An air-dropped underwater glider

Abstract

This invention relates to the field of underwater vehicle technology, specifically to an airdrop-type underwater glider. The airdrop-type underwater glider includes an attitude adjustment cabin, a bow mounting frame, a cushioning elastic component, a mobile battery pack, and a pitch drive mechanism. The pitch drive mechanism is drive-connected to the mobile battery pack. The bow mounting frame is mounted at the front end of the attitude adjustment cabin. The cushioning elastic component includes a first cushioning elastic element disposed on the front surface of the mobile battery pack. The bow mounting frame has a cushioning mating surface for cooperating with the first cushioning elastic element. The cushioning elastic component also includes a second cushioning elastic element disposed between the mobile battery pack and the pitch drive mechanism. When the airdrop-type underwater glider is subjected to an impact load, the first cushioning elastic element at the front end of the mobile battery pack and the bow mounting frame cushion the impact force transmitted from the water surface, while the second cushioning elastic element absorbs the impact force transmitted by the mobile battery pack, significantly reducing the impact force transmitted to the pitch drive mechanism.

Description

Technical Field

[0001] This invention relates to the field of underwater vehicle technology, specifically to an airdrop-type underwater glider. Background Technology

[0002] Underwater gliders are widely used in marine environmental monitoring, hydrological surveys, and military reconnaissance. Currently, airdrop technology has become one of the important deployment methods for underwater gliders. After being released from high altitude, the underwater glider accelerates downward under the influence of gravity, and when it reaches the predetermined altitude, the parachute system activates, ultimately landing in the water. Of course, in actual deployment, the attitude of the underwater glider also needs to be adjusted. The attitude adjustment of the underwater glider mainly relies on the positional changes of the movable battery pack. The core working principle is to control the forward and backward movement and rotation along the eccentric axis of the movable battery pack to achieve a change in the center of mass of the underwater glider, thereby achieving attitude adjustment.

[0003] The mobile battery pack needs to move during the underwater glider's airdrop phase, and since it has a certain mass, it constitutes the largest inertial mass component inside the underwater glider. After airdrop, the underwater glider will experience enormous axial overload impacts during parachute deployment and at the moment of impact with the water surface. Under such impact loads, the mobile battery pack, due to its inertia, will directly transmit the enormous impact force to the drive mechanism connected to it. Over time, this can easily damage the drive mechanism and affect the attitude control of the entire underwater glider. Summary of the Invention

[0004] The purpose of this invention is to provide an airdrop-type underwater glider to solve the problem that existing underwater gliders are easily subjected to extremely large impact loads at the moment of parachute opening and impact with the water surface, which affects the attitude adjustment of the entire underwater glider.

[0005] An airdrop-type underwater glider of the present invention includes an attitude adjustment cabin, a bow mounting frame, and an attitude adjustment device and a buffer elastic assembly disposed within the attitude adjustment cabin. The attitude adjustment device includes a mobile battery pack and a pitch drive mechanism. The mobile battery pack is rotatably mounted in the attitude adjustment cabin along an eccentric axis. The pitch drive mechanism is disposed at the rear end of the mobile battery pack and is drively connected to the mobile battery pack. The bow mounting frame is mounted at the front end of the attitude adjustment cabin. The buffer elastic assembly includes a first buffer elastic element disposed on the front end surface of the mobile battery pack. The bow mounting frame is provided with a buffer mating surface for cooperating with the first buffer elastic element. The buffer elastic assembly further includes a second buffer elastic element disposed between the mobile battery pack and the pitch drive mechanism.

[0006] Furthermore, the pitch drive mechanism includes a nut, a lead screw, and a drive element. The nut is threadedly connected to the lead screw, and the drive element is poweredly connected to the lead screw. A nut fixing member is provided on the rear end face of the mobile battery pack, and the nut is installed in the nut fixing member. The second buffer elastic member is disposed between the nut fixing member and the nut.

[0007] Furthermore, the hardness of the second buffer elastic element is less than the hardness of the first buffer elastic element.

[0008] Furthermore, the first buffer elastic element is a buffer elastic pad, and a pad is installed on the bow mounting frame. The pad is used to adjust the distance between the bow mounting frame and the mobile battery pack. The side of the pad facing the mobile battery pack constitutes the buffer mating surface, and the pad has an elongated structure.

