A vector propulsion device for hybrid wave glider

Abstract

The present invention discloses a vector propulsion device for a hybrid wave glider: a servo is arranged inside a servo fixed shell, a servo rotating shaft is meshed with an internal turntable, an internal turntable is fixedly connected to the bottom of an external turntable shaft, and an upper portion of an external turntable shaft passes through the top of a servo fixed shell; a tail fixing assembly includes an L-shaped tail fixing assembly and a lower tail fixing assembly; a bionic tail guide device includes an upper tail and a lower tail; an upper portion of an external turntable shaft is fixedly connected to an upper tail; a propeller connecting base is fixed to the bottom of a propeller propeller, and the propeller connecting base is fixed to the outer wall of the L-shaped tail fixing assembly; a servo power source conversion device connector is arranged on the outer wall of the servo fixed shell and is electrically connected to the servo, and a propeller propeller power source conversion device connector is embedded in the lower tail and is electrically connected to the propeller propeller. The present invention can provide vector motion, convert electrical energy into a power source required for its operation through a reasonable control method, and serve as an active propulsion method for a tractor.

Description

Technical Field

[0001] The present invention relates to the technical field of underwater robots, and more specifically to a vector propulsion device for a hybrid power wave glider. Background Art

[0002] According to the initial design, the traditional wave glider relies on waves as a single driving force without human intervention. While solving the problem of unlimited energy supply, the maneuverability is seriously restricted by the sea conditions. Since the speed of the wave glider obtained solely from the wave environment is low, the speed under the third-level sea condition is generally not more than 1 knot, which is close to the surface velocity of many sea areas. In the sea area with ocean currents, when the sea conditions are low and it is impossible to obtain a sufficiently large speed, once the target heading of the wave glider is opposite to the flow direction, it is difficult for the wave glider to move forward, and it may even go backwards and drift with the waves, losing its original maneuverability. When long-distance navigation needs to cross a large surface flow sea area or perform position control operations in the ocean current area, short-term auxiliary propulsion is very necessary when a single wave power cannot meet the application requirements. At the same time, the wave glider can realize the conversion and storage of electric energy through its own solar power generation device. How to make full use of the stored electric energy to convert it into the power required for the wave glider to move forward is of great significance. Summary of the invention

[0003] On the basis of the traditional single wave-powered glider underwater tractor, the present invention proposes a vector propulsion device for a hybrid wave glider, which can provide vector motion and convert electrical energy into the power source required for its operation through a reasonable control method. As an active auxiliary propulsion method for the wave glider, it can ensure the controllability, transmission efficiency and stability of the vector propulsion device.

[0004] The objectives of the present invention are achieved through the following technical solutions.

[0005] The vector propulsion device for a hybrid wave glider of the present invention comprises a steering gear, a steering gear fixing shell, a bionic tail wing flow guide device, a fixed adapter assembly, a propeller propeller, a propeller propeller power source conversion device connector, and a steering gear power source conversion device connector, wherein the fixed adapter assembly comprises a tail wing fixing assembly and a propeller connecting base;

[0006] The servo is arranged inside the servo fixed housing, the top rotating shaft of the servo is meshed with the inner circle of the internal turntable, the internal turntable is fixedly connected to the bottom of the external turntable shaft, the upper part of the external turntable shaft passes through the upper bearing and protrudes from the top of the servo fixed housing;

[0007] The tail wing fixing assembly includes an L-shaped tail wing fixing assembly fixed to the top and side wall of the steering gear fixing housing and a lower tail wing fixing assembly arranged at the bottom of the steering gear fixing housing; the bionic tail wing guide device includes an upper tail wing and a lower tail wing, the upper tail wing is fixed to the top of the steering gear fixing housing through the L-shaped tail wing fixing assembly, and the lower tail wing is fixed to the bottom of the steering gear fixing housing through the lower tail wing fixing assembly; the upper part of the external turntable shaft is fixedly connected to the upper tail wing;

[0008] A propeller connecting base is fixed at the bottom of the propeller propeller, and the propeller connecting base is fixed to the outer wall of the lower part of the L-shaped tail wing fixed assembly; the steering gear power source conversion device connector is arranged on the outer wall of the steering gear fixed shell and is electrically connected to the steering gear, and the propeller propeller power source conversion device connector is embedded in the lower tail wing and is electrically connected to the propeller propeller.

[0009] The steering gear fixing shell is composed of three rectangular parallelepiped shells, namely the steering gear upper shell, the steering gear middle shell and the steering gear lower shell. Each shell has threaded holes at four corners. The lower tail wing fixing assembly is connected into a whole piece by bolts; the upper shell of the steering gear is provided with a stepped through hole for installing the upper bearing and the external turntable shaft, the middle shell of the steering gear is provided with a through hole for installing the internal turntable and the upper body of the steering gear, the upper shell of the steering gear and the middle shell of the steering gear are provided with bolts for fixing and connecting with the traction machine on the same side of the outside, the lower shell of the steering gear is provided with a groove for placing the lower body of the steering gear, and the side wall of the lower shell of the steering gear is provided with a wiring hole, and the cable connects the connector of the steering gear power source conversion device and the steering gear electrically through the wiring hole.

