A 1500-meter-class hybrid-driven underwater glider

Abstract

The present invention belongs to the field of underwater robots, specifically, a 1500-meter-class hybrid-driven underwater glider, comprising a glider body, a main control system, a buoyancy adjustment system, a pitch adjustment system, a steering adjustment system, an energy system, a navigation and communication system, an emergency jettisoning system and a propeller system; the main control system controls the buoyancy adjustment system to adjust the buoyancy of the glider; the pitch adjustment system adjusts the pitch attitude by adjusting the center of gravity; the steering adjustment system adjusts the steering mechanism to achieve steering movement; the energy system provides energy for all actions of the glider; the navigation and communication system is used for positioning, tracking and data transmission; the emergency jettisoning system ensures recovery when the glider fails; the main control system controls the propeller system to achieve accelerated propulsion movement. The present invention can be widely used in applications such as rapid detection of water information.

Description

Technical Field

[0001] The invention belongs to the field of underwater robots, in particular to a 1500-meter-class hybrid-driven underwater glider. Background Art

[0002] The research of marine science has always been the focus of competition among countries. The rapid development of underwater gliders has enabled my country to occupy a certain leading position in marine research; however, the speed of most gliders is subject to certain restrictions. The speed of gliders driven only by buoyancy can only reach about 1 knot. Summary of the invention

[0003] In order to solve the disadvantages of underwater glider in terms of speed, the object of the present invention is to provide a 1500-meter-class hybrid-driven underwater glider.

[0004] The objective of the present invention is achieved through the following technical solutions:

[0005] The present invention comprises a glider body, a main control system, a pitch adjustment system, a buoyancy adjustment system, a steering adjustment system, an energy system, an emergency jettisoning system and a propeller system, wherein the glider body is modularly designed and is divided into a bow compartment, a pitch compartment, a fixed-wing compartment and a stern compartment, the bow compartment is externally mounted with a sensor, the main control system, the pitch adjustment system and the energy system are respectively installed in the pitch compartment, the buoyancy adjustment system is installed in the stern compartment, the steering adjustment system and the propeller system are respectively installed on the stern end cover behind the stern compartment, and the stern end cover is also installed with an emergency jettisoning system; the pitch adjustment system, the buoyancy adjustment system, the steering adjustment system, the emergency jettisoning system and the propeller system are respectively connected to the main control system.

[0006] Wherein: the bow compartment is respectively equipped with an altimeter, a temperature-salinity-depth sensor and a DVL sensor. The connecting cables of the altimeter, the temperature-salinity-depth sensor and the DVL sensor are vulcanized together to form a separate connector, and are connected to the main control system.

[0007] The pitch adjustment system includes a motor, a worm gear assembly A, a gear, a rack, a supporting square steel, a supporting ring and a pull rod. The two ends of the supporting square steel are respectively connected with support rings. The support rings at both ends are connected by pull rods and fixed in the pitch compartment. The energy system can be relatively slidably mounted on the supporting square steel. A rectangular hole is opened on the supporting square steel along the length direction. The rack is placed in the supporting square steel through the rectangular hole and fixed; the motor is installed on the energy system, and the output end is connected with a gear through the worm gear assembly A, and the gear is meshed with the rack.

[0008] The buoyancy regulating system comprises a buoyancy motor, a plunger pump, an inner oil bag assembly, an outer oil bag, a diaphragm pump, an end cover and a connecting rod. The outer oil bag is installed on the end cover and immersed in the seawater where the underwater glider is located. The end cover is sealed and connected to the stern compartment. The inner oil bag assembly is connected to the end cover through a connecting rod. A fixing plate is installed on the connecting rod. The buoyancy motor, the plunger pump and the diaphragm pump are respectively installed on the fixing plate. Two hydraulic pipelines are connected in parallel between the outer oil bag and the inner oil bag in the inner oil bag assembly. The plunger pump and a one-way valve that can only discharge oil from the inner oil bag to the outer oil bag are connected to one hydraulic pipeline, and the diaphragm pump and the electromagnetic switch valve are connected to the other hydraulic pipeline. The buoyancy motor drives the plunger pump to discharge the hydraulic oil from the inner oil bag into the outer oil bag, thereby increasing the buoyancy to make the underwater glider float, and the diaphragm pump discharges the hydraulic oil from the outer oil bag back to the inner oil bag, thereby reducing the buoyancy to make the underwater glider dive.