[0009] Furthermore, a limit switch trigger is provided on the front end face of the mobile battery pack, a limit switch is provided on the bow mounting bracket, and the limit switch and the limit switch trigger are arranged along the eccentric axis.

[0010] Furthermore, the airdrop-type underwater glider also includes a bow detection unit compartment and a stern functional compartment. The bow mounting frame is installed between the bow detection unit compartment and the attitude adjustment compartment. A stern mounting frame is provided between the attitude adjustment compartment and the stern functional compartment. Both the bow mounting frame and the stern functional compartment include a ring body and a reinforcing beam within the ring body. The bow mounting frame and the stern mounting frame are used to cooperate with the stopper on the projector mount.

[0011] Furthermore, the airdrop-type underwater glider also includes a lifting lug, a horizontal wing, and a tail wing. The lifting lug is located on the top of the attitude adjustment cabin, the horizontal wing is located on both sides of the attitude adjustment cabin, and the tail wing is located on both sides of the stern functional cabin.

[0012] Furthermore, the airdrop-type underwater glider also includes a protective cover, which is installed at the front end of the bow detection unit compartment. The protective cover and the bow detection unit compartment are engaged by a locking structure, which is configured to switch to an unlocked state under external force to separate the protective cover from the bow detection unit compartment.

[0013] Furthermore, the locking structure includes an elastic locking block and an elastic compression member. The elastic compression member is connected between the elastic locking block and the bow detection unit compartment. The front end of the protective cover is provided with a locking hole. In the initial state, the elastic locking block passes through the locking hole and is locked in the locking hole. When the elastic locking block is impacted by the water surface, it deforms and is located in the locking hole, so that the locking structure switches to the unlocked state.

[0014] Furthermore, it also includes a parachute assembly, which is disposed at the stern end of the stern functional compartment. The protective cover includes at least two cover modules, and each cover module is connected to the parachute assembly by a connecting strap.

[0015] The core concept of this invention is as follows: a first buffer elastic element is provided on the front end face of the mobile battery pack; a bow mounting frame is installed on the front end of the attitude adjustment cabin, and the bow mounting frame is provided with a buffer mating surface for cooperating with the first buffer elastic element; and a second buffer elastic element is provided between the mobile battery pack and the pitch drive mechanism. At the moment of parachute deployment and impact with the water surface, the first buffer elastic element and the bow mounting frame engage in a buffering action to absorb the overload impact force transmitted from the water surface to the mobile battery pack. The second buffer elastic element further absorbs the impact force transmitted from the mobile battery pack to the pitch drive mechanism. This significantly reduces the impact force transmitted to the pitch drive mechanism, preventing damage to the pitch drive mechanism under impact and significantly extending the service life of the airdrop-type underwater glider. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the structure of an airdrop-type underwater glider according to the present invention; Figure 2 for Figure 1 Top view; Figure 3 This is an axonometric schematic diagram of the protective cover and mounting structure of an airdrop-type underwater glider according to the present invention; Figure 4 This is a schematic diagram of the internal structure of an airdrop-type underwater glider according to the present invention; Figure 5 This is a schematic diagram of the attitude adjustment device and bow mounting frame of an airdrop-type underwater glider according to the present invention. Figure 6 This is a schematic diagram of the structure of an airdrop-type underwater glider and a projector according to the present invention.

[0017] In the diagram, 1. Stern functional compartment; 2. Bow detection unit compartment; 3. Attitude adjustment compartment; 31. Mobile battery pack; 32. Pitch drive mechanism; 321. Drive element; 322. Lead screw; 323. Nut; 324. Nut fastener; 4. Protective cover; 5. Horizontal wing; 6. Tail wing; 7. Parachute assembly; 8. Elastic locking block; 9. Elastic compression component; 10. Lifting lug; 11. Connecting strap; 12. Detection unit; 13. First buffer elastic component; 14. Second buffer elastic component; 15. Bow mounting bracket; 16. Stern mounting bracket; 17. Limit switch; 18. Limit switch trigger; 19. Projector mount; 20. Stopper; 21. Antenna section; 22. Attitude adjustment device; 23. Trigger fastener; 24. Gasket; 25. Linear potentiometer. Detailed Implementation

