylinder sleeve and a piston. A piston cylinder sleeve is provided between the piston and the piston cylinder. The inside of the piston is connected to the nut of the driving mechanism. The screw is driven to rotate by the motor, driving the nut and the piston to move, thereby changing the volume of the sealed cabin, thereby changing the buoyancy of the glider. The weight buoyancy of the flying wing type rechargeable underwater cruising underwater glider can be greatly adjusted.

[0052] like Figure 1 , Fig.13 , Fig.14As shown, the glider shell 1 is formed by wrapping the glider main frame with skin material, and the glider main frame includes a frame 20 and the glider main frame has a flying wing bionic airfoil shape. The main pressure cabin, underwater cruising system, ocean current energy generation system, temperature difference energy generation system, and buoyancy adjustment system are all installed on the glider main frame.

[0053] like Figure 2 , Figure 5 , Figure 7 and Fig. 9 As shown, the hydraulic support rod 15 of the suspension system, the hydraulic telescopic rod of the retractable system and the adjustable support rod 61 of the ocean current energy power generation system share a set of hydraulic power and control systems.

[0054] The hydraulic power and control system includes a power element, a control element, and a storage element containing hydraulic oil; the power element provides power to extract or recover the hydraulic oil; the control element controls the extension and retraction of the hydraulic cylinder by controlling the flow direction of the hydraulic oil.

[0055] like Figure 2 , Figure 5 , Figure 6 and Figure 7As shown, the power element is a hydraulic power system, which includes a hydraulic motor 21 and a hydraulic pump 22. The hydraulic pump 22 converts mechanical energy into hydraulic energy and provides pressure oil for the system. The storage element is an oil tank 23, in which an oil filter is provided. The control element includes a plurality of hoses for guiding the flow of hydraulic oil, a valve block 30, a one-way valve 31, an electromagnetic reversing valve, a relief valve 24, and a pipe joint. The hydraulic motor 21 drives the hydraulic pump 22 to extract hydraulic oil from the oil tank 23, and the flow direction of the hydraulic oil is controlled by the control element. In this embodiment, the hose is a high-pressure hose, which is convenient for the pipeline to move with the rotation of the support assembly. The oil tank 23 includes an oil tank cover 25 and an oil tank shell 26. The oil tank cover 25 is installed on the oil tank shell 26 by screws, and the oil tank cover 25 and the oil tank shell 26 are sealed by a sealing gasket. The hydraulic power and control system also includes a coupling 27, a hydraulic mounting bracket 28, a hydraulic system sealed cabin shell 29, and a hydraulic system sealed cabin hatch. The valve block 30 mainly controls the flow direction of the fluid and has the advantages of saving space, convenient installation and maintenance. The right surface of the valve block 30 is provided with the first oil port 301 of the valve block, the upper surface is provided with the second oil port 302 of the valve block, the third oil port 303 of the valve block, the fourth oil port 304 of the valve block, the tenth oil port 310 of the valve block, the eleventh oil port 311 of the valve block and the twelfth oil port 312 of the valve block in sequence, the left surface is provided with the fifth oil port 305 of the valve block and the ninth oil port 309 of the valve block, the rear surface of the valve block is provided with the sixth oil port 306 of the valve block, the seventh oil port 307 of the valve block and the eighth oil port 308 of the valve block, and the front surface of the valve block is provided with the thirteenth oil port 313 of the valve block, the fourteenth oil port 314 of the valve block and the fifteenth oil port 315 of the valve block. There is an oil passage inside the valve block, the first oil port 301 of the valve block, the second oil port 302 of the valve block, the third oil port 303 of the valve block, the fourth oil port 304 of the valve block, the fifth oil port 305 of the valve block, the sixth oil port 306 of the valve block, the seventh oil port 307 of the valve block, and the eighth oil port 308 of the valve block are connected through the oil passage; the ninth oil port 309 of the valve block, the tenth oil port 310 of the valve block, the eleventh oil port 311 of the valve block, the twelfth oil port 312 of the valve block, the thirteenth oil port 313 of the valve block, the fourteenth oil port 314 of the valve block, and the fifteenth oil port 315 of the valve block are connected through the oil passage. The one-way valve 31 prevents the hydraulic oil from flowing in reverse and prevents the oil pump from being damaged. The electromagnetic reversing valve adopts a three-position four-way electromagnetic reversing valve and is provided with five of them, namely the first three-position four-way electromagnetic reversing valve 401, the second three-position four-way electromagnetic reversing valve 402, the third three-position four-way electromagnetic reversing valve 403, the fourth three-position four-way electromagnetic reversing valve 404, and the fifth three-position four-way electromagnetic reversing valve 405, which are respectively connected to the front hydraulic support rod 15a, the rear hydraulic support rod 15b, the front hydraulic telescopic rod 12a, the rear hydraulic telescopic rod 12b, and the adjustable support rod 61.There are at least 11 pipe joints, namely a first pipe joint 501, a second pipe joint 502, a third pipe joint 503, a fourth pipe joint 504, a fifth pipe joint 505, a sixth pipe joint 506, a seventh pipe joint 507, an eighth pipe joint 508, a ninth pipe joint 509, a tenth pipe joint 510, and an eleventh pipe joint 511.