[0010] The upper body of the steering gear is located inside the steering gear middle housing, the lower body of the steering gear is located inside the steering gear lower housing, and the steering gear is fixedly connected to the inner wall of the steering gear middle housing through a steering gear fixing plate and bolts.

[0011] A convex shaft is provided at the bottom of the lower housing of the servo gear with an integral structure therewith; one side of the lower tail wing fixing assembly is connected to the L-shaped tail wing fixing assembly by screws, and a stepped hole is opened at the upper end of the other side, and the lower bearing in the stepped hole is movably connected to the convex shaft at the bottom of the lower housing of the servo gear; the lower tail wing fixing assembly is fixedly connected to the lower tail wing by screws, and the lower tail wing rotates with the lower tail wing fixing assembly, and a wiring groove is provided inside the lower tail wing, and the cable electrically connects the propeller propeller power source conversion device connector and the propeller propeller through the wiring groove.

[0012] The external turntable shaft comprises an integral stepped upper shaft and a fixed disc; the stepped portion of the stepped upper shaft passes through the top of the servo upper housing and is connected to the L-shaped tail wing fixing assembly, a through hole is provided on the upper portion of the stepped upper shaft, and is fixedly connected to the upper tail wing by bolts; fixed threaded holes are provided on the periphery of the fixed disc and the internal turntable, the fixed disc is fixed with screws after being overlapped with the internal turntable, and the external turntable shaft is fixed to the top of the internal turntable by bolts; the fixed disc is located inside the servo upper housing, and the upper bearing is also located inside the servo upper housing.

[0013] A rectangular groove is arranged at the bottom of the upper tail wing, and the groove covers the upper end part of the L-shaped tail wing fixing assembly, and the upper tail wing rotates along with the L-shaped tail wing fixing assembly.

[0014] The propeller thruster has a flange at the bottom, which is connected to the thruster connecting base as a whole through the flange. The thruster connecting base has a threaded hole, and the thruster connecting base is fastened to the side wall of the L-shaped tail fixing assembly through screws. The propeller thruster rotates with the L-shaped tail fixing assembly.

[0015] The steering gear and propeller thruster are remotely controlled respectively. After the steering gear is started, it drives the tail wing and the propeller thruster to swing within a range of 45 degrees to the left and right. After the propeller thruster is started, it generates a forward thrust to drive the tractor to move. The combined force of the steering gear and the propeller thruster causes the tractor to generate vector propulsion motion.

[0016] Compared with the prior art, the technical solution of the present invention has the following beneficial effects:

[0017] (1) The components of the present invention are processed in a split and modular manner. The steering gear fixing shell, the internal turntable, etc. are processed by CNC machinery, and the bionic tail wing guide device is processed by 3D printing. Various processing technologies cooperate with each other to form together; the materials used, such as titanium alloy, aviation aluminum, and carbon fiber, have high strength and good corrosion resistance, and can ensure long-term operation in harsh seawater environments; the overall components are simple to assemble, easy to install and disassemble, and easy to disassemble and maintain in the later stage.

[0018] (2) In the present invention, the servo and propeller propeller are respectively connected to the power source conversion device, which can meet the diversion requirements or propulsion requirements in a single environment. The two methods are used together to achieve good control performance, high transmission efficiency, and fast speed of vector motion, which can meet the needs of the wave glider underwater tractor to efficiently achieve vector motion in the sea and improve its maneuverability.

[0019] (3) In the present invention, the propeller propeller and the bionic tail wing flow guide device are fixed to the servo fixed shell through a fixed adapter assembly, and fixed to the traction machine main beam through bolts. The traction machine can actively generate vector propulsion force by converting the electric energy in the main beam into the power source required by the propeller propeller and the bionic tail wing flow guide device through a reasonable control method, and through the joint control of the propeller propeller and the bionic tail wing flow guide device.

[0020] (4) The present invention has low cost, good controllability, high transmission efficiency, strong stability, and can provide auxiliary effective propulsion and guidance for the wave glider in addition to wave power. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a schematic diagram of the internal structure of the main body of the present invention after sectioning;

[0022] Figure 2 It is a schematic diagram of the appearance of the present invention;

[0023] Figure 3 It is a front view of the external turntable shaft in the present invention;

[0024] Figure 4 It is a bottom view of the external turntable shaft in the present invention;

[0025] Figure 5 It is a schematic diagram of the connection relationship between the steering gear, the internal turntable, the external turntable shaft and the upper bearing structure in the present invention;

[0026] Figure 6 It is a schematic diagram of the connection method of the propeller propeller, the propeller connecting base and the tail wing fixing assembly in the present invention.

