An underwater glider

Abstract

The invention discloses an underwater glider, comprising a fuselage, a center of gravity adjustment mechanism, a variable wing mechanism and a buoyancy adjustment mechanism arranged on the fuselage. Two gliders in the variable wing mechanism are rotatably arranged on a transition chamber. The gliders are driven to rotate by a driving mechanism to change the sweep angle and aspect ratio between the gliders and the fuselage axis, and change the wingspan area of ​​the gliders. After the gliders rotate to a specific position, the gliders are locked by a locking mechanism so that the gliders maintain a fixed posture relative to the fuselage. When the gliders are in a folded state, the horizontal plane projection area is reduced, which is convenient for overall transportation. When the gliders are unfolded at a small angle, the sweep angle increases, the aspect ratio and resistance decrease, the lift increases and the force point moves backward, the gliding angle increases, the glider can glide in a small space, and the probability of collision with obstacles is reduced. When the gliders are unfolded at a large angle, the sweep angle decreases, the aspect ratio and resistance increase, the lift decreases and the lift force point moves forward, the gliding angle and the gliding distance are increased.

Description

Technical Field

[0001] The invention belongs to the technical field of underwater transportation vehicles, and in particular relates to an underwater glider. Background Art

[0002] An underwater glider is an autonomous underwater vehicle that uses net buoyancy and attitude angle adjustment to obtain propulsion. It consumes very little energy and only consumes a small amount of energy when adjusting the net buoyancy and attitude angle. It has a flight endurance of several months and can reach a range of thousands of kilometers. At present, the research and design of the glider wing form of underwater gliders is a major research direction in the development of underwater glider technology. Existing underwater gliders mainly include an outer shell, which includes a head, a center of gravity adjustment chamber, a buoyancy adjustment chamber and a tail in sequence; a center of gravity adjustment structure is set in the center of gravity adjustment chamber, and a buoyancy adjustment mechanism is set in the buoyancy adjustment chamber. Two gliders are symmetrically arranged on the outer wall of the center of gravity adjustment chamber. For gliders, there are generally gliders with independent fixed fuselage and gliders, and gliders with integrated fuselage and gliders. That is, the glider is detachably arranged on the center of gravity adjustment chamber, and the glider is formed on the center of gravity adjustment chamber.

[0003] During the transportation of these two types of underwater gliders, the fusion-type glider occupies a large volume and is not convenient for transportation; during the transportation of the fixed-type glider, the glider needs to be disassembled from the center of gravity adjustment chamber first, and the glider and the fuselage are transported separately. Although the space occupied by transportation is small, special tools are required to disassemble and install the glider. When transported to the destination, the glider is installed on the fuselage, resulting in a large transportation workload.

[0004] When the glider is dropped into the water and recovered from the water, the entire glider has a large wingspan area, and multiple cranes are required to suspend and transfer the two gliders and the entire fuselage. The length of each crane is longer than the length of the corresponding glider or fuselage. The longer the crane is, the more difficult it is to lift the glider, and the more difficult it is to recover the glider. In addition, the glider has a large wingspan area, and is more likely to be hit by water flow underwater, and is more likely to be hit by marine life. The large wingspan structure is not suitable for working in narrow trenches or reefs, which limits the scope of use of the glider. Summary of the invention

[0005] Therefore, the technical problem to be solved by the present invention is that the glider of the existing underwater glider has a large wingspan structure, occupies a large space, is inconvenient to transport, drop and recover underwater, is easily hit and has a limited scope of use.

[0006] To this end, the present invention provides an underwater glider, comprising

[0007] A fuselage, and a center of gravity adjustment mechanism, a variable wing mechanism and a buoyancy adjustment mechanism sequentially arranged on the fuselage;

[0008] The variable wing mechanism comprises two gliders which are symmetrically distributed; the two gliders are rotatably arranged on the transition compartment of the fuselage through two hinges, and are driven by the driving mechanism to rotate relative to the axis of the fuselage; the first end of any glider is located in the transition compartment, and the second end opposite to the first end extends out of the transition compartment;

[0009] The locking mechanism is arranged on the transition chamber, and can apply a locking force to the hang glider to keep the hang glider in a first state of a fixed posture relative to the fuselage, and cancel the locking force to put the hang glider in a second state of rotation.

[0010] Optionally, in the above-mentioned underwater glider, the driving mechanism comprises

[0011] Two first sliding members are arranged in the transition chamber and driven by the first driving assembly to move back and forth toward or away from each other in a direction perpendicular to the axis of the fuselage; the ends of the two first sliding members that are away from each other are respectively hinged to the first ends of the two gliders;

[0012] When any of the first sliding members slides, an axial thrust is applied to the first end to drive the corresponding gliders to rotate around their respective first hinge axes on the transition compartment; in the first state, the locking mechanism applies the locking force to the first driving assembly.

[0013] Optionally, in the above-mentioned underwater glider, the first driving assembly includes

[0014] A second sliding member is arranged in the transition bin;

[0015] A driver, used for driving the second sliding member to slide back and forth linearly along the axis of the fuselage;

[0016] A first slide rail extending along a sliding direction of the first slide member and arranged on the second slide member; two first slide members are slidably arranged on the first slide rail;

[0017] The first extension portion of any of the first sliding members extending out of the first sliding rail is rotatably disposed on the first end corresponding to each other; in the first state, the locking mechanism applies the locking force to the second sliding member.

