A modular adaptive hydrodynamic wing

Abstract

The invention discloses a modular adaptive hydrodynamic wing in the field of hydrodynamic propulsion equipment, comprising two wings and a rotating shaft and a limiting shaft connected between the two wings, wherein the rotating shaft is rotatably connected to a mounting base, the mounting base is detachably connected to a keel frame of an underwater gliding thruster, a limiting hole is provided on the mounting base, the limiting shaft is passed through the limiting hole, and elastic adaptive mechanisms are provided at both ends of the limiting hole. The invention can effectively solve the problems of the existing underwater gliding thruster being easily damaged under long-term rigid impact during use and the high difficulty of maintenance operation caused by the overall design.

Description

Technical Field

[0001] The invention relates to the field of hydrodynamic propulsion equipment, and in particular to a modular adaptive hydrodynamic wing. Background Art

[0002] Hydrodynamic winglets are mainly used in wave gliders, which are a new type of unmanned offshore platform that uses the ups and downs of waves to convert wave energy into forward kinetic energy. It has the advantages of long sailing time, long sailing distance, and suitability for high sea conditions. It can be used in the fields of marine meteorology, marine life, and marine environmental monitoring. The wave glider is divided into two parts: a surface boat and an underwater gliding propeller, which are connected by a flexible umbilical cable. The surface boat drives the underwater gliding propeller up and down with the ups and downs of the waves. The hydrodynamic winglets installed on the underwater gliding propeller generate a certain angle of attack when moving up and down. When the vertical water flow passes through the wing with an angle of attack, a horizontal component is generated. The water flow with the horizontal component has a horizontal reaction force on the wing. The propeller moves forward relying on the reaction force of the water flow, and finally drags the surface boat forward.

[0003] However, in high sea conditions, the speed and amplitude of wave fluctuations are very large, the surface boat exerts a great pulling force on the underwater gliding propeller, and the water flow impacts the hydrodynamic wing at high speed, thereby generating a great resistance. When the resistance is too large, the hydrodynamic wing may break, and the rotating shaft and the limit shaft connecting the wing are easy to bend. The umbilical cable connecting the surface boat and the underwater gliding propeller may also break due to excessive tension (Li Xiaotao mentioned in the paper "Dynamic Modeling and Simulation Research of Wave Glider": The cable is an important component of the wave glider, and avoiding cable breakage is a necessary condition for the survival of the wave glider in high sea conditions). During the process, the impact and vibration caused by the rigid collision between the limit axis of the hydrodynamic wing and the limit point will also reduce the service life and strength of the wing (Du Zhaopeng mentioned in the paper "Design and Research of New Bionic Wave Energy Glider": In addition, the design of the hydrofoil must also take into account the particularity of the marine working environment. For example, in severe sea conditions, it is towed by the floating platform on the sea surface, and the tractor rises and dives rapidly, causing the pressure on the surface of the hydrofoil to rise instantly. This requires the hydrofoil to have sufficient rigidity and strength. In addition, the wave glider is in vibration for a long time, and its design also has vibration resistance requirements). The noise caused by the rigid collision between the wing limit axis and the limit device will also cause great interference to the acoustic mission load of the wave glider, causing great fright to the marine life to be studied, and also make the wave glider a large noise source, greatly reducing its concealment and affecting the normal development of research activities.

[0004] The underwater gliding propeller of a wave glider is usually composed of six or more sets of key components such as hydrodynamic fins, fin rotation shafts, and fin limit shafts. These components work in seawater for a long time. Due to the influence of seawater corrosion, high sea wave impact, etc., they need to be replaced or maintained after working for a long time. The current existing design basically adopts an overall design in which all hydrodynamic fins are directly connected to the underwater gliding propeller. When it is necessary to replace one of the parts, the underwater gliding propeller must be disassembled as a whole, which is complicated to operate and has high requirements for maintenance personnel. The maintenance personnel need to be familiar with the structure and assembly process of the entire gliding propeller to effectively complete the maintenance without additional damage to the entire gliding propeller. In many cases, maintenance is carried out at the site of use (such as at sea), and the site environment is complex, which further increases the difficulty of maintenance operations. Summary of the invention

[0005] The present invention is intended to provide a modular adaptive hydrodynamic wing to solve the problems of existing underwater gliding thrusters being easily damaged by long-term rigid impact during use and having high difficulty in maintenance operations due to the overall design.