[0009] The steering adjustment system includes a steering motor, a worm gear assembly B, a rudder blade, a rudder shaft, a motor fixing seat and a stabilizing wing. The steering motor is installed on the stern compartment section through the motor fixing seat, the stabilizing wing is fixedly connected to the motor fixing seat, the output end of the steering motor is connected to the rudder shaft through the worm gear assembly B, the lower end of the rudder blade is connected to the rudder shaft, and the upper end is rotationally connected to the stabilizing wing.

[0010] The rudder shaft is rotatably connected to the motor fixing seat, the worm in the worm gear assembly B is connected to the output end of the steering motor, the worm wheel is linked to the rudder shaft and meshes with the worm.

[0011] The emergency dumping system includes a motor fixing seat, a shaft sealing seat, a spring sheet, a dumping shaft, a rotating wheel, an open wheel, a ball head support, a lead block, a DC motor and a planetary gear reducer. The motor fixing seat is sealed and connected to the stern end cover. The DC motor and the planetary gear reducer are inserted into the motor fixing seat in sequence. The shaft sealing seat is sealed and connected to the motor fixing seat. The dumping shaft is sealed and plugged into the shaft sealing seat, and one end is located in the shaft sealing seat and is rotatably connected to the shaft sealing seat through a bearing. The other end of the dumping shaft passes through the shaft sealing seat and is connected to the rotating wheel. One end of the dumping shaft is connected to the output shaft of the planetary gear reducer. The two wheels are connected and driven to rotate by the DC motor and the planetary gear reducer; a threaded shaft is provided on the rotating wheel, and an open wheel rotating with the rotating wheel is connected to the threaded shaft, and an annular groove is provided on the opposite surfaces of the open wheel and the rotating wheel, and a notch is provided on the annular groove of the open wheel; a ball head support is installed on the lead block, and the ball head of the ball head support is accommodated in the annular grooves of the rotating wheel and the open wheel; one side of the spring sheet is sleeved on the shaft sealing seat, and the other side abuts against the inner side surface of the lead block, and the rotating wheel and the open wheel are driven to rotate synchronously by the casting shaft, and the notch is rotated to the position of the ball head, and the ball head support and the lead block realize casting through the elastic force of the spring sheet.

[0012] A U-shaped hole is provided at one end of the cast-off shaft, a cylindrical pin is inserted on the output shaft of the planetary gear reducer, the output shaft of the planetary gear reducer is inserted into the cast-off shaft, the cylindrical pin is accommodated in the U-shaped hole, and the two ends of the cylindrical pin are respectively abutted against the inner surfaces of the two side walls of the U-shaped hole.

[0013] The rotating wheel is coaxially installed on the dumping rotating shaft, and the middle part extends axially to form the threaded shaft, and the open wheel is threadedly connected to the threaded shaft.

[0014] The advantages and positive effects of the present invention are:

[0015] 1. The propulsion system carried by the present invention can increase the extra power of the underwater glider on the basis of the original speed, and can detect some strong current sea areas.

[0016] 2. The pitch adjustment system of the present invention uses the movement of the energy battery to replace the movement of the center of gravity block, which reduces the weight of the glider on the one hand and increases the battery capacity of the glider on the other hand.

[0017] 3. The buoyancy adjustment system of the glider uses a plunger pump to discharge oil to the outer oil bag and a diaphragm pump to return oil to the inner oil bag, which is equivalent to having two sets of hydraulic systems, which can improve the efficiency of the pump.

[0018] 4. The pitch adjustment and steering adjustment of the glider adopt different systems, which can be adjusted at the same time and change the attitude of the glider quickly.

[0019] 5. When a glider fails, it can be recovered through the emergency jettisoning system to reduce losses. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0021] Figure 2 It is a structural schematic diagram of the bow compartment external sensor of the present invention;

[0022] Figure 3 It is a structural schematic diagram of the pitch adjustment system of the present invention;

[0023] Figure 4 It is a structural schematic diagram of the buoyancy regulating system of the present invention;

[0024] Figure 5 It is a structural schematic diagram of the steering adjustment system of the present invention;

[0025] Figure 6 It is a structural schematic diagram of the emergency load dumping system of the present invention;