[0018] The core concept of this invention is as follows: a first buffer elastic element is provided on the front end face of the mobile battery pack; a bow mounting frame is installed on the front end of the attitude adjustment cabin, and the bow mounting frame is provided with a buffer mating surface for cooperating with the first buffer elastic element; and a second buffer elastic element is provided between the mobile battery pack and the pitch drive mechanism. At the moment of parachute deployment and impact with the water surface, the first buffer elastic element and the bow mounting frame engage in a buffering action to absorb the overload impact force transmitted from the water surface to the mobile battery pack. The second buffer elastic element further absorbs the impact force transmitted from the mobile battery pack to the pitch drive mechanism. This significantly reduces the impact force transmitted to the pitch drive mechanism, preventing damage to the pitch drive mechanism under impact and significantly extending the service life of the airdrop-type underwater glider.

[0019] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0020] In this application, the terms "upper," "lower," "left," "right," "front," "rear," "top," "bottom," "inner," "outer," "middle," "vertical," "horizontal," "lateral," and "longitudinal" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. These terms are primarily for the purpose of better describing this application and its embodiments, and are not intended to limit the indicated device, element, or component to having a specific orientation, or to be constructed and operated in a specific orientation.

[0021] The air-dropped underwater glider of the present invention includes an attitude adjustment cabin 3, a bow mounting frame 15, and a [missing information - likely a device or component] disposed within the attitude adjustment cabin 3. Figure 4The attitude adjustment device 22 and the buffer elastic component shown are described. The attitude adjustment device 22 includes a movable battery pack 31 and a pitch drive mechanism 32, as shown. Figure 5 The mobile battery pack 31 has a columnar structure and is rotatably mounted in the attitude adjustment cabin 3 along an eccentric axis. The pitch drive mechanism 32 is located at the rear end of the mobile battery pack 31 and is drive-connected to it. Specifically, the pitch drive mechanism 32 is drive-connected to a position of the mobile battery pack 31 corresponding to the eccentric axis. The output end of the pitch drive mechanism 32 extends and retracts relative to the attitude adjustment cabin 3, thus driving the mobile battery pack 31 to move within the attitude adjustment cabin 3 when the pitch drive mechanism 32 is working. A linear potentiometer 25 is also provided at the rear end of the mobile battery pack 31 for real-time monitoring of its position. The bow mounting bracket 15 is mounted at the front end of the attitude adjustment cabin 3. The buffer elastic component includes a first buffer elastic element 13 disposed on the front end surface of the mobile battery pack 31, and the bow mounting bracket 15 is provided with a buffer mating surface for cooperating with the first buffer elastic element 13. The buffer elastic component also includes a second buffer elastic element 14 disposed between the mobile battery pack 31 and the drive mechanism. At the moment of parachute deployment and impact with the water surface, the first buffer elastic element 13 and the bow mounting frame 15 work together to absorb the overload impact force transmitted from the water surface to the mobile battery pack 31. The second buffer elastic element 14 further absorbs the impact force transmitted from the mobile battery pack 31 to the pitch drive mechanism 32. This significantly reduces the impact force transmitted to the pitch drive mechanism 32, preventing damage to the pitch drive mechanism 32 under impact and significantly extending the service life of the underwater glider.

[0022] The pitch drive mechanism 32 includes, for example: Figure 5The nut 323, lead screw 322, and drive element 321 are shown, and the nut 323, lead screw 322, and drive element are arranged sequentially along the extension direction of the eccentric axis behind the mobile battery pack 31. The drive element 321 is a motor, and a coupling is provided between the drive element 321 and the lead screw 322. The nut 323 is installed at the rear end of the mobile battery pack 31, and the lead screw 322 extends into the nut 323 and engages with it. Specifically, a nut fixing member 324 is provided on the rear end face of the mobile battery pack 31. The nut fixing member 324 has a nut fixing structure for installing the nut 323. The nut 323 is installed in the nut fixing structure of the nut fixing member 324, and a second buffer elastic member 14 is disposed between the nut fixing member 324 and the nut 323. In this way, the impact force transmitted from the moving battery pack 31 to the lead screw 322 can be reduced, as can the impact force transmitted to the drive element 321, thus extending the service life of the entire pitch drive mechanism 32.