[0018] Optionally, in the above-mentioned underwater glider, the driver includes a first rotating motor arranged in the transition chamber, a gear fixed on the rotating shaft of the first rotating motor, a rack is provided on one side wall of the second sliding member, and the rack of the second sliding member is meshed with the gear.

[0019] Optionally, in the above-mentioned underwater glider, the first driving assembly further comprises a second slide rail arranged in the transition compartment and extending along a sliding direction of the second sliding member, and the second sliding member is slidably arranged on the second slide rail.

[0020] Optionally, in the above-mentioned underwater glider, the locking mechanism comprises

[0021] A brake block is disposed on a side surface facing the second sliding member; the brake block is driven by the second driving assembly to reciprocate toward or away from the side surface of the second sliding member;

[0022] In a first state, the brake block is tightly in contact with the second sliding member, applying a static friction force to the second sliding member, and the static friction force serves as the locking force; in a second state, the brake block is separated from the second sliding member;

[0023] A tension spring applies a continuous pulling force to the brake block away from the second sliding member so that the brake block tends to be maintained in the second state.

[0024] Optionally, in the above-mentioned underwater glider, a notch extending along the sliding direction of the second sliding member is provided on a surface of the second sliding member facing the brake block;

[0025] In the first state, the braking end of the brake block facing the notch groove is inserted into the notch groove, and the end surface of the brake end is tightly abutted against the groove bottom of the notch groove; in the second state, the brake end withdraws from the notch groove.

[0026] Optionally, in the above-mentioned underwater glider, the two groove walls of the notch groove are inclined first slope surfaces, so that the notch of the notch groove is expanded in the direction from the groove bottom to the notch; and the opposite side walls of the braking end are respectively provided with second slope surfaces matching the first slope surfaces;

[0027] The second driving assembly drives the brake block to move back and forth, thereby driving the brake end to move into or out of the notch groove.

[0028] Optionally, in the above-mentioned underwater glider, the second driving assembly includes a second rotating motor disposed in the transition chamber, and a cam fixed on the rotating shaft of the second rotating motor, the outer peripheral wall surface of the cam is in contact with the brake block, and the cam is driven by the second rotating motor to rotate so as to drive the brake block to reciprocate;

[0029] The locking mechanism also includes a third slide rail which is arranged on the bottom plate in the transition bin and extends along the sliding direction of the brake block; a matching portion is provided on the brake block, and the matching portion is slidably arranged on the third slide rail.

[0030] Optionally, the above-mentioned underwater glider further includes a bottom plate and a top plate arranged in the transition chamber;

[0031] The hang glider is rotatably arranged on the top plate and the bottom plate, and is clamped between the bottom plate and the top plate;

[0032] The top plate is provided with a clearance area; the locking mechanism and the driving mechanism are both arranged on the bottom plate and distributed in the clearance area.

[0033] The technical solution of the present invention has the following advantages:

[0034] 1. The underwater glider provided by the present invention comprises a fuselage, and a center of gravity adjustment mechanism, a variable wing mechanism and a buoyancy adjustment mechanism which are sequentially arranged on the fuselage; the variable wing mechanism comprises two gliders which are symmetrically distributed; the two gliders are rotatably arranged on a transition compartment of the fuselage through two hinges, and are rotatable relative to the axis of the fuselage under the push of a driving mechanism; a first end of any of the gliders is located in the transition compartment, and a second end opposite to the first end extends out of the transition compartment; a locking mechanism is arranged on the transition compartment, and can apply a locking force to the glider to keep the glider in a first state of a fixed posture relative to the fuselage, and cancel the locking force to put the glider in a second state of being rotatable.

[0035] The underwater glider of this structure has a variable wing mechanism arranged between the center of gravity adjustment mechanism and the buoyancy adjustment mechanism, and two gliders in the variable wing mechanism are rotatably arranged on the transition chamber. The glider is driven by the driving mechanism to rotate, so as to change the sweep angle and aspect ratio of the glider, and change the wingspan area of ​​the glider at the same time. After the glider rotates to a specific position, the glider is locked by the locking mechanism so that the glider remains fixed relative to the fuselage. When the glider is in the folded state, the horizontal plane projection area of ​​the underwater glider is reduced, which is convenient for overall transportation and reduces the difficulty of launching and recovering. When the glider is in the state of small-angle expansion, the sweep angle increases, the aspect ratio decreases, the drag decreases, the lift increases, and the force point moves backward, increasing the gliding angle, and can glide in a small space, reducing the probability of collision with obstacles. When the glider is in the state of large-angle expansion, the sweep angle decreases, the aspect ratio increases, the drag increases, the lift decreases, and the lift force point moves forward, increasing the gliding angle and gliding distance. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0037] Figure 1 This is a schematic structural diagram of the underwater glider provided in Embodiment 1 of the present invention;

[0038] Figure 2 for Figure 1 Schematic diagram of the local structure of the underwater glider after removing the transition layer;

[0039] Figure 3 for Figure 1 A schematic diagram of the structure of the glider wing, top plate, locking mechanism, driving mechanism and bottom plate of the underwater glider;

[0040] Figure 4 for Figure 3 A partial enlarged schematic diagram of

[0041] Figure 5 for Figure 3 A schematic structural diagram of the first sliding member;