[0056] Among them, the first oil port 301 of the valve block is connected to the oil tank 23 through a pipeline, the second oil port 302 is connected to the oil return port of the relief valve 24 through a pipeline, the third oil port 303 of the valve block is connected to the oil port T of the second three-position four-way solenoid reversing valve 402 through a pipeline, the fourth oil port 304 of the valve block is connected to the oil port T of the first three-position four-way solenoid reversing valve 401 through a pipeline, the fifth oil port 305 of the valve block is connected to the oil inlet of the hydraulic pump 22 through a pipeline, the sixth oil port 306 of the valve block is connected to the oil port T of the third three-position four-way solenoid reversing valve 403 through a pipeline, the seventh oil port 307 of the valve block is connected to the oil port T of the fourth three-position four-way solenoid reversing valve 404 through a pipeline, and the eighth oil port 308 of the valve block is connected to the oil port T of the fifth three-position four-way solenoid reversing valve 405 through a pipeline. The ninth oil port 309 of the valve block is connected to the oil outlet of the hydraulic pump 22 through the one-way valve 31 through a pipeline, the tenth oil port 310 of the valve block is connected to the oil inlet of the relief valve 24 through a pipeline, the eleventh oil port 311 of the valve block is connected to the oil inlet P of the second three-position four-way solenoid reversing valve 402 through a pipeline, the twelfth oil port 312 of the valve block is connected to the oil inlet P of the first three-position four-way solenoid reversing valve 401 through a pipeline, the thirteenth oil port 313 of the valve block is connected to the oil inlet P of the third three-position four-way solenoid reversing valve 403 through a pipeline, the fourteenth oil port 314 of the valve block is connected to the oil inlet P of the fourth three-position four-way solenoid reversing valve 404 through a pipeline, and the fifteenth oil port 315 of the valve block is connected to the oil inlet P of the fifth three-position four-way solenoid reversing valve 405 through a pipeline.

[0057] Among them, the oil filter is installed at the bottom of the oil tank 23 and fixed on the oil tank cover 25 through a steel pipeline and a first pipe joint 501. The hydraulic motor 21 is connected to the hydraulic pump 22 through a coupling 27. The hydraulic pump 22 is provided with an oil inlet and an oil outlet. The oil inlet of the hydraulic pump 22 is connected to the oil filter through the first oil port 301 of the valve block, the fifth oil port 305 of the valve block, a high-pressure hose, and a first pipe joint 501. The oil outlet of the hydraulic pump 22 is connected to the check valve 31. The check valve 31 is installed on the valve block 30 through the ninth oil port 309 of the valve block. The relief valve 24 is provided with an oil inlet and an oil return port, and the oil inlet of the relief valve 24 is connected to the tenth oil port 310 of the valve block, and the oil return port of the relief valve 24 is connected to the oil filter through the second oil port 302 of the valve block, the first oil port 301 of the valve block, and the first pipe joint 501. The relief valve 24 mainly plays the role of constant pressure overflow, pressure stabilization, system unloading and safety protection. The first three-position four-way solenoid reversing valve 401, the second three-position four-way solenoid reversing valve 402, the third three-position four-way solenoid reversing valve 403, the fourth three-position four-way solenoid reversing valve 404, and the fifth three-position four-way solenoid reversing valve 405 are completely identical and are all provided with an oil inlet P, a working port A, a working port B, and an oil return port T. The twelfth oil port 312 of the valve block is connected to the oil inlet P of the first three-position four-way solenoid reversing valve 401, the eleventh oil port 311 of the valve block is connected to the oil inlet P of the second three-position four-way solenoid reversing valve 402, the thirteenth oil port 313 of the valve block is connected to the oil inlet P of the third three-position four-way solenoid reversing valve 403, the fourteenth oil port 314 of the valve block is connected to the oil inlet P of the fourth three-position four-way solenoid reversing valve 404, and the fifteenth oil port 315 of the valve block is connected to the oil inlet P of the fifth three-position four-way solenoid reversing valve 405. The working port A of the first three-position four-way solenoid reversing valve 401 is connected to the rodless chamber oil port of the hydraulic telescopic rod 12a through a high-pressure hose and the fifth pipe joint 505; the working port B of the first three-position four-way solenoid reversing valve 401 is connected to the rod chamber oil port of the hydraulic telescopic rod 12a through a high-pressure hose and the fourth pipe joint 504; the oil return port T of the first three-position four-way solenoid reversing valve 401 is connected to the oil filter through a high-pressure hose, the fourth oil port 304 of the valve block, the first oil port 301 of the valve block, and the first pipe joint 501. The working port A of the second three-position four-way solenoid reversing valve 402 is connected to the rodless chamber oil port of the rear hydraulic telescopic rod 12b through a pipeline and a second pipe joint 502, the working port B of the second three-position four-way solenoid reversing valve 402 is connected to the rod chamber oil port of the rear hydraulic telescopic rod 12b through a pipeline and a third pipe joint 503, and the oil return port T of the second three-position four-way solenoid reversing valve 402 is connected to the oil filter through a pipeline, the third oil port 303 of the valve block, the first oil port 301 of the valve block, and the first pipe joint 501.The working port A of the third three-position four-way solenoid reversing valve 403 is connected to the rodless chamber oil port of the front hydraulic support rod 15a through a pipeline and the sixth pipe joint 506, the working port B of the third three-position four-way solenoid reversing valve 403 is connected to the rod chamber oil port of the front hydraulic support rod 15a through a pipeline and the seventh pipe joint 507, and the oil return port T of the third three-position four-way solenoid reversing valve 403 is connected to the oil filter through a pipeline, the sixth oil port 306 of the valve block, the first oil port 301 of the valve block, and the first pipe joint 501. The working port A of the fourth three-position four-way solenoid reversing valve 404 is connected to the rodless chamber oil port of the rear hydraulic support rod 15b through a pipeline and the eighth pipe joint 508, the working port B of the fourth three-position four-way solenoid reversing valve 404 is connected to the rod chamber oil port of the rear hydraulic support rod 15b through a pipeline and the ninth pipe joint 509, and the oil return port T of the fourth three-position four-way solenoid reversing valve 404 is connected to the oil filter through a pipeline, the seventh oil port 307 of the valve block, the first oil port 301 of the valve block, and the first pipe joint 501. The working port A of the fifth three-position four-way solenoid reversing valve 405 is connected to the rodless chamber oil port of the adjustable support rod 61 through a pipeline and the tenth pipe joint 510, the working port B of the fifth three-position four-way solenoid reversing valve 405 is connected to the rod chamber oil port of the adjustable support rod 61 through a pipeline and the eleventh pipe joint 511, and the oil return port T of the fifth three-position four-way solenoid reversing valve 405 is connected to the oil filter through a pipeline, the eighth oil port 308 of the valve block, the first oil port 301 of the valve block, and the first pipe joint 501.