[0023] The second buffer elastic element 14 has a lower hardness than the first buffer elastic element 13. When the air-dropped underwater glider experiences axial overload impact upon entering the water, the harder first buffer elastic element 13 provides rapid and powerful support, effectively resisting the initial peak impact force and preventing the moving battery pack 31 from excessively surging forward, thereby protecting precision components such as the pitch drive mechanism 32 at the rear end from direct and severe impact. The second buffer elastic element 14, with its lower hardness, absorbs and dissipates impact energy through its own deformation when impact occurs, protecting the pitch drive mechanism 32 and preventing it from being damaged by excessive instantaneous impact force.

[0024] The first buffer elastic element 13 is a buffer elastic pad, such as one made of polyurethane. A shim 24 is mounted on the bow mounting bracket 15 to adjust the distance between the bow mounting bracket 15 and the mobile battery pack 31. Thus, the thickness of the shim 24 can be adjusted as needed to achieve an optimal mating distance between the first buffer elastic element 13 and the bow mounting bracket 15. The side of the shim 24 facing the mobile battery pack 31 constitutes the buffer mating surface. The shim 24 has an elongated structure to accommodate the arc-shaped positional changes of the first buffer elastic element 13 as the mobile battery pack 31 rotates. The second buffer elastic element 14 is also a buffer elastic pad made of polyurethane.

[0025] A limit switch trigger 18 is provided on the front surface of the mobile battery pack 31, such as Figure 5As shown, the limit switch trigger 18 is mounted on the mobile battery pack 31 via the trigger fixing member 23. A limit switch 17 is provided on the bow mounting bracket 15. When the mobile battery pack 31 moves forward to its limit position, the limit switch trigger 18 contacts the limit switch 17. At this time, the limit switch 17 outputs a stop signal, ensuring that the mobile battery pack 31 always moves within a safe travel range, avoiding damage to the underwater glider due to unilateral loss of control. Furthermore, the limit switch 17 and the limit switch trigger 18 are arranged along the eccentric axis. Thus, even if the mobile battery pack 31 rotates to other positions along the eccentric axis, it will not affect the cooperation between the limit switch 17 and the limit switch trigger 18.

[0026] The air-drop type underwater glider also includes, for example, Figure 1 , Figure 2 The diagram shows a bow detection unit compartment 2 and a stern functional compartment 1. The bow detection unit compartment 2 houses a detection unit 12. A bow mounting frame 15 is installed between the bow detection unit compartment 2 and the attitude adjustment compartment 3. A stern mounting frame 16 is provided between the attitude adjustment compartment 3 and the stern functional compartment 1. Both the bow mounting frame 15 and the stern functional compartment 1 include a ring body and reinforcing beams within the ring body. The outer diameters of the two ring bodies are adapted to the diameters of the two ends of the attitude adjustment compartment 3. The reinforcing beams enhance the structural strength of the bow mounting frame 15 and the stern mounting frame 16. The bow mounting frame 15 and the stern mounting frame 16 are used to... Figure 6 The stopper 20 on the projector mount 19 shown engages with the glider. A piston is installed inside the stopper 20 on the projector mount 19. When the underwater glider needs to be launched, the piston impacts downwards under the action of high-pressure gas. The bow mount 15 and the stern mount 16 are located at the point of impact of the piston. This effectively prevents the weak points of the underwater glider's hull from being subjected to overload impacts.

[0027] The air-dropped underwater glider also includes a lifting lug 10, a horizontal wing 5, and a tail wing 6, such as Figure 1 As shown, the lifting lug 10 is located on the top of the attitude adjustment cabin 3, the horizontal wings 5 ​​are located on both horizontal sides of the attitude adjustment cabin 3, and there are two pairs of tail wings 6, each pair located on both horizontal sides of the stern functional cabin 1. The two wing plates of each pair of tail wings 6 are arranged at an acute angle and are spaced a certain distance apart. The layout of the horizontal wings 5 ​​and tail wings 6 does not interfere with the assembly of the lifting lug 10 and the projector mount 19. Thus, the air-dropped underwater glider in this embodiment can be reliably assembled with the projector mount 19.