[0042] Figure 6 It is a structural schematic diagram of the second sliding member and the locking mechanism on the bottom plate;

[0043] Figure 7 for Figure 6 Schematic diagram of the explosion structure of the second sliding member;

[0044] Figure 8 for Figure 3 A schematic diagram of the structure of the brake block and brake seat of the middle locking mechanism;

[0045] Fig. 9 for Figure 3 A schematic structural diagram of a second drive assembly of the middle locking mechanism;

[0046] Fig.10 for Figure 3 A schematic structural diagram of the first drive assembly;

[0047] Fig.11 for Figure 1 Schematic diagram of the structure of the middle top plate;

[0048] Fig.12 for Figure 1 Schematic diagram of the structure of the midsole plate;

[0049] Fig.13 for Figure 1A schematic diagram of the structure of the mid-glider after removing part of the shell;

[0050] Description of reference numerals:

[0051] 1-fuselage; 11-head; 12-center of gravity adjustment chamber; 13-transition chamber; 14-buoyancy adjustment chamber; 15-tail; 16-beam axis;

[0052] 2- glider; 21- first end; 22- second end; 23- first hinge axis;

[0053] 3- Center of gravity adjustment mechanism;

[0054] 31-top plate; 32-bottom plate; 321-first make way channel; 322-second make way channel; 33-second slide rail; 34-third slide rail;

[0055] 4-driving mechanism; 41-first sliding member; 411-first extension portion; 412-first connecting shaft; 413-connecting ring; 42-second hinge shaft; 43-second sliding member; 431-rack; 432-brake seat; 4321-notch groove; 4322-first slope;

[0056] 433-support seat; 44-first rotating motor; 45-gear; 46-first slide rail;

[0057] 5-locking mechanism; 51-brake block; 511-second slope; 512-limiting protrusion; 513-first step; 52-tension spring;

[0058] 6-second driving assembly; 61-second rotating motor; 62-cam;

[0059] 7-Buoyancy adjustment mechanism. DETAILED DESCRIPTION

[0060] The technical solution of the present invention will be described clearly and completely below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0061] In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance.

[0062] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0063] In addition, the technical features involved in the different embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0064] Example 1

[0065] This embodiment provides an underwater glider, such as Figures 1 to 13 As shown, it includes a fuselage 1, a center of gravity adjustment mechanism 3, a variable wing mechanism and a buoyancy adjustment mechanism 7 which are sequentially arranged on the fuselage; wherein, Figure 1 As shown, the fuselage 1 has a head 11, a center of gravity adjustment chamber 12, a transition chamber 13, a buoyancy adjustment chamber 14 and a tail 15 which are arranged in sequence.

[0066] The variable wing mechanism includes two hang gliders 2, a driving mechanism 4 and a locking mechanism 5. The two hang gliders 2 are symmetrically arranged, and the two hang gliders 2 are rotatably arranged on the transition chamber of the fuselage through two hinges, and are rotatable relative to the axis of the fuselage 1 under the push of the driving mechanism 4; the first end 21 of any hang glider 2 is located in the transition chamber 13, and the second end 22 opposite to the first end 21 extends out of the transition chamber 13; the locking mechanism 5 is arranged on the transition chamber 13, and can apply a locking force to the hang glider 2 to keep the hang glider 2 in a first state of a fixed posture relative to the fuselage, and cancel the locking force to put the hang glider 2 in a second state of being rotatable.

[0067] The underwater glider of this structure has a transition chamber 13 between the gravity adjustment chamber 12 and the buoyancy adjustment chamber 14, and a variable wing mechanism is provided between the gravity adjustment mechanism 3 and the buoyancy adjustment mechanism 7. The two gliders 2 in the variable wing mechanism are rotatably arranged on the transition chamber 13. The glider 2 is driven to rotate by the driving mechanism 4 to change the sweep angle and aspect ratio of the glider 2, and the wingspan area of ​​the glider 2 is changed at the same time. After the glider 2 rotates to a specific position, the glider 2 is locked by the locking mechanism 5 so that the glider remains fixed relative to the fuselage. When the glider 2 is in the folded state, the horizontal plane projection area of ​​the underwater glider is reduced, which is convenient for overall transportation and reduces the difficulty of launching and recovering. When the glider 2 is in the state of being unfolded at a small angle, the sweep angle is increased, the aspect ratio is reduced, the resistance is reduced, the lift is increased, and the force point is moved backward, which increases the gliding angle, can glide in a small space, and reduces the probability of collision with obstacles. When the glider wing 2 is deployed at a large angle, the sweep angle decreases, the aspect ratio increases, the drag increases, the lift decreases and the lift force point moves forward, thereby increasing the gliding angle and the gliding distance to improve the dynamic characteristics of the underwater glider.

[0068] That is, the glider of the underwater glider in this embodiment has the ability to be deformed. By folding the gliders on both sides of the fuselage, the space occupied during transportation can be effectively reduced without disassembling the gliders, and the number of underwater gliders transported in a single transportation process can be increased, thereby improving transportation efficiency. At the same time, by adjusting the angle of the glider relative to the axis of the fuselage, the large size requirements for the boom and the basket during launch or recovery can be reduced, the configuration of operators can be reduced, the difficulty of launch and recovery can be reduced, and the launch and recovery efficiency of the underwater glider can be increased.