[0058] The hydraulic motor 21, the hydraulic pump 22, the relief valve 24, the first three-position four-way electromagnetic reversing valve 401, the second three-position four-way electromagnetic reversing valve 402, the third three-position four-way electromagnetic reversing valve 403, the fourth three-position four-way electromagnetic reversing valve 404, and the fifth three-position four-way electromagnetic reversing valve 405 are connected to the hydraulic mounting bracket 28 by bolts. The hydraulic mounting bracket 28 is installed in the hydraulic power and control system sealed cabin shell 29 by screws. A watertight connector mounting hole 29a is designed on the hydraulic system sealed cabin shell 29, and the hydraulic system sealed cabin shell 29 is connected to the hydraulic system sealed cabin hatch cover by screws at the mounting hole, and the hydraulic system sealed cabin shell 29 and the hatch cover are sealed by a sealing gasket.

[0059] like Figure 7The figure shows the working principle of the hydraulic power and control system. The working principle of the hydraulic power and control system is described below by taking the hydraulic telescopic rod 12a as an example. The hydraulic motor 21 and the hydraulic pump 22 are the driving elements of the hydraulic power and control system. The oil filter is used to filter the hydraulic oil. One end of the oil outlet of the hydraulic pump 22 is connected to the one-way valve 31. The one-way valve 31 prevents the hydraulic oil from flowing in reverse and prevents the oil pump from being damaged. The oil inlet of the valve block overflow valve 24 is connected to the high-pressure oil circuit of the oil outlet of the hydraulic pump 22 through the one-way valve 31, and the oil return port is connected to the oil tank, which is used to adjust the limited pressure of the hydraulic power and control system and play a safe overflow role. When the hydraulic telescopic rod 12a needs to be extended, the oil inlet P of the first three-position four-way solenoid reversing valve 401 is connected to the working port A, and the oil outlet T is connected to the working port B. Under the action of the hydraulic pump 22, the hydraulic oil enters the rodless chamber 12a2 of the hydraulic telescopic rod 12a through the oil inlet P and the working port A, and the hydraulic oil in the rod chamber 12a1 returns to the oil tank 23 through the working port B and the oil return port T, and the hydraulic telescopic rod 12a extends. When the hydraulic telescopic rod 12a needs to be retracted, the oil inlet P of the first three-position four-way solenoid reversing valve 401 is connected to the working port B, and the oil outlet T is connected to the working port A. Under the action of the hydraulic pump 22, the hydraulic oil enters the rodless chamber 12a1 of the hydraulic telescopic rod 12a through the oil inlet P and the working port B, and the hydraulic oil in the rodless chamber 12a2 returns to the oil tank 23 through the working port A and the oil return port T, and the actuator shortens.

[0060] The hydraulic telescopic rod 12a is a piston-type double-acting first-stage telescopic hydraulic cylinder. The hydraulic cylinder includes a hydraulic cylinder barrel, a piston rod, a hydraulic cylinder front end cover, a hydraulic cylinder rear end cover and a seal. The inner wall of the hydraulic cylinder barrel is the barrel of the piston rod, and the piston rod and the hydraulic cylinder barrel are sealed by an O-ring. The rodless chamber oil port is provided at the front end cover of the hydraulic telescopic rod 12a, and the rod chamber oil port is provided at the lower end of the hydraulic cylinder barrel. The front end cover of the hydraulic cylinder is connected to the hinge joint by bolts, and the hinge joint is connected to the hinge seat by a bolt-type rolling hinge pin, and the hinge seat is installed on the mounting bracket 20 by bolts. The front end cover 24 of the hydraulic cylinder realizes the rotation of the hydraulic cylinder through the rotation of the hinge joint. The other end of the piston rod is provided with a hinge joint, which is connected to the connecting rod 16 through a hinge pin. The hydraulic telescopic rod 12a is extended and retracted to drive the connecting rod 16 to rotate, thereby driving the hydraulic support rod 15 to rotate.

[0061] Function realization process and characteristics of piston-type double-acting one-stage telescopic hydraulic cylinder: When extending, the hydraulic pump 22 presses pressure oil into the rodless chamber 12a2 through the rodless chamber oil port of the front end cover of the hydraulic telescopic rod 12a, ensuring that the piston rod can be smoothly extended. When retracting, the hydraulic pump 22 presses pressure oil into the outside of the piston rod (i.e., the rod chamber 12a1) through the rod chamber oil port of the hydraulic telescopic rod 12a, which can ensure that the piston rod can be smoothly retracted. The above-mentioned one-stage telescopic hydraulic cylinder has a compact structure, the length of the entire hydraulic cylinder can be shortened, and it occupies a small space. The actuator adopts the hydraulic principle to provide sufficient power to ensure the stable extension of the travel system.