[0028] The air-drop type underwater glider also includes, for example, Figure 1 , Figure 2 , Figure 3The protective cover 4 shown is installed at the front end of the bow detection unit compartment 2 to protect the detection unit 12 inside the compartment and prevent damage to the detection unit 12 under the impact of water entry. The protective cover 4 and the bow detection unit compartment 2 are engaged by a snap-fit ​​structure, which is configured to unlock under external force to separate the protective cover 4 from the compartment 2. Thus, when the air-dropped underwater glider enters the water and experiences axial overload impact, the protective cover 4 separates from the bow detection unit compartment 2, facilitating the detection unit 12 to begin its detection work. The locking structure includes an elastic locking block 8 and an elastic compression member 9. The elastic compression member 9 is a compression spring and is connected between the elastic locking block 8 and the bow detection unit compartment 2. The front end of the protective cover 4 is provided with a locking hole. In the initial state, the elastic locking block 8 passes through the locking hole and is locked in the locking hole. When the elastic locking block 8 is impacted by the water surface, it deforms and is located in the locking hole, so that the locking structure is in the unlocked state. After the air-dropped underwater glider is released, the parachute assembly 7 opens under the action of the wind vanes. After the parachute opens, the underwater glider gradually enters a steady state and enters the water vertically at a constant speed. When the air-dropped underwater glider enters the water vertically, the elastic locking block 8 is deformed and compressed by the impact force on the water surface. At the same time, the impact force on the water surface also provides an axial upward force to the elastic locking block 8. Thus, the elastic compression component 9 is compressed, and the elastic locking block 8 moves upward until it enters the locking hole. At this time, the locking structure switches to the unlocked state, and the protective cover 4 can be separated from the bow detection unit compartment 2.

[0029] The airdrop-type underwater glider also includes a parachute assembly 7. An antenna section 21 is located at the rear of the stern functional compartment 1, and the parachute assembly 7 is located at the rear of the antenna section 21. After the underwater glider is completely submerged in water, the parachute and the cabin of the airdrop-type underwater glider will separate from each other due to different water resistance. The protective cover 4 includes at least two cover modules, which are interlocked and installed together. Each cover module is connected to the parachute assembly 7 by a connecting strap 11. The connecting strap 11 is a steel strap, so that the parachute can use the steel strap to pull the cover module to separate from the cabin of the underwater glider.

[0030] Regarding the pitch drive mechanism, the present invention also provides other embodiments. In another embodiment, the drive mechanism is a hydraulic drive mechanism, and the piston rod of the hydraulic drive mechanism acts on the rear end face of the mobile battery pack. In this case, the second buffer elastic element can be disposed between the rear end face of the mobile battery pack and the end face of the piston rod.

[0031] Regarding the hardness of the second and first buffer elastic elements, the present invention also provides other embodiments. In one embodiment, the hardness of the second and first buffer elastic elements may be equal; in another embodiment, the hardness of the first buffer elastic element is less than the hardness of the second buffer elastic element.

[0032] Regarding the buffer mating surface, the present invention also provides other embodiments. In another embodiment, a protrusion is provided on the side of the bow mounting bracket facing the moving battery pack, and the end face of the protrusion constitutes the buffer mating surface.

[0033] The above description is merely a preferred embodiment of this application and is not intended to limit this application in any way. The scope of protection of this application should be determined by the scope of the claims. Although this application has disclosed the preferred embodiment above, it is not intended to limit this application. Any person skilled in the art can make some modifications or alterations to the above-disclosed technical content to create equivalent embodiments without departing from the scope of the technical solution of this application. Any simple modifications, equivalent changes, and alterations made to the above embodiments based on the technical essence of this application without departing from the content of the technical solution of this application shall fall within the scope of the technical solution of this application.