[0006] In order to achieve the above-mentioned purpose, the basic technical scheme of the present invention is as follows: a modular adaptive hydrodynamic wing, comprising two winglets and a rotating shaft and a limiting shaft connected between the two winglets, the rotating shaft being rotatably connected to a mounting base, the mounting base being detachably connected to a keel frame of an underwater gliding thruster, a limiting hole being provided on the mounting base, the limiting shaft being passed through the limiting hole, and elastic adaptive mechanisms being provided at both ends of the limiting hole.

[0007] The principle and advantage of this solution are: a group of winglets, rotating shafts, and limiting shafts are integrated into a modular whole through a mounting base, and the installation, rotating support, swing limiting, and swing buffering of the winglets are integrated through the mounting base, so that the winglets are independent from the keel frame of the underwater gliding thruster, and the overall underwater gliding thruster is decomposed into a structure composed of a keel frame and multiple winglet modules, so that each module can be processed, repaired, and replaced separately, which reduces the processing and maintenance costs and facilitates transportation and installation. On-site maintenance can directly carry out the disassembly, assembly, or replacement of a single module without disassembling the entire underwater gliding thruster and being familiar with the internal structure of the module, which reduces the technical requirements for maintenance personnel, is simple and convenient to operate, is less restricted by the on-site environment, shortens the time for assembly and maintenance, and is more convenient to use. In addition, such a modular design greatly reduces the size of the processed parts, thereby also reducing the material cost and processing technology requirements.

[0008] An elastic adaptive mechanism is integrated in the modular mounting base to perform impact buffering on both ends of the limit hole. The limit point of the limit shaft is directly improved by elastic adaptive in the limit hole. The elastic adaptive mechanism is not exposed on the surface of the module, and is less affected by seawater scouring, debris and algae in the seawater. It can maintain stable and reliable elastic buffering performance during long-term use, effectively meeting the use environment requirements of hydrodynamic foils. The large surface area of ​​the foil bears the force of the water flow in the seawater. The rotating shaft fixes the foil and provides rotational freedom. The foil rotates around the axis of the rotating shaft under the action of the water flow. The limit shaft is used to limit the angle of rotation of the foil to ensure that the foil can form an angle of attack and advance in the water flow by using the reaction force. The limit hole is used as a limiting structure on the mounting base to limit the activity of the limit shaft to ensure the formation of a fixed range of attack angles. The elastic adaptive mechanism is an elastic buffer structure at the end point of the limit axis range. It buffers and absorbs the rigid collision of the limit axis with the limit point when the wing is impacted. After the elastic adaptive mechanism is compressed, the limit point moves up or down. When the limit point moves up, the upward flip angle of the hydrodynamic wing increases, and when the limit point moves down, the downward flip angle increases. The increase in the upward or downward flip angle of the wing will lead to a decrease in the vertical projection area, so the water resistance of the wing in the vertical direction is also reduced. At this time, the vertical resistance of the water flow and the elastic rebound force are equal, and a balance is achieved. A certain angle of buffer range is provided from both the upper and lower directions, which reduces the force on the wing and the limit axis under high sea conditions, so that the hydrodynamic wing can adapt to different sea conditions when used in the sea, reduce the damage to these components caused by changes in sea conditions and high sea conditions, and reduce the negative effects of vibration, noise, etc. caused by the rigid collision between the limit axis and the limit point, which is conducive to the normal development of marine research activities.

[0009] Furthermore, the mounting base is a petal-type structure, and the mounting base includes an upper left base plate, a lower left base plate, an upper right base plate, and a lower right base plate, and a connecting plate is connected between the two left base plates and the two right base plates. As a mounting base preferably using a petal-type structure, it is more convenient to install bearings, shafts, limit structures, buffer structures, etc., and reduce the processing difficulty and processing cost of the modular structure. The four base plates provide installation operation freedom from four directions, which is more conducive to the positioning and installation of each component structure, and is more conducive to reducing the processing difficulty. The connection through the connecting plate utilizes surface contact to ensure the stability of the connection between the base plates, and ensure that the connection of the modular structure is stable and reliable.

[0010] Furthermore, a protruding positioning platform is provided in the middle of the upper right base plate and the lower right base plate, and a connecting plate is provided on each of the front and rear sides of the positioning platform, the connecting plate abuts against the side end of the positioning platform, at least two connecting holes are vertically provided on the connecting plate, and the four base plates are provided with fastening holes directly opposite to the connecting holes, and bolt pairs are passed through the fastening holes. As a preferred method, the connecting plate is accurately positioned, not easy to loosen during long-term use, and the connection between the four base plates is firm and stable. Through the two connecting plates, the overall structure of the mounting base is ensured to be stable and reliable, and it is not easy to cause connection failure and disintegration due to impact loosening and corrosion during long-term use in seawater.