[0062] The hydraulic support rod 15 is a piston-type double-acting three-stage telescopic hydraulic cylinder. The hydraulic cylinder includes a first-stage hydraulic cylinder barrel, a first-stage piston rod, a second-stage piston rod, and a third-stage piston rod. The rodless chamber oil port is provided at the front end cover at the upper end of the first-stage hydraulic cylinder, and the rod chamber oil port is provided at the lower end of the first-stage hydraulic cylinder barrel. The hydraulic support rod 15 also includes a first oil circuit and a second oil circuit; the first oil circuit is provided inside the first-stage piston rod housing, and one end is connected to the inside of the first-stage hydraulic cylinder, and the other end is connected to the inside of the first-stage piston rod; the second oil circuit is provided inside the second-stage piston rod housing, and one end is connected to the inside of the first-stage piston rod, and the other end is connected to the inside of the second-stage piston rod.

[0063] One end of the three-stage piston rod of the hydraulic support rod 15 is fixedly connected to the stator protective shell of the hub motor 13 through the flange 18, the top of the first-stage hydraulic cylinder is hinged to the mounting bracket 20, and a hinge joint 15d is set in the middle of the hydraulic support rod 15 to be hinged to the connecting rod 16; the hinged end of the hydraulic support rod 15 of the suspension system includes two hinge joints 15e and 15f, and the center lines of the two hinge joints 15e and 15f are on the same straight line. When the hydraulic support rod 15 is hinged to the mounting bracket 20, the center line of the hinge axis is perpendicular to the longitudinal symmetry plane of the glider, which can generate a large circumferential moment and increase the structural strength of the suspension system when the propeller 14 is subjected to lateral impact force. The hydraulic support rod 15 of the suspension system adopts a retractable hydraulic cylinder form. Through the extension and retraction of the hydraulic support rod 15, the distance between the propeller 14 and the glider shell 1 can be adjusted when the cruise system is working, thereby adjusting the posture of the glider when staying on the seabed and cruising.

[0064] The effective area of ​​the primary piston rod is larger than that of the secondary piston rod, and the effective area of ​​the secondary piston rod is larger than that of the tertiary piston rod. Function realization process and characteristics of the hydraulic support rod 15. When extending, the hydraulic pump 22 presses pressure oil into the rodless chamber 15a2 through the rodless chamber oil port of the front end cover of the primary hydraulic cylinder to ensure that the piston can be smoothly extended, and the primary piston rod is extended first, followed by the secondary piston rod, and the tertiary piston rod is extended last. When retracting, the hydraulic pump 22 presses pressure oil into the outer side of the cylinder wall of the primary piston rod, the secondary piston rod and the tertiary piston rod (i.e., the rod chamber 15a1) through the rod chamber oil port of the primary hydraulic cylinder and the internal oil circuit of the hydraulic cylinder housing, so as to ensure that the piston can be retracted smoothly. And the tertiary piston rod is retracted first, followed by the secondary piston rod, and the primary piston rod is retracted last. The total stroke of the three-stage telescopic hydraulic cylinder is the sum of the strokes of the sleeves at each stage. When extended, the stroke can be quite long. When not working, the inner wall of the piston of the previous stage of the multi-stage hydraulic cylinder is the cylinder of the cylinder of the next stage of the hydraulic cylinder, which is assembled one by one. The structure is very compact, and the length of the entire hydraulic cylinder can be shortened to a very short length, occupying a small space. The hydraulic support rod 15a adopts the hydraulic principle to provide sufficient support force to ensure that the glider can stably stay at the bottom of the water or cruise at the bottom of the water. At the same time, the attitude of the glider can be accurately adjusted by adjusting the telescopic length of the hydraulic cylinder, thereby improving the environmental adaptability and detection performance of the glider when staying at the bottom of the water or cruising at the bottom of the water.

[0065] Example 2

[0066] The working modes of the flying wing type rechargeable underwater cruising underwater glider of this embodiment include three working modes: underwater gliding, underwater residence and underwater cruising. Among them, in the underwater gliding mode, the underwater cruising system 4 and the ocean current energy power generation system 5 are both in a non-working state, and the underwater cruising system 4 and the ocean current energy power generation system 5 are completely inside the glider shell 1. At this time, the flying wing type rechargeable underwater cruising underwater glider maintains a streamlined shape. In the underwater gliding mode, the temperature difference energy power generation system 3 is in a working state and can charge the glider. The buoyancy of the underwater glider is achieved by the buoyancy adjustment system 6 changing the buoyancy of the underwater glider, and the gliding posture of the glider during buoyancy is controlled by the posture adjustment system. In the underwater residence mode, the retracting and releasing system of the underwater cruising system 4 controls the driving system to rotate out from the inside of the glider shell 1, but the hub motor 13 does not work. At this time, the ocean current energy power generation system 5 can be rotated out and work. In the underwater cruising mode, the underwater cruising system is fully operational, the travel system remains extended from the inside of the glider shell 1, and the propeller of the travel system is independently controlled to achieve heading control. At this time, the ocean current energy generation system 5 does not work, and it needs to be folded and contracted and placed inside the shell. When the glider is stationed or cruising underwater, when the suspension system is in a vertical state, the rocker and the connecting rod of the connecting rod mechanism are in the same straight line, forming a self-locking, eliminating the impact of the travel system's impact on the hydraulic system. The following further describes the three working modes of the flying wing-type rechargeable underwater cruising underwater glider.