[0026] Among them: 1 is the glider body, 2 is the main control system, 3 is the pitch adjustment system, 301 is the motor, 302 is the worm gear assembly A, 303 is the gear, 304 is the rack, 305 is the supporting square steel, 306 is the supporting ring, 307 is the pull rod, 4 is the buoyancy adjustment system, 401 is the buoyancy motor, 402 is the plunger pump, 403 is the inner oil bag assembly, 404 is the outer oil bag, 405 is the diaphragm pump, 406 is the end cover, 407 is the connecting rod, 5 is the steering adjustment system, 501 is the steering motor, 502 is the worm gear assembly B, 503 is the rudder blade, 504 is the rudder shaft, 505 is the motor fixing seat, 506 is the stabilizing wing, 6 is the energy system, 701 is the motor fixing seat, 702 is the bearing support seat, 703 is the shaft sealing seat, 704 is the spring sheet, 705 is the jettison shaft, 706 is the rotating wheel, 707 is the open wheel, 708 is the ball head support, 709 is the lead block, 710 is the DC motor, 711 is the planetary gear reducer, 712 is the screw A, 713 is the O-ring A, 714 is the O-ring B, 715 is the cylindrical pin, 716 is the screw B, 717 is the thrust ball bearing, 718 is the deep groove ball bearing, 719 is the O-ring C, 720 is the screw C, 721 is the self-locking nut A, 722 is the self-locking nut B, 723 is the ring groove, 724 is the notch, 725 is the threaded shaft, 8 is the thruster system, 9 is the bow section, 901 is the altimeter, 902 is the temperature-salinity-depth sensor, 903 is the DVL sensor, 10 is the pitch section, 11 is the fixed-wing section, and 12 is the stern section. DETAILED DESCRIPTION

[0027] The present invention will be further described below in conjunction with the accompanying drawings.

[0028] like Figure 1As shown in the figure, the present invention comprises a glider body 1, a main control system 2, a pitch adjustment system 3, a buoyancy adjustment system 4, a steering adjustment system 5, an energy system 6, a navigation and communication system, an emergency jettisoning system and a propulsion system 8, wherein the glider body 1 is modularly designed and is divided into a bow compartment 9, a pitch compartment 10, a fixed-wing compartment 11 and a stern compartment 12, the bow compartment 9 is externally mounted with a sensor, and different sensors can be carried according to mission requirements, and only the bow needs to be redesigned; the main control system 2, the pitch adjustment system 3, the energy system 6 and the navigation and communication system, the emergency jettisoning system and the propulsion system 8 The navigation communication system is installed in the pitch compartment, the buoyancy adjustment system 4 is installed in the stern compartment 12, the steering adjustment system 5 and the propeller system 8 are installed on the stern end cover behind the stern compartment 12, and the stern end cover is also installed with an emergency dumping system; the pitch adjustment system 3, the buoyancy adjustment system 4, the steering adjustment system 5, the navigation communication system, the emergency dumping system and the propeller system 8 are connected to the main control system 2 respectively, and the main control system 2 controls the navigation communication system to communicate and transmit data with the host computer to realize positioning tracking and data transmission. The main control system 2 controls the buoyancy adjustment system 3 to adjust the buoyancy of the underwater glider, the main control system 2 controls the pitch adjustment system 4 to adjust the glider's buoyancy, the main control system 2 controls the steering adjustment system 5 to realize the turning movement of the glider, the energy of the main control system 2 is provided by the energy system 6, and the main control system 2 controls the propulsion system 8 to realize the acceleration movement of the glider. The main control system 2, navigation and communication system and propulsion system 8 of the present invention are all prior art. The propulsion system 8 is installed in the stern compartment 12, penetrates into the glider body 1 through a single connector, and is connected to the main control system 2. The structure is simple and easy to maintain.

[0029] like Figure 1 , Figure 2 As shown, the bow compartment 9 of this embodiment is respectively installed with an altimeter 901, a temperature-salinity-depth sensor 902 and a DVL (acoustic Doppler log) sensor 903. The connecting cables of the altimeter 901, the temperature-salinity-depth sensor 902 and the DVL sensor 903 are vulcanized together to form a separate connector, and are connected to the main control system 2, which saves space and facilitates maintenance.