[0011] Furthermore, a semicircular mounting groove and an arc-shaped limiting groove are arranged side by side in the middle of the bottom edge of the upper right base piece, and the bottom edge of the upper left base piece, the top edge of the lower left base piece and the top edge of the lower right base piece are all provided with the same mounting groove and limiting groove, and the upper and lower mounting grooves are combined into a bearing mounting hole, and the upper and lower limiting grooves are combined into a limiting hole. As a preferred bearing mounting hole, it is used to install the bearing to connect the rotating shaft, and the limiting hole is used to connect and cooperate with the limiting shaft for rotation limiting. The use of such a petal structure facilitates the processing of the bearing fixing hole and the limiting groove, effectively reducing the processing cost and assembly time.

[0012] Furthermore, the fastening holes on the upper right base plate are arranged side by side on the side away from the mounting groove, and the lower right base plate is symmetrically provided with mounting holes at the interface between the upper right base plate and the lower right base plate. Bolt pairs are passed through the mounting holes, and the bearing mounting holes, mounting holes and fastening holes are all countersunk holes. As the preferred mounting holes, the mounting base is used to position and connect to the keel frame of the underwater gliding thruster. The countersunk hole structure can effectively hide the bolt pairs and bearings, reduce the protruding structure on the surface of the wing module, reduce the degree of seawater erosion and corrosion of the connecting parts during use, extend the service life of the connecting parts, and ensure that the underwater gliding thruster can be used for a long time.

[0013] Furthermore, a movable groove intersecting with the end of the limiting groove is provided on the left side wall of the upper right base plate and the lower right base plate, and the elastic adaptive mechanism is located in the movable groove. As a preferred design, the limiting hole is horizontally penetrated through the movable groove, so that the elastic adaptive mechanism is obliquely penetrated in the limiting hole, and the middle part of the limiting shaft can be directly supported during the movement of the limiting shaft, ensuring that the limiting shaft can be effectively buffered and limited during the upward and downward movement, and forming a built-in protection for the elastic adaptive mechanism, effectively avoiding the interference of debris and algae carried by seawater on the elastic adaptive mechanism, and ensuring that the elastic adaptive mechanism can maintain stable and reliable buffering performance for a long time.

[0014] Furthermore, the elastic adaptive mechanism includes a spring module, the spring module includes a spring and a spring guide member inserted inside the spring, and the spring guide member is a telescopic member. As a preferred spring, the spring is an elastic member for buffering and absorbing energy, and the telescopic spring guide member provides synchronously changing support and guidance for the spring, ensuring that the spring module can effectively buffer the limit shaft.

[0015] Furthermore, the spring guide member includes a spring guide sleeve and a spring guide column inserted in the spring guide sleeve, the outer diameter of the spring guide column has a negative tolerance to the inner diameter of the spring guide sleeve, and the ends of the spring guide sleeve and the spring guide column are provided with a spring bearing base and a spring guide base, the outer diameter of the spring bearing base is larger than the outer diameter of the spring and smaller than the width of the movable groove, and a limit stop shoulder is provided on the top of the movable groove, and the outer diameter of the spring guide base is the same as the inner diameter of the spring and has a negative tolerance to the inner diameter of the spring. As a preferred embodiment, the spring guide sleeve and the spring guide column are both made of wear-resistant rigid materials, and the spring guide sleeve and the spring guide column can maintain stable and reliable elasticity, providing stable and reliable support and guidance for the spring. The spring bearing base positions the end of the spring, the spring guide base guides and supports the end of the spring to ensure the stability of the end of the spring, and the limit stop shoulder limits the spring bearing base to prevent the spring module components from falling off. A surface contact structure with a negative tolerance is adopted to ensure that the spring and the spring guide column move smoothly without being stuck by debris or algae in the sea water.