[0067] When the flying wing type rechargeable underwater cruising underwater glider is in the underwater gliding working mode, it forms a "W"-shaped motion trajectory underwater. It can realize large-scale, long-time three-dimensional continuous ocean observation activities while consuming a small amount of energy. In a single cycle operation process, it includes four stages: floating and diving conversion, diving, diving and floating conversion, and floating. In the underwater gliding working mode, the temperature difference energy generation system works. The working mode of the temperature difference energy generation system 3 is described below in combination with the four stages of the underwater gliding working mode. In the floating and diving conversion stage, the glider is close to the ocean surface, and the temperature of the surrounding seawater is higher than the melting point of the phase change material in the heat exchanger 90. At this time, the phase change material is in a liquid state, the volume of the phase change material is large, there is little hydraulic oil inside the heat exchanger 90, the oil bag 101 is filled with hydraulic oil, and all valves are closed. During the diving stage, as the diving depth increases, the water temperature around the temperature difference energy power generation system 3 gradually decreases. After diving to a certain depth, the seawater temperature is lower than the phase change temperature of the internal phase change material, and the phase change material will gradually solidify and shrink, resulting in negative pressure in the heat exchanger 90. Due to the negative pressure, the first one-way valve 91 opens, and the hydraulic oil in the oil bag 101 flows into the heat exchanger 90. During the diving and floating conversion stage, the glider is close to the bottom of the ocean, and the temperature of the surrounding seawater is lower than the melting point of the phase change material in the heat exchanger 90. At this time, the phase change material is in a solid state, the volume of the phase change material is small, and there is more hydraulic oil inside the heat exchanger 90. During the buoyancy stage, as the buoyancy depth decreases, the water temperature around the temperature difference energy power generation system 3 gradually increases. After buoyancy to a certain depth, the seawater temperature is higher than the phase change temperature of the internal phase change material, and the phase change material will gradually melt and expand, causing the pressure in the heat exchanger 90 to increase. The second one-way valve 92 opens, and the hydraulic oil in the heat exchanger 90 flows into the accumulator 93. The pressure sensor 94 can monitor the pressure of the pipeline and the accumulator 93. When the pressure reaches the set value, the solenoid valve 95 opens, and the hydraulic oil in the accumulator 93 is gradually discharged. After passing through the solenoid valve 95, the hydraulic motor 96 is driven to rotate, and the hydraulic oil finally returns to the oil bag 101. In this process, the hydraulic motor 96 increases the speed through the gear speed increaser 97 and drives the engine 98 to rotate. Then the engine 98 generates an induced electromotive force, thereby completing the energy conversion from temperature difference energy to electrical energy. The final generated electrical energy is stored in the battery 100 after passing through the voltage stabilizing rectifier unit 99.

[0068] The flying wing rechargeable underwater cruising underwater glider can switch between three working modes: underwater gliding, underwater residence and underwater cruising. The underwater gliding working mode and the underwater residence working mode can be switched directly, and the underwater residence working mode and the underwater cruising working mode can also be switched directly. When switching between the underwater gliding working mode and the underwater cruising working mode, it is necessary to switch through the underwater residence working mode. The following is a detailed explanation of the switching process between the underwater gliding working mode and the underwater residence working mode, as well as the underwater residence working mode and the underwater cruising working mode.

[0069] The transformation of the flying wing type rechargeable underwater cruising underwater glider from the underwater gliding working mode to the underwater staying working mode mainly includes three stages: preparing for landing, starting diving, and underwater staying. The specific working modes are:

[0070] In the preparation for landing stage, the buoyancy adjustment system discharges a certain amount of seawater, so that the glider changes from the negative buoyancy state during diving and gliding to the zero buoyancy state. The control system controls the shell hatch under the underwater cruise system to open, and the travel system is allowed to extend. Subsequently, the hydraulic power and control system work, and the control system controls the hydraulic telescopic rod 12a to contract and release the travel system. The specific process is: the control system controls the three-position four-way electromagnetic reversing valve oil inlet P to communicate with the working port B, and the oil outlet T to communicate with the working port A. Under the action of the hydraulic motor 21 and the hydraulic pump 22, the hydraulic oil enters the rod chamber 12a1 of the hydraulic telescopic rod through the oil inlet P, the three-position four-way electromagnetic reversing valve working port B, and the rod chamber oil port. The hydraulic oil in the rodless chamber 12a2 returns to the oil tank 23 through the rodless chamber oil port, the return oil port T, and the working port A. The hydraulic cylinder contracts, and the rocker and connecting rod move, so that the suspension system rotates out of the shell until the suspension system rotates to be perpendicular to the main axis of the underwater glider. At this time, the rocker and the connecting rod are on the same straight line, forming a self-locking force for the hinged joint with the suspension system. The impact force of the spiral wheel is borne by the suspension system, the connecting rod and the rocker, and there is no force on the hydraulic cylinder of the hydraulic system, eliminating the impact of the spiral wheel on the hydraulic system. Afterwards, the control system controls the hydraulic support rod 15 to extend so that the glider shell is far enough from the seabed when landing. The specific process is: the control system controls the oil inlet P of the three-position four-way electromagnetic reversing valve to be connected with the working port A, and the oil outlet T to be connected with the working port B. Under the action of the hydraulic motor 21 and the hydraulic pump 22, the hydraulic oil enters the rodless chamber 15a2 of the hydraulic telescopic rod through the oil inlet P, the working port A of the three-position four-way electromagnetic reversing valve, and the rodless chamber oil port. The hydraulic oil in the rod chamber 15a1 returns to the oil tank 23 through the rod chamber oil port, the return oil port T, and the working port B. The hydraulic support rod extends until the hydraulic support rod is extended to the maximum value, and the hydraulic power and control system stops working.