[0069] like Figure 1 , Figure 2 , Figure 3 and Figure 4 As shown, a top plate 31 and a bottom plate 32 are provided in the transition chamber 13, two hang gliders 2 are clamped between the top plate 31 and the bottom plate 32, and each hang glider 2 is provided with a first hinge shaft 23, which penetrates the top plate 31 and the bottom plate 32, so that the hang glider 2 is hinged with the top plate 31 and the bottom plate 32. The transition chamber 13 includes a first shell and a second shell that are buckled relative to each other, the first hinge shaft 23 is located outside the transition chamber 13, the top plate 31 and the bottom plate 32 are fixedly connected by fasteners, for example, the fasteners are screws or bolts, or a matching structure of bolts and nuts, when the first shell and the second shell are buckled, the bottom plate 32 and the top plate 31 are clamped between the first shell and the second shell, and the hang glider is clamped between the top plate and the bottom plate, so that the hang glider 2 can be rotatably arranged on the transition chamber 13.

[0070] Preferably, if Figure 3 and Fig.11As shown, a clearance area is provided in the middle of the top plate 31, and the above-mentioned driving mechanism 4 and locking mechanism 5 are both arranged on the bottom plate 32 and distributed in the clearance area. The driving mechanism 4 and locking mechanism 5 for driving the glider to rotate are hidden in the transition compartment, so that the original streamline of the fuselage can be retained.

[0071] The two hang gliders 2 can be driven by a driving mechanism 4 to achieve synchronous rotation. In order to make the structure in the transition chamber 13 compact, preferably, the two hang gliders 2 are driven by the same driving mechanism 4 to achieve synchronous rotation.

[0072] like Figure 4 As shown, there is one driving mechanism 4, which includes two first sliding members 41 and a first driving assembly. The two first sliding members 41 are arranged on the bottom plate 32 in the transition chamber 13 and driven by the first driving assembly, and can move back and forth linearly toward or away from each other along the direction perpendicular to the axis of the fuselage 1; the ends of the two first sliding members 41 that are away from each other are respectively hinged on the first ends 21 of the two gliders 2. For example, a second hinge shaft 42 is arranged on the first end 21 of each glider 2, and one end of the first sliding member 41 is hinged on the second hinge shaft 42 on the first end 21 of the corresponding glider 2.

[0073] In the driving mechanism 4 of this structure, when the first driving assembly drives the two first sliding members 41 to slide, the first sliding members 41 apply axial thrust to the first ends 21 of the corresponding hang gliders 2, for example, Figure 4 As shown in , when the two first sliding members 41 slide away from each other, the first sliding member 41 on the left side slides toward the left side, and applies a counterclockwise thrust to the first end 21 of the left hang glider 2 (abbreviated as the first hang glider 2), so as to drive the first hang glider 2 to rotate counterclockwise around its first hinge shaft 23; the first sliding member 41 on the right side slides toward the right side, and applies a clockwise thrust to the first end 21 of the right hang glider 2 (abbreviated as the second hang glider 2), so as to drive the second hang glider 2 to rotate clockwise around its first hinge shaft 23. On the contrary, when the two first sliding members 41 slide toward each other, the first sliding member 41 on the left side drives the first hang glider 2 to rotate clockwise, and the first sliding member 41 on the right side drives the second hang glider 2 to rotate counterclockwise, so that the two hang gliders 2 can simultaneously move toward or away from the axis of the fuselage 1, so as to change the wingspan area of ​​the hang glider 2.

[0074] For the first drive assembly, preferably, Figure 4 and Fig.10As shown, the first driving assembly includes a second sliding member 43, a first driver and a first slide rail 46; the second sliding member 43 is arranged on the bottom plate 32 in the transition chamber 13; the first driver is arranged on the bottom plate 32, and is used to drive the second sliding member 43 to slide back and forth linearly along the axial direction of the fuselage 1; the first slide rail 46 extends along the sliding direction of the first sliding member 41 and is arranged on the second sliding member 43; the two first sliding members 41 are slidably arranged on the first slide rail 46; the first extension portion 411 of any first sliding member 41 extending out of the first slide rail 46 is rotatably arranged on the respective corresponding first end 21; in the first state, the locking mechanism 5 applies a locking force to the second sliding member 43.

[0075] For example, the first driver is a cylinder or other driver that can perform telescopic movement. Since the two first sliding members 41 are slidably arranged on the first slide rail 46, the first slide rail 46 guides the sliding of the two first sliding members 41; at the same time, the first slide rail 46 is fixed on the second sliding member 43. When the second sliding member 43 performs reciprocating linear sliding along the axis of the fuselage 1, it drives the first slide rail 46 to perform reciprocating linear sliding along the axis of the fuselage 1 synchronously, thereby forcing the two first sliding members 41 to slide on the first slide rail 46 while performing linear movement in the direction of the axis of the fuselage 1 synchronously with the first slide rail 46.

[0076] That is, each first sliding member 41 synchronously has a first motion component in a direction perpendicular to the axis of the fuselage 1, and a second motion component in a direction along the axis of the fuselage 1. Under the combination of the first motion component and the second motion component, the first sliding member 41 applies an axial thrust to the first end 21 of the corresponding hang glider 2, and the first sliding member rotates around the second hinge shaft 42, driving the corresponding hang glider 2 to rotate around its own first hinge shaft 23, and the first sliding member revolves around the first hinge shaft 23, thereby synchronously driving the two hang gliders 2 to rotate through a driving mechanism 4.