[0030] like Figure 1 , Figure 3As shown, the pitch adjustment system 3 of this embodiment includes a motor 301, a worm gear assembly A302, a gear 303, a rack 304, a support square steel 305, a support ring 306 and a pull rod 307. The two ends of the support square steel 305 are respectively connected with support rings 306. The support rings 306 at both ends are connected by pull rods 307 and fixed in the pitch compartment 10. The energy system 6 can be relatively slidably mounted on the support square steel 305. A rectangular hole is opened on the support square steel 305 along the length direction. The rack 304 is placed in the support square steel 305 through the rectangular hole and fixed; the motor 301 is installed on the energy system 6, and the output end is connected to the worm in the worm gear assembly A302. The worm wheel shaft in the worm gear assembly A302 is rotatably installed on the energy system 6. The wheel shaft is also linked with a gear 303, and the gear 303 is meshed with the rack 304. The energy system 6 of this embodiment is composed of energy batteries connected in series and parallel to form an adjustment block. The energy system 6, the motor 301, the worm gear assembly A302 and the gear 303 are integrated as a whole. Driven by the motor 301, after being decelerated by the worm gear assembly A302, the gear 303 is engaged with the rack 304 to slide back and forth along the length direction of the supporting square steel 305. In addition to providing electrical energy, the energy system 6 also acts as a weight. The reciprocating sliding of the energy system 6 can change the relative distance between the center of gravity and the center of buoyancy of the underwater glider, thereby adjusting the pitch attitude of the underwater glider.

[0031] like Figure 1 , Figure 4 As shown, the buoyancy regulating system 4 of this embodiment includes a buoyancy motor 401, a plunger pump 402, an inner oil bag assembly 403, an outer oil bag 404, a diaphragm pump 405, an end cover 406 and a connecting rod 407. The outer oil bag 404 is installed on the end cover 406 and immersed in the seawater of the underwater glider. The end cover 406 is sealed and connected to the stern compartment 12. The inner oil bag assembly 403 is connected to the end cover 406 through a connecting rod 407. A fixing plate is installed on the connecting rod 407. The buoyancy motor 401, the plunger pump 402 and the diaphragm pump 405 are respectively installed on the fixing plate. Two hydraulic pipelines are connected in parallel between the outer oil bag 404 and the inner oil bag in the inner oil bag assembly 403. One hydraulic pipeline is connected with a plunger pump 402 and a one-way valve that can only discharge oil from the inner oil bag to the outer oil bag 404, and the other hydraulic pipeline is connected with a diaphragm pump 405 and an electromagnetic switch valve. The buoyancy motor 401 drives the plunger pump 402 to discharge the hydraulic oil from the inner oil bag into the outer oil bag 404, thereby increasing the buoyancy and realizing the floating of the underwater glider. The diaphragm pump 405 discharges the hydraulic oil from the outer oil bag 404 back to the inner oil bag, thereby reducing the buoyancy and realizing the diving action of the underwater glider.

[0032] like Figure 1 , Figure 5As shown, the steering adjustment system 5 of this embodiment includes a steering motor 501, a worm gear assembly B502, a rudder blade 503, a rudder shaft 504, a motor fixing seat 505 and a stabilizing wing 506. The steering motor 501 is installed on the stern compartment 12 through the motor fixing seat 505, and the stabilizing wing 506 is fixed to the motor fixing seat 505. The output end of the steering motor 501 is connected to the rudder shaft 504 through the worm gear assembly B502, and the rudder shaft 504 is rotationally connected to the motor fixing seat 505. The worm in the worm gear assembly B502 is connected to the output end of the steering motor 501, and the worm wheel is linked to the rudder shaft 504 and meshes with the worm; the lower end of the rudder blade 503 is connected to the rudder shaft 504, and the upper end is rotationally connected to the stabilizing wing 506. After deceleration, the steering motor 501 drives the rudder blade 503 along the worm gear assembly B502 Figure 5 The axis of rotation can change the heading of the underwater glider.

[0033] like Figure 1 , Figure 6 As shown, the emergency dumping system of this embodiment includes a motor fixing seat 701, a bearing support seat 702, a shaft sealing seat 703, a spring sheet 704, a dumping shaft 705, a rotating wheel 706, an open wheel 707, a ball head support 708, a lead block 709, a DC motor 710 and a planetary gear reducer 711. The motor fixing seat 701 is a cylindrical rotating body, which is sealed and connected to the stern end cover. The axial cross-section is a hollow "T" shape. O-ring grooves are opened on both sides of the "T" shape. The O-ring groove on one side is filled with an O-ring A713 sealed and connected to the stern end cover, and the O-ring groove on the other side is filled with an O-ring B714 sealed and connected to the shaft sealing seat 703. The DC motor 710 and the planetary gear reducer 711 are inserted into the motor fixing seat 701 in sequence and connected in a coaxial direct connection manner.