[0071] When starting the dive, the buoyancy adjustment system sucks in a small amount of seawater, causing the glider to change from a zero buoyancy state to a slightly negative buoyancy state. Under the action of negative buoyancy, the underwater glider slowly dives until it lands on the bottom of the water.

[0072] During the underwater residence stage, the buoyancy adjustment system inhales a large amount of seawater until the buoyancy adjustment system is fully loaded, so that the glider is in a state of large negative buoyancy, so that it can stably reside on the bottom of the water. Subsequently, the attitude sensor can detect the attitude of the glider. If it is necessary to adjust the underwater residence attitude of the glider, the hydraulic power and control system work, and the control system controls the extension and contraction of the four hydraulic support rods to adjust the underwater residence attitude of the glider. In the underwater residence attitude, the ocean current energy power generation system can work. The release and working mode of the ocean current energy power generation system are as follows: the control system controls the shell hatch above the ocean current energy power generation system to open, and the power generation system is allowed to extend at this time. The control system controls the motor 86 of the retractable mechanism 35 to rotate, and the screw 81 is turned to the screw nut 82 to move toward the support side support unit 85, and the adjustable support rod 61 is driven to rotate around the hinge seat 63 through the connecting rod 89 and the hinge seat 88, so that the ocean current energy power generation system is rotated out of the shell until the adjustable support rod 61 is vertical, and the motor 86 stops working. After that, the hydraulic power and control system work, and the control system controls the hydraulic oil to flow into the rodless cavity of the adjustable support rod 61 and out of the rod cavity of the adjustable support rod 61, thereby extending the adjustable support rod 61 until it reaches the set length. In the third step, the control system controls the hydraulic oil to flow into the hydraulic rod 44, and the hydraulic rod 44 extends. After the hydraulic rod 44 extends, it drives the V-shaped connecting piece 43 to rotate around the top hinge shaft, thereby driving the retractable blades 41 to unfold, until the retractable blades 41 are unfolded to the set value. In the fourth step, the control system controls the hydraulic oil to flow into the hydraulic retractable rod 54, and the hydraulic retractable rod 54 extends, thereby driving the retractable blades 41 to extend, until the tip blades 53 of the retractable blades 41 are tightly fitted with the root blades 52. Finally, the speed sensor can detect the flow direction of the power generation system 33, and then the control system controls the motor 70 to work. The motor 70 can control the rotation of the shaft system 72 through the reducer 71, thereby rotating the pinion 65, and then driving the support plate 62 to rotate relative to the glider, thereby realizing the direction control of the power generation system 33 fixed to the support plate 62, until the power generation system 33 faces the flow, and the motor 70 stops working, at which time the utilization rate of the ocean current energy is the highest. At this point, the ocean current energy power generation system completes the transition from the folded state to the working state, and then the retractable blades 41 will generate a torque to rotate the impeller system 36 under the action of the ocean current, and the rotation of the impeller system 36 is increased by the speed increase mechanism 37 and then transmitted to the generator 38, driving the generator 38 to generate electricity.

[0073] The flying wing type rechargeable underwater cruising underwater glider changes from the underwater stationary working mode to the underwater gliding working mode, which mainly includes four stages: preparing to float, starting to float, preparing to glide, and floating and gliding. The specific working modes are:

[0074] In the preparation stage for floating, the main task is to complete the folding of the ocean current energy power generation system. If the ocean current energy power generation system is not working and folded inside the glider shell in the seabed residence mode, this step can be skipped. The folding process of the ocean current energy power generation system is as follows: First, the control system controls the power generation system to stop working. After the sensor detects the posture of the power generation system 33, the control system controls the motor 70 to work, thereby driving the power generation system 33 fixed to the support plate 62 to rotate until the power generation system 33 faces the front of the glider, and the motor 70 stops working so that the ocean current energy power generation system can be folded and recovered. After that, the control system controls the hydraulic oil to flow out of the hydraulic retracting rod 54, and the hydraulic retracting rod 54 contracts and drives the retractable blades 41 to retract until the tip blades 53 of the retractable blades 41 are completely retracted. In the third step, the control system controls the hydraulic oil to flow out of the hydraulic rod 44, and the hydraulic rod 44 is shortened. After the hydraulic rod 44 is shortened, it drives the V-shaped connector 43 to rotate around the top hinge shaft, thereby driving the retractable blades 41 to fold until the retractable blades 41 are completely folded. In the fourth step, the hydraulic power and control system work, and the control system controls the hydraulic oil to flow into the rod cavity of the adjustable support rod 61 and into the rod cavity of the adjustable support rod 61, thereby causing the adjustable support rod 61 to retract until it is fully retracted. Finally, the control system controls the motor 86 of the retracting mechanism 35 to rotate, and through the screw 81, the screw nut 82 is transformed to move toward the fixed side support unit 84, and the adjustable support rod 61 is driven to rotate around the hinge seat 63 through the connecting rod 89 and the hinge seat 88, thereby causing the ocean current energy power generation system to rotate into the shell until the adjustable support rod is fully retracted, and the motor 86 stops working. The control system controls the shell hatch above the ocean current energy power generation system to close to maintain the good fluid performance of the flying wing glider. At this point, the ocean current energy power generation system completes the transition from the working state to the folded state.

[0075] During the start-up phase, the buoyancy control system discharges a large amount of seawater, causing the glider to change from a negative buoyancy state to a positive buoyancy state until the glider leaves the water bottom.