[0016] Furthermore, a positioning cylinder is provided at the end of the spring guide column, a fixing screw is provided on the positioning cylinder, a straight groove is provided on the fixing screw, a positioning hole is provided at the bottom of the movable groove, the positioning cylinder is passed through the positioning hole, the fixing screw passes through the positioning hole and is connected with a fixing nut, a groove is provided at the top of the upper right base plate, and the fixing nut is located in the groove. Preferably, the spring module is positioned by the positioning hole and the positioning cylinder to avoid friction between the spring module and the outer movable groove wall, so as to ensure that the spring and the spring guide can move freely in the movable groove, the fixing screw and the fixing nut are used to fix the spring module to ensure that the spring module can work stably, the straight groove can play a role in auxiliary fixation and preventing rotation when installing the fixing nut, and the groove is provided to hide the fixing nut, reduce the surface protruding structure, and avoid the attachment of algae or fishing nets and other debris during use.

[0017] Further, the elastic adaptive mechanism divides the swing angle range of the limit shaft in the limit hole into a wing buffer upturn angle of 25°-30°, a wing initial upturn angle of 10°-15°, a wing initial downturn angle of 15°-25°, and a wing buffer downturn angle of 80°-90°. As a preferred embodiment, the swing angle range of the wing can match the forces of different sea conditions. When the sea conditions are good, the vertical water resistance of the wing is small, and the wing flip angle of attack is also small. A large horizontal component thrust can be generated within the initial flip angle range, and the wing and the limit shaft are lightly stressed. When the sea conditions deteriorate, the vertical water resistance of the wing increases, and the flip angle of attack of the wing also increases. The wing changes within the buffer angle range, and the force on the wing and the limit shaft is buffered by the spring adaptive mechanism, and the force on the wing and the limit shaft is reduced, avoiding the wing and the limit shaft from being damaged by impact, and ensuring that the hydrodynamic wing can effectively drive the underwater gliding propeller forward. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 This is an axonometric diagram of an underwater gliding propeller according to Embodiment 1 of the present invention;

[0019] Figure 2 It is a right side view of the underwater gliding propeller of Embodiment 1 of the present invention;

[0020] Figure 3 for Figure 1 A partial enlarged view of point A in the middle;

[0021] Figure 4 for Figure 2 A partial enlarged view of point B in the middle;

[0022] Figure 5 It is a left view of the upper right base sheet and the lower right base sheet in Example 1 of the present invention;

[0023] Figure 6 It is a front view of the spring module in embodiment 1 of the present invention. DETAILED DESCRIPTION

[0024] The following is further described in detail through specific implementation methods:

[0025] The figure marks in the drawings of the specification include: wing 1, keel frame 2, mounting base 3, upper right base plate 4, lower right base plate 5, upper left base plate 6, connecting plate 7, mounting hole 8, fastening hole 10, bearing mounting hole 11, rotating shaft 12, limiting shaft 13, limiting hole 14, groove 15, fixing nut 16, spring module 17, limiting shoulder 19, positioning hole 20, movable groove 21, wing buffer up-flip angle 22, wing initial up-flip angle 23, wing initial down-flip angle 24, wing buffer down-flip angle 25, spring 26, spring guide sleeve 27, spring guide column 28, spring bearing base 29, spring guide base 30, positioning cylinder 31, fixing screw 32, and slot 33.

[0026] Embodiment 1, basically as attached Figure 1 , Figure 2 As shown: a modular adaptive hydrodynamic wing, including two wing pieces 1 and a rotating shaft 12 and a limiting shaft 13 connected between the two wing pieces 1, the rotating shaft 12 is rotatably connected to a mounting base 3, the mounting base 3 is detachably connected to a keel frame 2 of an underwater gliding thruster, a limiting hole 14 is provided on the mounting base 3, the limiting shaft 13 is passed through the limiting hole 14, and elastic adaptive mechanisms are provided at both ends of the limiting hole 14.

[0027] Combination Figure 3 , Figure 4 As shown, the mounting base 3 is a split-petal structure, and the mounting base 3 includes a rectangular upper left base piece 6, a lower left base piece, an upper right base piece 4 and a lower right base piece 5, and a connecting piece 7 is connected between the two left base pieces and the two right base pieces. A protruding positioning platform is integrally formed in the middle of the left side wall of the upper right base piece 4 and the lower right base piece 5, and a connecting piece 7 is provided on the front and rear sides of the positioning platform, respectively, and the connecting piece 7 is against the side end of the positioning platform, and at least two connecting holes are vertically provided on the connecting piece 7, and fastening holes 10 facing the connecting holes are provided on the four base pieces, and bolt pairs are passed through the fastening holes 10. A semicircular mounting groove and an arc-shaped limiting groove are arranged side by side in the middle of the bottom edge of the upper right base plate 4, and the bottom edge of the upper left base plate 6, the top edge of the lower left base plate and the top edge of the lower right base plate 5 are all provided with the same mounting groove and limiting groove. The upper and lower mounting grooves are assembled into a bearing mounting hole 11, and the upper and lower limiting grooves are assembled into a limiting hole 14.