[0077] More preferably, if Figure 5 As shown, in order to facilitate the connection between the first extension portion 411 of the first sliding member 41 and the second hinge shaft 42 of the respective corresponding gliders, the first extension portion 411 is vertically distributed between the main body of the first sliding member 41, and a first connecting shaft 412 parallel to the main body is provided on the first extension portion 411, one end of the first connecting shaft 412 is plugged and fixed on the first extension portion 411, and a connecting ring 413 is provided on the other end, and the connecting ring 413 is sleeved on the second hinge shaft 42 to realize the rotatable connection between the first sliding member 41 and the second hinge shaft 42.

[0078] Of course, as a variation, the first connecting shaft 412 and the connecting ring 413 may not be provided, and the first extending portion 411 may be directly rotatably sleeved on the second hinge shaft 42 .

[0079] For the first driver, preferably, Fig.10 As shown, the first driver includes a first rotary motor 44 disposed in the transition chamber 13, a gear 45 fixed on the rotating shaft of the first rotary motor 44, and a rack 431 is disposed on a side wall of the second sliding member 43, and the rack 431 is meshed with the gear 45. When the first rotary motor 44 rotates, the gear 45 is driven to rotate, so as to drive the rack 431 fixed on the second sliding member 43 to move, thereby driving the second sliding member 43 to reciprocate and linearly slide along the axis direction of the fuselage 1.

[0080] More preferably, if Fig.12 As shown, a second clearance channel 322 is provided on the bottom plate 32, and the first rotary motor 44 is fixed on the bottom of the bottom plate 32. The rotating shaft of the first rotary motor 44 passes through the second clearance channel 322 and is inserted into the inner hole of the gear 45. The gear 45 is located above the bottom plate 32. The second sliding member 43 is provided on the top surface of the bottom plate 32. The gear 45 is meshed with the rack 431 of the second sliding member 43, so that the driving mechanism 4 is compactly distributed on the bottom plate 32.

[0081] More preferably, a second slide rail 33 extending along the sliding direction of the second sliding member 43 is provided on the top surface of the bottom plate 32 , and the second sliding member 43 is slidably provided on the second slide rail 33 , and the second slide rail 33 guides the sliding of the second sliding member 43 .

[0082] For the second sliding member 43, if Figure 6 and Figure 7 As shown, in addition to the above-mentioned rack 431, it also includes at least one slider, the rack 431 is fixed on one side end of the slider, a brake seat 432 is provided on the other side end of the slider, and a support seat 433 is provided on the top of the slider, the brake seat 432 and the rack 431, and the first slide rail 46 is fixed on the support seat 433.

[0083] For example, the support seat 433 is in a "well" shape, the vertical part of the well shape is along the axis direction of the fuselage 1, the horizontal part of the well shape is along the axis direction perpendicular to the fuselage 1, and the first slide rail 46 is fixed on the horizontal part of the well shape. Of course, the support seat 433 can also be in a "cross" shape or a "single" shape. When the support seat 433 is in a "single" shape, the first slide rail 46 is fixed on the support seat 433, and the part of the first slide rail 46 extending from the support seat 433 is suspended and distributed in the transition chamber 13.

[0084] Alternatively, the support seat 433 may not be provided, and the length of the slider may be directly extended, and the first slide rail 46 may be fixed on the slider.

[0085] With respect to the locking mechanism 5 , in the first state, the locking mechanism 5 applies a locking force to the brake seat 432 of the second sliding member 43 ; in the second state, the locking mechanism 5 cancels the locking force.

[0086] Specifically, Figure 6 , Figure 8 and Fig. 9 As shown, the locking mechanism 5 includes a brake block 51, a tension spring and a second driving assembly 6. The brake block 51 is arranged on a side surface facing the second sliding member 43; the brake block 51 is driven by the second driving assembly 6 to reciprocate toward or away from the side surface of the second sliding member 43; in the first state, the brake end of the brake block 51 is tightly abutted against the second sliding member 43, and the brake block 51 applies a static friction force to the second sliding member 43, and the static friction force serves as a locking force; in the second state, the brake block 51 is separated from the second sliding member 43; the tension spring applies a continuous pulling force to the brake block 51 away from the second sliding member 43, so that the brake block 51 tends to remain in the second state.

[0087] When the hang glider 2 rotates to the right position and the locking mechanism 5 is needed to limit the rotation of the hang glider 2, the second driving assembly 6 applies a driving force to the brake block 51, and after overcoming the continuous tension of the tension spring, the brake block 51 is driven to slide toward the second sliding member 43, and the braking end of the brake block 51 is tightly abutted against a side surface of the second sliding member 43, for example, the braking end is abutted against a side surface of the brake seat 432, and the static friction between the brake block 51 and the second sliding member 43 is used as a locking force to limit the static sliding of the second sliding member 43, so that the first sliding member 41 cannot be driven to drive the hang glider 2 to rotate, thereby realizing the function of limiting the rotation of the hang glider 2 to the right position. When it is necessary to release the restriction on the rotation of the hang glider 2, on the contrary, the second driving assembly 6 cancels the driving force on the second sliding member 43, and at this time, under the continuous tension of the tension spring, the brake block 51 is driven to move away from the brake seat 432 and separated from the brake seat 432, so that the brake block 51 and the second sliding member 43 remain separated and in the second state, and the restriction on the rotation of the hang glider 2 is released. The locking mechanism 5 of static friction force enables the deformable hang glider to achieve infinite self-locking within a variable stroke.