[0034] The shaft seal seat 703 is a cylindrical rotating body with an internal hollow structure. The motor fixing seat 701 and the shaft seal seat 703 are both cylindrical rotating bodies that can withstand high pressure (70MPa). One end of the shaft seal seat 703 is sealed and fixedly connected to the motor fixing seat 701, and the other end is sealed and connected to the dump shaft 705 through two piston seals (i.e., two O-rings C719) to ensure the reliability of the dynamic seal and the sealing performance under high pressure. The dump shaft 705 is sealed and plugged with the shaft seal seat 703, and one end is located in the shaft seal seat 703 and is rotatably connected to the shaft seal seat 703 through a thrust bearing 717 and a deep groove ball bearing 718. The other end of the dump shaft 705 passes through the shaft seal seat 703 and is connected to a runner 706. The thrust ball bearing 717 and the deep groove ball bearing 718 are respectively sleeved on one end of the throw-off shaft 705, and the two side shoulders of the one end of the throw-off shaft 705 are respectively supported by the thrust ball bearing 717 and the deep groove ball bearing 718, which not only ensures that the throw-off shaft 705 is coaxial with the shaft seal seat 703, but also balances the axial force of the water pressure at a large depth (7000m), and avoids the axial force from being transmitted to the output shaft of the planetary gear reducer 711 and damaging it. A bearing support seat 702 is provided between the shaft seal seat 703 and the motor fixed seat 701, and the inner hole of one side of the bearing support seat 702 is sleeved with the bottom ring of the thrust ball bearing 717, and the outer surface is sleeved with the shaft seal seat 703, and the other side of the bearing support seat 702 is sleeved with the stopper of the motor fixed seat 701, so that the motor fixed seat 701 and the shaft seal seat 703 are coaxial. A U-shaped hole is provided at one end of the throw-load shaft 705, and a cylindrical pin 715 is inserted on the output shaft of the planetary gear reducer 711. The output shaft of the planetary gear reducer 711 is inserted into the throw-load shaft 705, and the cylindrical pin 715 is accommodated in the U-shaped hole. The two ends of the cylindrical pin 715 are respectively abutted against the inner surfaces of the two side walls of the U-shaped hole, so that the DC motor 710 and the planetary gear reducer 711 drive the throw-load shaft 705 to rotate.

[0035] The rotating wheel 706 is coaxially mounted on the other end of the cast-off rotating shaft 705, and the middle part extends axially to form a threaded shaft 725, and the open wheel 707 is threadedly connected to the threaded shaft 725 and rotates with the rotating wheel 706. The open wheel 707 and the rotating wheel 706 have an annular groove 723 on the opposite surface, and a notch 724 is provided on the annular groove 723 of the open wheel 707.

[0036] There are middle holes on both sides of the spring sheet 704. The center hole on one side passes through the shaft seal seat 703. The shaft seal seat 703 and the spring sheet 704 are fixed to the motor fixing seat 701 by screws; the other side of the spring sheet 704 abuts against the inner side of the lead block 709. The lead block 709 has a middle hole, which is a stepped hole. The ball head support 708 is an inverted "T" shape, and the end of the vertical side of the "T" shape is a ball head, and the part of the vertical side of the "T" shape is made with external threads; the ball head support 708 passes through the middle hole of the lead block 709 and is fixed to the lead block 709 by a self-locking nut. The ball head of the ball head support 708 passes through the center hole on the other side of the spring sheet 704 and is accommodated in the annular groove 723 of the rotating wheel 706 and the open wheel 707. The cast-off shaft 705 drives the rotating wheel 706 and the open wheel 707 to rotate synchronously, and the notch 724 rotates to the position of the ball head. The ball head support 708 and the lead block 709 realize the cast-off through the elastic force of the spring sheet 704.

[0037] The DC motor 710 and the planetary gear reducer 711 are connected in a coaxial direct connection manner. The DC motor 710 and the planetary gear reducer 711 are inserted into the motor fixing seat 701 at the same time, and the flange positioning stop of the planetary gear reducer 711 is fitted with the stop hole of the motor fixing seat 701 to ensure that the planetary gear reducer 711 and the motor fixing seat 701 are coaxial. The planetary gear reducer 711 is fixed to the motor fixing seat 701 by screws A712; the O-ring A713 is sleeved in the O-ring groove on the left side of the motor fixing seat 701 for sealing between the safety dumping device and the underwater robot; the O-ring B714 is sleeved in the O-ring groove on the right side of the motor fixing seat 701 for sealing between the motor fixing seat 701 and the shaft sealing seat 703.