[0028] The fastening hole 10 on the upper right base plate 4 is laterally opposite to the mounting groove and is provided with mounting holes 8 in parallel. The mounting holes 8 are symmetrically provided on the lower right base plate 5 with the interface between the upper right base plate 4 and the lower right base plate 5 as the symmetry plane. A bolt pair is passed through the mounting holes 8. The bearing mounting hole 11, the fastening hole 10 and the mounting hole 8 are all countersunk holes.

[0029] Combination Figure 5As shown, a movable groove 21 intersecting with the end of the limiting groove is opened on the left side wall of the upper right base plate 4 and the lower right base plate 5, the movable groove 21 is a rectangular groove, the elastic adaptive mechanism is located in the movable groove 21, a limiting shoulder 19 is provided at the top of the movable groove 21, the top of the movable groove 21, that is, one end of the movable groove 21 facing the middle of the limiting hole 14, and a positioning hole 20 is provided at the bottom of the movable groove 21.

[0030] Combination Figure 6 As shown, the elastic adaptive mechanism includes a spring module 17, the spring module 17 includes a spring 26 and a spring guide member inserted inside the spring 26, and the spring guide member is a telescopic member. The spring guide member includes a spring guide sleeve 27 and a spring guide column 28 inserted in the spring guide sleeve 27, the outer diameter of the spring guide column 28 has a negative tolerance to the inner diameter of the spring guide sleeve 27, and the ends of the spring guide sleeve 27 and the spring guide column 28 are both provided with a spring bearing base 29 and a spring guide base 30, the outer diameter of the spring bearing base 29 is larger than the outer diameter of the spring 26 and smaller than the width of the movable groove 21, and the outer diameter of the spring guide base 30 is the same as the inner diameter of the spring 26 and has a negative tolerance to the inner diameter of the spring 26. A positioning cylinder 31 is provided at the end of the spring guide column 28, a fixing screw 32 is provided on the positioning cylinder 31, a slot 33 is provided on the fixing screw 32, the positioning cylinder 31 is passed through the positioning hole 20, the fixing screw 32 passes through the positioning hole 20 and is connected with a fixing nut 16, a groove 15 is provided at the top of the upper right base plate 4, and the groove 15 is used to accommodate the corresponding fixing nut 16.

[0031] The spring module 17 divides the swing angle range of the limit shaft 13 in the limit hole 14 into a flap buffer upturn angle 22, a flap initial upturn angle 23, a flap initial downturn angle 24 and a flap buffer downturn angle 25. The flap buffer upturn angle 22 is 30°, the flap initial upturn angle 23 is 15°, the flap initial downturn angle 24 is 25°, and the flap buffer downturn angle 25 is 85°. The upturn and downturn are separated by the transverse plane where the axis of the rotating shaft 12 is located.

[0032] In the specific use process, six sets of wing 1 modules are sequentially installed on the underwater gliding thruster, and multiple slots are processed on the main frame of the underwater gliding thruster in sequence. The mounting base 3 is inserted into the slot, and the mounting holes 8 on the upper right base plate 4 and the lower right base plate 5 are aligned with the corresponding holes on the main frame, and then the upper right base plate 4 and the lower right base plate 5 are locked and connected to the main frame outside the slot with a bolt pair. During the underwater working process, the rotating shaft 12 maintains the rotational freedom with the mounting base 3 through the bearing, and the rotating shaft 12 provides rotation support for the wing 1. The wing 1 is driven by the water flow to rotate around the rotating shaft 12, and the limit shaft 13 swings in the limit hole 14 during the process. When the wing 1 needs to be replaced and maintained, the corresponding module can be directly removed from the main frame as a whole and replaced. The operation is simple and convenient, and the operator does not need to have high technology or be familiar with the internal structure of the module, so that the maintenance and replacement time is shorter. The modular design also reduces the size of the workpiece, reduces the material cost and processing technology requirements.