[0088] Preferably, if Figure 8 As shown, a notch groove 4321 extending along its sliding direction is provided on the side surface of the second sliding member 43 facing the brake block 51; that is, the notch groove 4321 is provided on the side surface of the brake seat 432 facing the brake block 51. In the first state, the braking end of the brake block 51 is inserted into the notch groove 4321, and the end face of the braking end is tightly abutted against the bottom of the notch groove 4321, further ensuring that the braking end exerts a static friction force on the bottom of the notch groove 4321 to play a braking role; in the second state, the braking end withdraws from the notch groove 4321.

[0089] Further preferably, the two groove walls of the notch groove 4321 are inclined first slope surfaces 4322, so that the notch of the notch groove 4321 is expanded in the direction along the groove bottom toward the notch; the opposite side walls of the braking end are respectively provided with second slope surfaces 511 cooperating with the first slope surfaces 4322; the bottom plate 32 is provided with a first make way channel 321, the second driving assembly 6 is arranged on the bottom plate 32 and moves in the first make way channel 321 to drive the brake block 51 to reciprocate, so as to drive the braking end to extend into or exit the notch groove 4321 in linkage.

[0090] Since the first slope surface 4322 and the second slope surface 511 are inclined surfaces, when the second driving component 6 moves upward, the second slope surface 511 of the driving brake block 51 slides upward along the surface of the first slope surface 4322, so that the braking end extends into the notch groove 4321; on the contrary, when the second driving component 6 moves downward, when the upward driving force on the brake block 51 is cancelled, under the biasing force of the tension spring, the brake block 51 will be pulled to slide downward along the first slope surface 4322, so that the braking end will withdraw from the notch groove 4321.

[0091] like Figure 6 As shown, a first fixing column is provided on the top of the brake block 51, a second fixing column is provided on the bottom plate 32, and both ends of the tension spring 52 are fixed on the first fixing column and the second fixing column respectively. When the second driving assembly 6 drives the brake block 51 to move toward the brake seat 432, the tension spring 52 is stretched to store energy. When the second driving assembly 6 cancels the driving force on the brake block 51, the tension spring 52 releases energy, moves the brake block 51 in a direction away from the brake seat 432, and resets the brake block 51.

[0092] For the second driving assembly 6, if Fig. 9 As shown, the second driving assembly 6 includes a second rotating motor 61 arranged on the bottom of the base plate 32, and a cam 62 fixed on the rotating shaft of the second rotating motor 61. The outer peripheral wall of the cam 62 is in contact with the brake block 51. The cam 62 is driven by the second rotating motor 61 to rotate in the second yield channel 322 to drive the brake block 51 to perform the above-mentioned reciprocating motion.

[0093] As a variation of the second driving assembly 6 , the second driving assembly 6 may also be directly a cylinder, and the telescopic shaft of the cylinder passes through the second clearance channel 322 and abuts against the brake block 51 .

[0094] For the brake block 51, Fig. 9As shown, the brake block 51 is also provided with a first step 513, and the first fixing column is fixed on the step surface of the first step 513, which is convenient for the installation of the first fixing column. Preferably, a downwardly protruding limit protrusion 512 is provided on the bottom of the brake block 51, and the limit protrusion 512 is located between the cam 62 and the brake seat 432. When the braking end of the brake block 51 extends into the notch groove 4321, the limit protrusion 512 will abut against the notch of the notch groove 4321 of the brake seat 432; on the contrary, when the second rotary motor 61 continues to rotate, the protruding part of the cam passes the highest point, and the upward driving force applied to the brake block 51 is cancelled. At this time, under the action of the tension spring 52, the brake block 51 is reset, and when the limit protrusion 512 abuts against the side wall of the cam, the brake block 51 is reset to its original position, so that the setting of the limit protrusion 512 plays a limiting role in the movement stroke of the brake block 51 extending into or out of the notch groove 4321.

[0095] like Figure 6 As shown, a third slide rail 34 extending along the sliding direction of the brake block 51 is also provided on the bottom plate 32; a matching portion is provided on the brake block 51, and the matching portion can be slidably provided on the third slide rail 34, guiding the sliding of the brake block 51, ensuring that the braking end of the brake block 51 can be accurately inserted into the notch groove 4321 or withdrawn from the notch groove 4321.

[0096] As a variation, the locking mechanism 5 can also be other structures that do not use static friction to achieve self-locking. For example, the locking mechanism 5 includes a locking block and a cylinder that drives the locking block to perform telescopic movement. When the hang glider rotates to the right position, the locking block performs an extended movement to directly lock on the sliding path of the second sliding member, and applies a locking force to the second sliding member to limit the sliding of the second sliding member. Two locking blocks can be provided, and one locking block is respectively abutted on the front end and the end of the second sliding member. When the two locking blocks cooperate, the sliding of the second sliding member will be limited. Of course, the locking block can directly act on the first sliding member, apply a locking force to the first sliding member, and achieve the locking effect on the first sliding member, or it can also directly act on the hang glider, and apply a locking force to the hang glider on the rotation path of the hang glider to limit the hang glider on the fuselage.