[0038] Two O-rings C719 are respectively sleeved in two radial O-ring sealing grooves of the throw-away shaft 705, and are used for dynamic sealing between the throw-away shaft 705 and the shaft seal seat 703. The deep groove ball bearing 718 is sleeved on the right shoulder of one end of the throw-away shaft 705, and is used for radial support when the throw-away shaft 705 rotates, ensuring that the throw-away shaft 705 and the shaft seal seat 703 are coaxial; the thrust ball bearing 717 is sleeved on the left shoulder of one end of the throw-away shaft 705, and is used to transfer the hydraulic axial force on the throw-away shaft 705 to the bearing support seat 702, so as to prevent the output shaft of the planetary gear reducer 711 from being subjected to axial force. Then the throw-away shaft 705, together with the deep groove ball bearing 718 and the thrust ball bearing 717, is inserted into the shaft seal seat 703, so that the sealing surface of the throw-away shaft 705 fits well with the sealing surface of the shaft seal seat 703. Then, fit the right inner hole of the bearing support seat 702 with the bottom ring of the thrust ball bearing 717, and fit the outer surface of the bearing support seat 702 with the left hole of the shaft sealing seat 703; insert the cylindrical pin 715 into the transverse hole of the output shaft of the planetary gear reducer 711, and ensure that the lengths of the protruding parts on both sides of the cylindrical pin 715 are equal; then insert the output shaft of the planetary gear reducer 711 into the throw-off shaft 705, and make the cylindrical pin 715 contained in the U-shaped hole on the left side of the throw-off shaft 705, and at the same time, make the left side of the shaft support seat 702 fit with the right stopper of the motor fixing seat 701, and ensure that the motor fixing seat 701 and the shaft sealing seat 703 are coaxial.

[0039] The left center hole of the spring sheet 704 passes through the shaft seal seat 703, and the shaft seal seat 703 and the spring sheet 704 are fixed to the motor fixing seat 701 by four screws B716. Insert the right end of the cast-off shaft 705 into the left hole of the rotating wheel 706, and turn the rotating wheel 706 clockwise until the transverse threaded hole on the cast-off shaft 705 is aligned with the transverse mounting hole of the rotating wheel 706; then pass the screw C720 through the transverse mounting hole of the rotating wheel 706 and match it with the transverse threaded hole on the cast-off shaft 705, tighten the screw C720, and fix the cast-off shaft 705 and the rotating wheel 706 together. Then match the middle hole of the open wheel 707 with the right threaded shaft 725 of the rotating wheel 706, and fix the open wheel 707 to the rotating wheel 706 by the self-locking nut A721. Pass the ball head support 708 through the middle hole of the lead block 709, and fix the two together by the self-locking nut B722. Start the DC motor 710, and the rotating wheel 706 and the open wheel 707 rotate simultaneously. When the notch of the open wheel 707 is facing the spring sheet 704 downward, stop the DC motor 710; pass the ball head support 708 through the middle hole on the right side of the spring sheet 704, and place the ball head in the annular groove 723 formed between the rotating wheel 706 and the open wheel 707, keep the position of the ball head support 708 unchanged, start the DC motor 710, and stop the DC motor 710 until the notch 724 on the open wheel 707 rotates 180°, that is, the notch 724 is facing upward.

[0040] The workflow of the present invention is:

[0041] After the operating vessel arrives at the deployment sea area, the deployment device puts the glider into the sea surface, and controls the buoyancy adjustment system 4 through the main control system 2 to reduce the buoyancy of the glider. The glider sinks to the sea surface at a set angle, and the speed at this time can reach 1 knot. At this time, the propeller system 8 can be turned on to speed up the diving speed of the glider, and the speed can reach 3 knots. When the operating depth is reached, the main control system 2 controls the buoyancy adjustment system 4 to increase the buoyancy of the glider and make the glider float. At this time, the propeller system 8 can be turned on to speed up the glider's floating speed, so that the glider can quickly complete the detection of a profile. After completing all tasks, the glider is recovered by the operating vessel.

[0042] The glider of the present invention can only open the propeller system 8 when the gravity and buoyancy are equal during operation, so as to complete the detection of a horizontal plane. The heading and horizontal speed at this time can be measured by the DVL sensor.

[0043] The glider of the present invention can reach a speed of 3 knots when the buoyancy drive and propeller systems are fully opened. This speed can cross some strong current areas and complete sea area exploration that could not be completed by gliders driven solely by buoyancy in the past.