[0033] During normal use, the high-strength spring 26 is installed in the rotation direction of the wing 1 so that the upturning and downturning angles of the wing 1 can be automatically adjusted according to different stress conditions. When the underwater gliding propeller rises or falls rapidly in high sea conditions, the hydrodynamic wing 1 is impacted by a fast vertical water flow and is subject to water flow resistance in the vertical direction. At this time, the limit shaft 13 of the wing 1 compresses the high-strength spring 26. After the spring 26 is compressed, the limit point moves up (the wing 1 turns up) or moves down (the wing 1 turns down). When the limit point moves up, the upturning angle of the hydrodynamic wing 1 increases, and when the limit point moves down, the downturning angle increases. The increase in the upturning or downturning angle of the wing 1 will lead to a reduction in the projected area in the vertical direction, so the water resistance of the wing 1 in the vertical direction is also reduced. At this time, the resistance of the water flow in the vertical direction is equal to the force of the spring 26 rebound, and a balance is achieved. Take the flap 1 turning down as an example. When the flap 1 turns down, the limit shaft 13 starts to compress the spring module 17. The initial flap angle 24 of the flap is 25°, which is the starting angle of the flap of the limit shaft 13. The flap buffering angle 25 is 85°, which is the maximum angle of the flap of the limit shaft 13. Corresponding to different sea conditions, the force of the flap 1 is different. The worse the sea conditions, the greater the flap angle of the flap 1. When the flap angle of the flap 1 reaches the maximum angle, its vertical force is F*cos(85゜), where F is the force in the vertical direction when the flap 1 is horizontal. Compared with the vertical force F*cos(25゜) of the fixed angle of the flap 1 when there is no spring module 17, F*cos(85゜) / F*cos(25゜)≈10%, the force of the flap 1 at the maximum angle is about 10% of the fixed angle, and the force is reduced by about 90%. Compared with the fixed-angle hydrodynamic wing 1 method, this design reduces the stress on the wing 1, the connecting shaft, the umbilical cable and the surface ship under high sea conditions, thereby alleviating the damage to these components caused by high sea conditions.

[0034] Embodiment 2: In this embodiment, the wing buffer upward flip angle 22 is 25°, the wing initial upward flip angle 23 is 10°, the wing initial downward flip angle 24 is 15°, and the wing buffer downward flip angle 25 is 90°.

[0035] Embodiment 3: In this embodiment, the wing buffer upward flip angle 22 is 28°, the wing initial upward flip angle 23 is 12°, the wing initial downward flip angle 24 is 22°, and the wing buffer downward flip angle 25 is 80°.

[0036] The flip angle of the hydrodynamic wing 1 can be adaptively adjusted under different sea conditions. When the sea conditions are good, the underwater gliding propeller moves up and down slowly, and the wing 1 is subject to less water resistance in the vertical direction. Therefore, the flip angle of the wing 1 is also small. A small angle of attack can generate a larger horizontal component thrust, which is conducive to the wave glider capturing weak wave energy, and can enable the wave glider to obtain the maximum forward speed when the waves are small. When the sea conditions deteriorate, the speed of the underwater gliding propeller moving up and down becomes faster, and the vertical water resistance of the wing 1 increases. Therefore, the flip angle of the wing 1 also increases, and a large angle of attack can reduce the water resistance of the wing 1 in the vertical direction. According to theoretical analysis, the hydrodynamic wing 1 with a traditional fixed angle of attack design is subject to a water resistance of more than 70kg for a single wing 1 under extreme sea conditions, and the total force of the wave glider using 12 wing 1 will reach more than 800kg. In addition to the impact force when the underwater gliding propeller moves up and down, such a large force puts high demands on the design, process and materials of the wing 1, the surface hull and the umbilical cable. The adaptive hydrodynamic wing 1 design is adopted, and the angle of attack of the wing 1 reaches the maximum under the most extreme sea conditions. Compared with the fixed angle of attack design, it can reduce the water resistance by up to 90%, effectively reducing the stress on the wing 1, umbilical cable, and surface boat, and reducing the design, process and material requirements of each component.

[0037] The modular design of the adaptive hydrodynamic wing 1 facilitates the installation, maintenance, replacement, transportation and storage of the whole machine. The petal-type base design of the adaptive hydrodynamic wing 1 module reduces the difficulty of base processing and also reduces the production and processing costs. The wave glider using the modular adaptive hydrodynamic wing 1 has been put into use. This design effectively improves the survivability of the wave glider in high sea conditions, its ability to work for a long time, and reduces working noise.