[0097] like Figure 1 As shown, the fuselage 1 also includes a head 11 and a tail 15, a center of gravity adjustment chamber 12 is arranged between the head 11 and the transition chamber 13, and a buoyancy adjustment chamber 14 is arranged between the transition chamber 13 and the tail 15, so that the fuselage 1 as a whole is a rotating body, and the above-mentioned locking mechanism 5 and driving mechanism 4 are both arranged in the transition chamber 13, while realizing the function of the glider 2 being able to rotate and deform, the streamlined shape of the rotating body of the entire fuselage 1 is ensured.

[0098] like Fig.13As shown, the center of gravity adjustment mechanism 3 in the underwater glider is arranged in the center of gravity adjustment chamber 12, and the buoyancy adjustment mechanism 7 is arranged in the buoyancy adjustment chamber 14. The center of gravity adjustment mechanism and the buoyancy adjustment mechanism 7 are both existing structures and will not be described in detail here.

[0099] Regarding the connection method of the gravity center adjustment chamber 12, the transition chamber 13 and the buoyancy adjustment chamber 14, Figure 2 As shown, a crossbeam shaft 16 coaxial with the axis of the fuselage 1 is provided between the center of gravity adjustment chamber 12 and the buoyancy adjustment chamber 14 to connect the center of gravity adjustment chamber 12 and the buoyancy adjustment chamber 14, and the two ends of the first shell and the second shell of the transition chamber 13 are respectively detachably provided on the center of gravity adjustment chamber 12 and the buoyancy adjustment chamber 14, and the crossbeam shaft 16 is passed through the axial direction of the transition chamber 13.

[0100] In addition, the underwater glider also includes a controller, which is electrically connected to the first rotating motor 44 and the second rotating motor 61. The controller controls whether the first rotating motor 44 rotates and the speed of rotation according to the needs of the glider 2, and controls the rotation angle of the glider 2; the controller controls whether the second rotating motor 61 rotates and the speed of rotation according to whether the glider 2 rotates in place, so as to play the role of the locking mechanism 5. Furthermore, a sensor for whether there is an obstacle is also provided in the glider 2 or the buoyancy chamber. The controller can also control whether the glider 2 rotates and the rotation angle according to the detection signal of the sensor, so as to adjust the wingspan area of ​​the glider 2 when gliding underwater, so that the glider has a certain ability to buffer impact, reduce the probability of being impacted, and improve the ability to self-recover the angle of the glider.

[0101] Taking the best implementation mode as an example, the working process of adjusting the angle of the underwater glider is described as follows:

[0102] The action of the variable hang glider 2 mechanism is that the hang glider 2 rotates around the first hinge shaft 23, and the rotation angle is the angle between the hang glider 2 and the axis of the fuselage 1 in the horizontal plane. The angle varies in the range of 0°-90°, such as 0°, 30°, 60° and 90°, etc. The specific rotation angle is determined according to needs.

[0103] The angle of the hang glider 2 needs to be rotated: the first rotating motor 44 under water drives the gear 45 to rotate, and the gear 45 is meshed with the rack 431 on the second sliding member 43. The rotation of the gear 45 drives the second sliding member 43 to make a linear motion along the axis of the fuselage 1. The second sliding member 43 is fixed with a first slide rail 46 perpendicular to the axis of the fuselage 1. The linear sliding of the second sliding member 43 is converted into the linear motion of the first sliding member 41 on the first slide rail 46. The first sliding member 41 applies a thrust to the second hinge shaft 42. The first sliding member 41 rotates around the second hinge shaft 42 and revolves around the first hinge shaft 23. Under the thrust, the hang glider 2 rotates around the first hinge shaft, realizing the rotation of the hang glider 2. The second hinge shaft 42 is a movable hinge shaft, connecting the hang glider 2 and the first sliding member 41 . The second hinge shaft 42 rotates around the first hinge shaft 23 . The first hinge shaft 23 is fixed on the top plate 31 and the bottom plate 32 , connecting the hang glider 2 with the top plate 31 and the bottom plate 32 .

[0104] The variable hang glider 2 mechanism is provided with a locking mechanism 5, which locks the position of the brake block 51 relative to the fuselage 1, so that the hang glider 2 maintains a specific angle relative to the fuselage 1. The action group of the locking mechanism 5 is as follows. The underwater second rotating motor 61 rotates to drive the cam to rotate, and the cam rotates to push the brake block 51 to the maximum stroke in the vertical direction of the fuselage 1 axis. The braking end of the brake block 51 is inserted into the notch groove 4321 of the brake seat 432 to press on the second sliding member 43, generating static friction, hindering the free sliding of the second sliding member 43, thereby achieving self-locking. When not self-locking, the second rotating motor 61 drives the cam to rotate, passing the maximum stroke of the cam, and the tension spring 52 pulls the brake block 51 to the minimum stroke in the vertical direction of the fuselage 1 axis. A gap is generated between the brake block 51 and the bottom of the notch groove 4321 of the second sliding member 43, and the first sliding member 41 can slide freely to drive the hang glider 2 to rotate.

[0105] Obviously, the above embodiments are merely examples for the purpose of clear explanation, and are not intended to limit the implementation methods. For those skilled in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all the implementation methods here. The obvious changes or modifications derived therefrom are still within the scope of protection of the invention.