[0044] When the glider encounters a fatal fault or danger, the main control system 2 starts the DC motor 710; the DC motor 710 transmits the torque to the jettison shaft 705 after being decelerated by the planetary gear reducer 711, and the jettison shaft 705 transmits the torque to the rotating wheel 706 and the open wheel 707; the rotating wheel 706 and the open wheel 707 rotate together as a whole, while the ball head support 708 and the lead block 709 will not rotate with the rotating wheel 706 and the open wheel 707 due to the effect of gravity and the elastic force of the spring sheet 704. The ball head of the ball head supporting member 708 will slide in the annular groove 723 between the rotating wheel 706 and the open wheel 707 until the notch 724 of the open wheel 707 is rotated to the position of the ball head of the ball head supporting member 708. Then, the ball head loses the restriction of the annular groove 723, and the ball head supporting member 708 and the lead block 709 will separate under the combined effect of their own gravity and the elastic force of the spring sheet 704. After the ball head supporting member 708 and the lead block 709 separate, the weight of the entire glider will become smaller, the buoyancy will be greater than its own gravity, and the glider will float to the surface.

[0045] The 1,500-meter-class hybrid-drive underwater glider equipped with a propeller of the present invention has certain advantages in detection speed. When the buoyancy drive and propeller drive modes are turned on at the same time, the speed can reach about 3 knots, ensuring that the glider can pass through some strong current sea areas.

Claims

1. A 1500-meter-class hybrid-driven underwater glider, characterized in that: The invention comprises a glider body (1), a main control system (2), a pitch adjustment system (3), a buoyancy adjustment system (4), a steering adjustment system (5), an energy system (6), an emergency jettisoning system and a propulsion system (8), wherein the glider body (1) is modularly designed and is divided into a bow cabin (9), a pitch cabin (10), a fixed-wing cabin (11) and a stern cabin (12), wherein the bow cabin (9) is externally mounted with a sensor, and the main control system (2), the pitch adjustment system ( 3) and the energy system (6) are respectively installed in the pitching compartment, the buoyancy adjustment system (4) is installed in the stern compartment (12), the steering adjustment system (5) and the propulsion system (8) are respectively installed on the stern end cover behind the stern compartment (12), and the stern end cover is also installed with an emergency jettison system; the pitching adjustment system (3), the buoyancy adjustment system (4), the steering adjustment system (5), the emergency jettison system and the propulsion system (8) are respectively connected to the main control system (2); The buoyancy regulating system (4) comprises a buoyancy motor (401), a plunger pump (402), an inner oil bladder assembly (403), an outer oil bladder (404), a diaphragm pump (405), an end cover (406) and a connecting rod (407). The outer oil bladder (404) is mounted on the end cover (406) and immersed in the seawater where the underwater glider is located. The end cover (406) is sealed and connected to the stern compartment (12). The inner oil bladder assembly (403) is connected to the end cover (406) via a connecting rod (407). A fixing plate is mounted on the connecting rod (407). The buoyancy motor (401), the plunger pump (402) and the diaphragm pump (405) are respectively installed on the fixed plate; two hydraulic pipelines are connected in parallel between the outer oil bag (404) and the inner oil bag in the inner oil bag assembly (403); one hydraulic pipeline is connected to the plunger pump and a one-way valve that can only discharge oil from the inner oil bag to the outer oil bag (404); the other hydraulic pipeline is connected to the diaphragm pump and the electromagnetic switch valve; the buoyancy motor (401) drives the plunger pump (402) to discharge the hydraulic oil from the inner oil bag into the outer oil bag (404), thereby increasing the buoyancy to make the underwater glider float up, and the diaphragm pump (405) discharges the hydraulic oil from the outer oil bag (404) back to the inner oil bag, thereby reducing the buoyancy to make the underwater glider dive; The steering adjustment system (5) comprises a steering motor (501), a worm gear assembly B (502), a rudder blade (503), a rudder shaft (504), a motor fixing seat (505) and a stabilizing wing (506); the steering motor (501) is mounted on the stern compartment (12) via the motor fixing seat (505); the stabilizing wing (506) is fixedly connected to the motor fixing seat (505); the output end of the steering motor (501) is connected to the rudder shaft (504) via the worm gear assembly B (502); the lower end of the rudder blade (503) is connected to the rudder shaft (504); and the upper end is rotatably connected to the stabilizing wing (506).