[0038] The above is only an embodiment of the present invention, and the common knowledge such as the known specific structure and / or characteristics in the scheme is not described in detail here. It should be pointed out that for those skilled in the art, several deformations and improvements can be made without departing from the structure of the present invention, which should also be regarded as the protection scope of the present invention, and these will not affect the effect of the implementation of the present invention and the practicality of the patent. The scope of protection required by this application shall be based on the content of its claims, and the specific implementation methods and other records in the specification can be used to interpret the content of the claims.

Claims

1. A modular adaptive hydrodynamic wing, comprising two winglets and a rotation shaft and a limit shaft connected between the two winglets, characterized in that: The rotating shaft is rotatably connected to the mounting base, and the mounting base is detachably connected to the keel frame of the underwater gliding thruster. A limit hole is provided on the mounting base, and the limit shaft is inserted into the limit hole. Both ends of the limit hole are provided with elastic adaptive mechanisms, and the elastic adaptive mechanism divides the swing angle range of the limit shaft in the limit hole into a wing buffer upturn angle of 25°-30°, a wing initial upturn angle of 10°-15°, a wing initial downturn angle of 15°-25°, and a wing buffer downturn angle of 80°-90°. The upturn and downturn are divided by the horizontal plane where the axis of the rotating shaft is located; The mounting base is a petal-type structure, and the mounting base includes an upper left base piece, a lower left base piece, an upper right base piece, and a lower right base piece, and a connecting piece is connected between the two base pieces on the left and the two base pieces on the right; A semicircular mounting groove and an arc-shaped limiting groove are arranged side by side in the middle of the bottom edge of the upper right base piece, the bottom edge of the upper left base piece, the top edge of the lower left base piece and the top edge of the lower right base piece are all provided with the same mounting groove and limiting groove, the upper and lower mounting grooves are assembled into a bearing mounting hole, and the upper and lower limiting grooves are assembled into a limiting hole.

2. A modular adaptive hydrodynamic wing according to claim 1, characterized in that: A protruding positioning platform is provided in the middle of the upper right base plate and the lower right base plate, and one connecting plate is provided on the front and rear sides of the positioning platform, the connecting plate abuts against the side end of the positioning platform, and at least two connecting holes are vertically provided on the connecting plate. Fastening holes facing the connecting holes are provided on the four base plates, and bolt pairs are passed through the fastening holes.

3. A modular adaptive hydrodynamic wing according to claim 1, characterized in that: The fastening holes on the upper right base plate are arranged side by side on one side of the fastening holes away from the mounting groove, and the lower right base plate is symmetrically provided with mounting holes at the interface between the upper right base plate and the lower right base plate. Bolt pairs are passed through the mounting holes, and the bearing mounting hole, mounting hole and fastening hole are all countersunk holes.

4. A modular adaptive hydrodynamic wing according to claim 3, characterized in that: The left side walls of the upper right base plate and the lower right base plate are provided with movable grooves intersecting with the ends of the limiting grooves, and the elastic adaptive mechanism is located in the movable grooves.

5. A modular adaptive hydrodynamic wing according to claim 4, characterized in that: The elastic adaptive mechanism comprises a spring module, the spring module comprises a spring and a spring guide member penetrating the inner side of the spring, and the spring guide member is a telescopic member.

6. A modular adaptive hydrodynamic wing according to claim 5, characterized in that: The spring guide member includes a spring guide sleeve and a spring guide column inserted in the spring guide sleeve. The outer diameter of the spring guide column has a negative tolerance to the inner diameter of the spring guide sleeve. The ends of the spring guide sleeve and the spring guide column are both provided with a spring bearing base and a spring guide base. The outer diameter of the spring bearing base is larger than the outer diameter of the spring and smaller than the width of the movable groove. A limiting shoulder is provided on the top of the movable groove. The outer diameter of the spring guide base is the same as the inner diameter of the spring and has a negative tolerance to the inner diameter of the spring.

7. A modular adaptive hydrodynamic wing according to claim 6, characterized in that: A positioning cylinder is provided at the end of the spring guide column, a fixing screw is provided on the positioning cylinder, a S-shaped slot is provided on the fixing screw, a positioning hole is provided at the bottom of the movable slot, the positioning cylinder is passed through the positioning hole, the fixing screw passes through the positioning hole and is connected with a fixing nut, a groove is provided at the top of the upper right base plate, and the fixing nut is located in the groove.

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