Claims

1. An underwater glider, characterized in that: include A fuselage (1), and a center of gravity adjustment mechanism (3), a variable wing mechanism and a buoyancy adjustment mechanism (7) sequentially arranged on the fuselage; The variable wing mechanism comprises two gliders (2) which are symmetrically distributed; the two gliders (2) are rotatably arranged on the transition chamber (13) of the fuselage through two hinges, and are rotatable relative to the axis of the fuselage (1) by the driving mechanism (4); the first end (21) of any glider (2) is located in the transition chamber (13), and the second end (22) opposite to the first end (21) extends out of the transition chamber (13); the driving mechanism (4) comprises two first sliding members (41), the first sliding members (41) are arranged in the transition chamber (13) and are driven by the first driving assembly, and can make reciprocating linear movements in a direction perpendicular to the axis of the fuselage (1) to move closer to or away from each other; A locking mechanism (5) is arranged on the transition chamber (13) and can apply a locking force to the hang glider (2) to keep the hang glider (2) in a first state in which the hang glider (2) maintains a fixed posture relative to the fuselage, and cancel the locking force to put the hang glider (2) in a second state in which it can rotate; the first driving component includes a second sliding member (43) arranged in the transition chamber (13), and the first driving component also includes a second slide rail (33) arranged in the transition chamber (13) and extending along the sliding direction of the second sliding member (43), and the second sliding member (43) is slidably arranged on the second slide rail (33); the locking mechanism (5) includes a brake block (51), and the brake block (51) is arranged facing a side surface of the second sliding member (43); the brake block (51) is driven by the second driving component (6) to reciprocate toward or away from a side surface of the second sliding member (43); In a first state, the brake block (51) is tightly in contact with the second sliding member (43), applying a static friction force to the second sliding member (43), and the static friction force serves as the locking force; in a second state, the brake block (51) is separated from the second sliding member (43); A tension spring (52) applies a continuous pulling force to the brake block (51) away from the second sliding member (43), so that the brake block (51) tends to remain in the second state.

2. The underwater glider according to claim 1, characterized in that: One end of the two first sliding members (41) that is away from each other is hinged to the first ends (21) of the two gliders (2) respectively; When any of the first sliding members (41) slides, an axial thrust is applied to the first end (21) to drive the corresponding glider (2) to rotate around the first hinge shaft on the transition chamber (13); In the first state, the locking mechanism (5) applies the locking force to the first drive assembly.

3. The underwater glider according to claim 2, characterized in that: The first drive assembly also includes A driver, used for driving the second sliding member (43) to slide back and forth linearly along the axis of the fuselage (1); A first slide rail (46) extending along the sliding direction of the first slide member (41) and arranged on the second slide member (43); two first slide members (41) are slidably arranged on the first slide rail (46); A first extension portion of any first sliding member (41) extending outside the first sliding rail (46) is rotatably arranged on the first end (21) corresponding to the first sliding member; in a first state, the locking mechanism (5) applies the locking force to the second sliding member (43).

4. The underwater glider according to claim 3, characterized in that: The driver comprises a first rotating motor (44) arranged in the transition bin (13), a gear (45) fixed on the rotating shaft of the first rotating motor (44), a rack (431) provided on a side wall of the second sliding member (43), and the rack (431) of the second sliding member (43) is meshed with the gear (45).

5. The underwater glider according to claim 1, characterized in that: A notch groove (4321) extending along the sliding direction of the second sliding member (43) is provided on a surface of the second sliding member (43) facing the brake block (51); In the first state, the braking end of the braking block (51) facing the notch groove (4321) is inserted into the notch groove (4321), and the end face of the braking end is tightly abutted against the bottom of the notch groove (4321); in the second state, the braking end withdraws from the notch groove (4321).

6. The underwater glider according to claim 5, characterized in that: The two groove walls of the notch groove (4321) are inclined first slope surfaces (4322), so that the notch of the notch groove (4321) expands in the direction from the groove bottom toward the notch; the two opposite side walls of the braking end are respectively provided with second slope surfaces (511) that match the first slope surface (4322); The second driving component (6) drives the brake block (51) to move back and forth, thereby driving the brake end to move into or out of the notch groove (4321).

7. The underwater glider according to claim 6, characterized in that: The second driving assembly (6) comprises a second rotating motor (61) arranged in the transition chamber, and a cam (62) fixed on the rotating shaft of the second rotating motor (61), the outer peripheral wall surface of the cam being in contact with the brake block, and the cam (62) is driven by the second rotating motor (61) to rotate so as to drive the brake block (51) to move back and forth; The locking mechanism (5) further comprises a third slide rail (34) which is arranged on the bottom plate (32) in the transition chamber and extends along the sliding direction of the brake block (51); a matching portion is provided on the brake block (51), and the matching portion is slidably arranged on the third slide rail (34).

8. The underwater glider according to any one of claims 2 to 4, characterized in that: It also includes a bottom plate (32) and a top plate (31) arranged in the transition bin (13); The glider is rotatably arranged on the top plate (31) and the bottom plate (32), and is clamped between the bottom plate (32) and the top plate (31); A clearance area is provided on the top plate (31); the locking mechanism (5) and the driving mechanism (4) are both provided on the bottom plate (32) and distributed in the clearance area.

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