[0076] In the preparation stage for gliding, the buoyancy adjustment system sucks in a certain amount of seawater, so that the glider changes from the positive buoyancy state at the start of buoyancy to the zero buoyancy state. Then, the hydraulic power and control system work, the control system controls the hydraulic support rod 15 to retract, and then controls the hydraulic telescopic rod 12a to extend and retract the travel system, so as to achieve the following effect: Figure 3In the state shown, the specific process is: the control system controls the oil inlet P of the three-position four-way solenoid reversing valve to be connected with the working port B of the hydraulic support rod 15, and the oil outlet T to be connected with the working port A. Under the action of the hydraulic motor 21 and the hydraulic pump 22, the hydraulic oil enters the rod chamber 15a1 of the hydraulic support rod 15 through the oil inlet P, the working port B of the three-position four-way solenoid reversing valve, and the rod chamber oil port. The hydraulic oil in the rodless chamber 15a2 returns to the oil tank 23 through the rod chamber oil port, the return oil port T, and the working port A, and the hydraulic support rod contracts until the hydraulic support rod is fully contracted. Afterwards, the control system controls the oil inlet P of the three-position four-way electromagnetic reversing valve to be connected to the working port A of the hydraulic telescopic rod 12a, and the oil outlet T to be connected to the working port B. Under the action of the hydraulic motor 21 and the hydraulic pump 22, the hydraulic oil enters the rodless chamber 12a2 of the hydraulic telescopic rod through the oil inlet P, the working port A of the three-position four-way electromagnetic reversing valve, and the rodless chamber oil port. The hydraulic oil in the rod chamber 12a1 returns to the oil tank 23 through the rod chamber oil port, the return oil port T, and the working port B. The hydraulic cylinder extends, and the rocker and connecting rod move, thereby causing the suspension system to rotate into the shell until the suspension system is fully retracted, and the hydraulic power and control system stop working. Finally, the control system controls the shell hatch cover under the underwater cruising system to close, so that the flying wing underwater glider maintains an excellent streamline.

[0077] During the upward gliding stage, the buoyancy adjustment system discharges seawater to put the glider in a positive buoyancy state when gliding upward. Then the attitude adjustment system adjusts the gliding attitude by adjusting the center of gravity position of the underwater glider, allowing it to glide upward stably and efficiently.

[0078] The flying wing type rechargeable underwater cruising underwater glider changes from the underwater residence working mode to the underwater cruising working mode: when the underwater residence working mode sea current energy power generation system is not working and folded inside the glider shell, the hub motor integrated control system only needs to work to control the rotation of the hub motor to achieve underwater cruising; the four groups of hub motors are controlled separately, and when the four groups of hub motors have the same speed, straight-line navigation is achieved, and when there is a speed difference, steering control is achieved. The implementation scheme of the four groups of hub motors being controlled separately can still provide power to drive the glider to cruise underwater even when two groups of propellers do not contact the bottom of the water, which can improve the environmental adaptability and detection performance of the glider during underwater cruising. When encountering a rugged seabed, the hydraulic power and control system can be used to control the extension and retraction of the hydraulic support rod 15 to improve the underwater cruising capability of the glider. When the underwater residence working mode sea current energy power generation system is unfolded and working, it is necessary to first shrink and fold the sea current energy power generation system to return it to the inside of the glider shell, and then the hub motor integrated control system controls the rotation of the hub motor to achieve underwater cruising.

[0079] When the flying wing type rechargeable underwater cruising underwater glider changes from the underwater cruising working mode to the underwater staying working mode, it only needs to stop the hub motor integrated control system from working and the hub motor from rotating to change to the underwater staying working mode.

[0080] When switching between the underwater gliding working mode and the underwater cruising working mode, it is necessary to switch through the underwater staying working mode. When switching from the underwater gliding working mode to the underwater cruising working mode, it is necessary to first switch from the underwater gliding working mode to the underwater staying working mode, and then switch from the underwater staying working mode to the underwater cruising working mode; when switching from the underwater cruising working mode to the underwater gliding working mode, it is necessary to first switch from the underwater cruising working mode to the underwater staying working mode, and then switch from the underwater staying working mode to the underwater gliding working mode.

[0081] The driving system and the ocean current energy power generation system of the present invention can be adjusted and rotated by the retrieval system. While realizing the underwater residence, cruising and power generation functions of the glider, the appearance of the flying wing underwater glider is not changed, thereby ensuring the excellent fluid performance in the gliding working mode; and the connecting rod mechanism in the retrieval system and the spiral wheel suspension mechanism of the driving system are designed as a four-link mechanism with a self-locking function, and the power system in the retrieval system is a self-locking hydraulic system. The entire retrieval system has the advantages of large contraction force, simple structure, convenient control, and double self-locking, and can safely and reliably control the rotation of the spiral wheel suspension mechanism; the actuator of the underwater cruising driving system adopts the spiral wheel form, which has the advantages of strong grip and not easy to sink into the mud, etc., which is sufficient to cope with the harsh and rugged environment of the underwater and improve the environmental adaptability and detection performance of the glider during underwater cruising; the support rod in the underwater cruising suspension mechanism adopts the form of a hydraulic cylinder, which can The hydraulic cylinder can be extended and retracted to adjust the posture of the glider when it is stationed underwater and cruising underwater, and the required posture of the glider can still be maintained in the harsh and rugged environment of the underwater, thereby improving the detection performance of the glider when it is stationed underwater and cruising; the present invention comprises two charging systems, a temperature difference energy power generation system can generate electricity during underwater gliding, and an ocean current energy power generation system can generate electricity during underwater stationing, both of which can greatly extend the actual working time of the glider; the impeller of the ocean current energy power generation system in the present invention can be extended and folded, so that a longer impeller can be designed in a smaller space, the torque on the impeller can be increased, and the working performance of the power generation system under low-speed ocean current conditions can be improved; the support rod in the retractable mechanism of the ocean current energy power generation system in the present invention adopts a hydraulic cylinder form, which can increase the distance between the impeller and the water bottom during operation, increase the fluid velocity at the impeller, and thus improve the working performance of the power generation system under low-speed ocean current conditions. The present invention takes into account the excellent hydrodynamic performance of the flying wing underwater glider when gliding underwater, as well as the advantages of safe landing, stable operation, reliable work and strong environmental adaptability during underwater residence and cruise detection. It can be charged during underwater gliding and underwater residence, which greatly increases the mission execution time of the glider.