2. The 1500-meter-class hybrid-driven underwater glider according to claim 1, characterized in that: The bow compartment (9) is respectively equipped with an altimeter (901), a temperature-salinity-depth sensor (902) and a DVL sensor (903); the connecting cables of the altimeter (901), the temperature-salinity-depth sensor (902) and the DVL sensor (903) are vulcanized together to form a separate connector, which is connected to the main control system (2).

3. The 1500-meter-class hybrid-driven underwater glider according to claim 1, characterized in that: The pitch adjustment system (3) comprises a motor (301), a worm gear assembly A (302), a gear (303), a rack (304), a supporting square steel (305), a supporting ring (306) and a pull rod (307). The two ends of the supporting square steel (305) are respectively connected to supporting rings (306). The supporting rings (306) at the two ends are connected by pull rods (307) and then fixed in the pitch compartment (10). The energy system can be relatively slidably sleeved on the supporting square steel (305). A rectangular hole is opened on the supporting square steel (305) along the length direction. The rack (304) is placed in the supporting square steel (305) through the rectangular hole and fixed. The motor (301) is installed on the energy system (6). The output end is connected to the gear (303) through the worm gear assembly A (302). The gear (303) is meshed with the rack (304).

4. The 1500-meter-class hybrid-driven underwater glider according to claim 1, characterized in that: The rudder shaft (504) is rotatably connected to the motor fixing seat (505), the worm in the worm gear assembly B (502) is connected to the output end of the steering motor (501), and the worm wheel is linked to the rudder shaft (504) and meshes with the worm.

5. The 1500-meter-class hybrid-driven underwater glider according to claim 1, characterized in that: The emergency dumping system comprises a motor fixing seat (701), a shaft sealing seat (703), a spring sheet (704), a dumping shaft (705), a rotating wheel (706), an open wheel (707), a ball head support (708), a lead block (709), a DC motor (710) and a planetary gear reducer (711); the motor fixing seat (701) is sealedly connected to the stern end cover; the DC motor (710) and the planetary gear reducer (711) are sequentially inserted into the motor fixing seat (701); The shaft seal seat (703) is sealedly connected to the motor fixing seat (701); the cast-off shaft (705) is sealedly plugged into the shaft seal seat (703), and one end of the cast-off shaft (705) is located in the shaft seal seat (703) and is rotatably connected to the shaft seal seat (703) via a bearing; the other end of the cast-off shaft (705) passes through the shaft seal seat (703) and is connected to the rotating wheel (706); one end of the cast-off shaft (705) is connected to the output shaft of the planetary gear reducer (711) and is connected to the motor fixing seat (701) via the DC power supply. The rotating wheel (706) is driven to rotate by a motor (710) and a planetary gear reducer (711); a threaded shaft (725) is provided on the rotating wheel (706); an open wheel (707) rotating with the rotating wheel (706) is connected to the threaded shaft (725); an annular groove (723) is provided on the opposite surface of the open wheel (707) and the rotating wheel (706); a notch (724) is provided on the annular groove (723) of the open wheel (707); a ball head support (708) is installed on the lead block (709); the ball head support (708) ) is accommodated in the annular groove (723) of the rotating wheel (706) and the open wheel (707); one side of the spring sheet (704) is sleeved on the shaft sealing seat (703), and the other side abuts against the inner side surface of the lead block (709), and the rotating wheel (706) and the open wheel (707) are driven to rotate synchronously through the casting shaft (705), and the notch (724) is rotated to the position of the ball head, and the ball head support (708) and the lead block (709) realize casting through the elastic force of the spring sheet (704).

6. The 1500-meter-class hybrid-driven underwater glider according to claim 5, characterized in that: A U-shaped hole is provided at one end of the cast-off shaft (705); a cylindrical pin (715) is inserted into the output shaft of the planetary gear reducer (711); the output shaft of the planetary gear reducer (711) is inserted into the cast-off shaft (705); the cylindrical pin (715) is accommodated in the U-shaped hole; and the two ends of the cylindrical pin (715) are respectively in contact with the inner surfaces of the two side walls of the U-shaped hole.

7. The 1500-meter-class hybrid-driven underwater glider according to claim 5, characterized in that: The rotating wheel (706) is coaxially mounted on the dumping rotating shaft (705), and the middle part extends axially to form the threaded shaft (725), and the open wheel (707) is threadedly connected to the threaded shaft (725).

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