Claims

1. An air-dropped underwater glider, characterized in that: The device includes an attitude adjustment cabin (3), a bow mounting frame (15), and an attitude adjustment device (22) and a buffer elastic assembly disposed within the attitude adjustment cabin (3). The attitude adjustment device (22) includes a mobile battery pack (31) and a pitch drive mechanism (32). The mobile battery pack (31) is rotatably mounted in the attitude adjustment cabin (3) along an eccentric axis. The pitch drive mechanism (32) is disposed at the rear end of the mobile battery pack (31) and is connected to the mobile battery pack (31) in a transmission manner. The bow mounting frame (15) is mounted at the front end of the attitude adjustment cabin (3). The buffer elastic assembly includes a first buffer elastic element (13) disposed on the front end surface of the mobile battery pack (31). The bow mounting frame (15) is provided with a buffer mating surface for cooperating with the first buffer elastic element (13). The buffer elastic assembly also includes a second buffer elastic element (14) disposed between the mobile battery pack (31) and the pitch drive mechanism (32).

2. The air-dropped underwater glider according to claim 1, characterized in that: The pitch drive mechanism (32) includes a nut (323), a lead screw (322), and a drive element (321). The nut (323) is threadedly connected to the lead screw (322), and the drive element (321) is poweredly connected to the lead screw (322). A nut fixing member (324) is provided on the rear end face of the mobile battery pack (31). The nut (323) is installed in the nut fixing member (324), and the second buffer elastic member (14) is disposed between the nut fixing member (324) and the nut (323).

3. The air-dropped underwater glider according to claim 2, characterized in that: The hardness of the second buffer elastic element (14) is less than that of the first buffer elastic element (13).

4. The air-dropped underwater glider according to any one of claims 1-3, characterized in that: The first buffer elastic element (13) is a buffer elastic pad. A pad (24) is installed on the bow mounting frame (15). The pad (24) is used to adjust the distance between the bow mounting frame (15) and the mobile battery pack (31). The side of the pad (24) facing the mobile battery pack (31) constitutes the buffer mating surface. The pad (24) has a long strip structure.

5. The air-dropped underwater glider according to any one of claims 1-3, characterized in that: A limit switch trigger (18) is provided on the front end surface of the mobile battery pack (31), and a limit switch (17) is provided on the bow mounting bracket (15). The limit switch (17) and the limit switch trigger (18) are arranged along the eccentric axis.

6. The air-dropped underwater glider according to any one of claims 1-3, characterized in that: It also includes a bow detection unit compartment (2) and a stern functional compartment (1). The bow mounting bracket (15) is installed between the bow detection unit compartment (2) and the attitude adjustment compartment (3). A stern mounting bracket (16) is provided between the attitude adjustment compartment (3) and the stern functional compartment (1). Both the bow mounting bracket (15) and the stern functional compartment (1) include a ring body and a reinforcing beam inside the ring body. The bow mounting bracket (15) and the stern mounting bracket (16) are used to cooperate with the stopper (20) on the projector hanger (19).

7. The air-dropped underwater glider according to claim 6, characterized in that: It also includes a lifting lug (10), a horizontal wing (5) and a tail wing (6). The lifting lug (10) is located on the top of the attitude adjustment cabin (3), the horizontal wing (5) is located on both sides of the attitude adjustment cabin (3), and the tail wing (6) is located on both sides of the stern functional cabin (1).

8. The air-dropped underwater glider according to claim 6, characterized in that: It also includes a protective cover (4), which is installed at the front end of the bow detection unit compartment (2). The protective cover (4) and the bow detection unit compartment (2) are engaged by a snap-fit ​​structure. The snap-fit ​​structure is configured to switch to an unlocked state under the action of external force so that the protective cover (4) can be separated from the bow detection unit compartment (2).

9. The air-dropped underwater glider according to claim 8, characterized in that: The locking structure includes an elastic locking block (8) and an elastic compression member (9). The elastic compression member (9) is connected between the elastic locking block (8) and the bow detection unit compartment (2). The front end of the protective cover (4) is provided with a locking hole. In the initial state, the elastic locking block (8) passes through the locking hole and is locked in the locking hole. When the elastic locking block (8) is impacted by the water surface, it deforms and is located in the locking hole so that the locking structure switches to the unlocked state.

10. The air-dropped underwater glider according to claim 9, characterized in that: It also includes a parachute assembly (7), which is located at the tail end of the stern functional compartment (1). The protective cover (4) includes at least two cover modules, and each cover module is connected to the parachute assembly (7) by a connecting strap (11).

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