Claims

1. A flying wing type rechargeable underwater cruising underwater glider, characterized in that: It comprises a flying wing shell, a main pressure cabin is installed on the top of the flying wing shell, and a temperature difference energy generation system, an underwater cruising system, an ocean current energy generation system and a buoyancy adjustment system are symmetrically installed on both sides of the main pressure cabin; the ocean current energy generation system comprises a power generation system, a support system and a retracting and extending mechanism, the power generation system is arranged on the top of the support system, and the retracting and extending mechanism is connected to the bottom; the power generation system comprises an impeller system, and the impeller of the impeller system can be extended and folded; there is an attitude adjustment system in the main pressure cabin.

2. A flying wing type rechargeable underwater cruising underwater glider according to claim 1, characterized in that: The impeller system includes a hub and a bearing box. A shaft sleeve is provided on the outer side of the shaft between the hub and the bearing box. A V-shaped connector is provided at the end of the hub. A hydraulic rod is hinged between one end of the V-shaped connector and the shaft sleeve, and a retractable blade is hinged at the other end of the V-shaped connector.

3. A flying wing type rechargeable underwater cruising underwater glider according to claim 2, characterized in that: The retractable blade comprises a blade root, a root blade and a tip blade. One end of the root blade is fixedly connected with the blade root, and the other end is connected with the tip blade. A hydraulic retractable rod is hinged between the blade root and the tip blade.

4. A flying wing type rechargeable underwater cruising underwater glider according to claim 3, characterized in that: The two ends of the hydraulic retractable rod are spherically hinged with the blade root and the tip blade, and the top of the root blade is designed to have the same airfoil shape as the root of the tip blade. After the tip blade is extended, the root is completely fitted with the top of the root blade.

5. The flying wing type rechargeable underwater cruising underwater glider according to claim 1, characterized in that: The support system includes an adjustable support rod, a support plate, and a direction adjustment system. One end of the adjustable support rod is hinged to the bracket, and the other end is connected to the support plate. The direction adjustment system is used to control the direction of the power generation system.

6. The flying wing type rechargeable underwater cruising underwater glider according to claim 1, characterized in that: The underwater cruising system includes a driving system and a retracting and releasing system; the driving system is symmetrically connected to both sides of the retracting and releasing system, the driving system includes a power system, an execution system and a suspension system, and the power system is connected to the execution system and the suspension system; the retracting and releasing system includes symmetrically arranged hydraulic telescopic rods, one end of which is respectively connected to the suspension system on the corresponding side.

7. A flying wing type rechargeable underwater cruising underwater glider according to claim 6, characterized in that: The suspension system, the retracting and launching system and the ocean current energy power generation system share a set of hydraulic power and control systems.

8. The flying wing type rechargeable underwater cruising underwater glider according to claim 7, characterized in that: The hydraulic power and control system includes a power element, a control element, and a storage element containing hydraulic oil; the power element provides power to extract or recover the hydraulic oil; and the control element controls the extension and retraction of the hydraulic cylinder by controlling the flow direction of the hydraulic oil.

9. A working mode of the flying wing type rechargeable underwater cruising underwater glider according to any one of claims 1 to 8, characterized in that: include: Underwater gliding, underwater stay and underwater cruising, and can switch between three modes: In the underwater gliding working mode, the underwater cruising system and the ocean current energy power generation system are retracted into the shell, the underwater glider maintains a streamlined shape, and the attitude adjustment system and the buoyancy adjustment system are used to adjust the attitude and float up and down; in the underwater gliding working mode, the temperature difference energy power generation system works and charges the glider; In the underwater stationary working mode, the underwater cruise system's retracting and releasing system controls the driving system to rotate out from the inside of the glider shell, the hub motor does not work, the hydraulic support rod is extended, and the underwater glider achieves stable underwater stationing by greatly changing the gravity through the buoyancy adjustment system, and adjusts the attitude by adjusting the extension and retraction degree of the hydraulic support rod; at this time, the ocean current energy power generation system can rotate out to work; When in underwater cruise working mode, the retraction and extension system of the underwater cruise system controls the driving system to rotate out from the inside of the glider shell, the hydraulic support rod is extended, and the underwater glider drastically changes the gravity to a negative buoyancy state through the buoyancy adjustment system. The hub motor works, and the attitude is adjusted by adjusting the extension and retraction degree of the hydraulic support rod, and the heading control is achieved by controlling the speed of each hub motor.

10. The working mode of the flying wing type rechargeable underwater cruising underwater glider according to claim 9 is characterized in that: The underwater gliding working mode is directly switched to the underwater staying working mode, and the underwater staying working mode is directly switched to the underwater cruising working mode. When switching between the underwater gliding working mode and the underwater cruising working mode, the underwater staying working mode is switched.

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