[0027] Figure markings: 1-servo middle housing; 2-servo upper housing; 3-external turntable shaft; 301-stepped upper shaft; 302 fixed disc; 303 fixed threaded hole; 4-upper tail; 5-upper bearing; 6-internal turntable; 7-servo; 8-L-type tail fixing assembly; 9-thruster connecting base; 10-propeller thruster; 11-lower tail; 12-propeller thruster power source conversion device connector; 13-lower tail fixing assembly; 14-lower bearing; 15-servo lower housing; 16-servo power source conversion device connector. DETAILED DESCRIPTION

[0028] The present invention will be further described below in conjunction with the accompanying drawings.

[0029] like Figures 1 to 6As shown, the vector propulsion device for the hybrid wave glider of the present invention mainly includes a steering gear 7, a steering gear fixing shell, a bionic tail wing guide device, a fixed adapter assembly, a propeller propeller 10, a propeller propeller power source conversion device connector 12, and a steering gear power source conversion device connector 16. The fixed adapter assembly includes a tail wing fixing assembly and a propeller connecting base 9.

[0030] The steering gear fixed shell is composed of three rectangular parallelepiped shells, namely, the steering gear upper shell 2, the steering gear middle shell 1, and the steering gear lower shell 15. Each shell has threaded holes at the four corners. The lower tail wing fixing assembly 13 is connected into a whole piece by bolts. The upper body of the steering gear 7 is located inside the steering gear middle shell 1, and the lower body of the steering gear 7 is located inside the steering gear lower shell 15. The steering gear 7 is fixedly connected to the inner wall of the steering gear middle shell 1 through a steering gear fixing plate and bolts. The top rotating shaft of the steering gear 7 is meshed with the inner circle of the internal turntable 6. The internal turntable 6 is fixedly connected to the bottom of the external turntable shaft 3. The upper part of the external turntable shaft 3 passes through the upper bearing 5 and protrudes from the top of the steering gear fixed shell. The steering gear power source conversion device connector 16 is arranged on the outer wall of the steering gear fixed shell and is electrically connected to the steering gear 7.

[0031] Among them, the interior of the servo upper housing 2 is provided with a stepped through hole for installing the upper bearing 5 and the external turntable shaft 3, the interior of the servo middle housing 1 is provided with a through hole for installing the internal turntable 6 and the upper body of the servo 7, the exteriors of the servo upper housing 2 and the servo middle housing 1 are both provided with bolts for fixed connection with the traction machine on the same side, the interior of the servo lower housing 15 is provided with a groove for placing the lower body of the servo 7, and the side wall of the servo lower housing 15 is provided with a wiring hole, and the cable electrically connects the servo power source conversion device connector 16 and the servo 7 through the wiring hole.

[0032] The tail wing fixing assembly includes an L-shaped tail wing fixing assembly 8 fixed to the top and side wall of the steering gear fixing housing and a lower tail wing fixing assembly 13 arranged at the bottom of the steering gear fixing housing. The bionic tail wing flow guide device includes an upper tail wing 4 and a lower tail wing 11, wherein the upper tail wing 4 is fixed to the top of the steering gear fixing housing through the L-shaped tail wing fixing assembly 8, and the lower tail wing 11 is fixed to the bottom of the steering gear fixing housing through the lower tail wing fixing assembly 13. The upper part of the external turntable shaft 3 is fixedly connected to the upper tail wing 4. The propeller propeller power source conversion device connector 12 is embedded in the lower tail wing 11 and is electrically connected to the propeller propeller 10.

[0033] The external turntable shaft 3 includes an integral stepped upper shaft 301 and a fixed disc 302. The stepped portion of the stepped upper shaft 301 passes through the top of the servo upper housing 2 and is connected to the L-shaped tail wing fixing assembly 8. A through hole is provided on the upper portion of the stepped upper shaft 301, which is fixedly connected to the upper tail wing 4 by bolts. The fixed disc 302 and the inner turntable 6 are provided with fixed threaded holes 303 on the periphery. The fixed disc 302 is fixed with screws after being overlapped with the inner turntable 6, and the external turntable shaft 3 is fixed to the top of the inner turntable 6 by bolts. The fixed disc 302 is located inside the servo upper housing 2, and the upper bearing 5 is also located inside the servo upper housing 2.

[0034] Among them, a rectangular groove is arranged at the bottom of the upper tail wing 4, and this groove covers the upper end part of the L-shaped tail wing fixing assembly 8, and the upper tail wing 4 can rotate with the L-shaped tail wing fixing assembly 8. A convex shaft with an integral structure is arranged at the bottom of the servo lower housing 15. One side of the lower tail wing fixing assembly 13 is connected to the L-shaped tail wing fixing assembly 8 by screws, and a stepped hole is opened at the upper end of the other side, and the lower bearing 14 in the stepped hole is movably connected to the convex shaft at the bottom of the servo lower housing 15. The lower tail wing fixing assembly 13 is fixedly connected to the lower tail wing 11 by screws, and the lower tail wing 11 rotates with the lower tail wing fixing assembly 13. A wiring groove is arranged inside the lower tail wing 11, and the cable electrically connects the propeller propeller power source conversion device connector 12 and the propeller propeller 10 through the wiring groove.

[0035] The propeller thruster 10 has a flange at the bottom, and is fixedly connected to the thruster connecting base 9 through the flange. The thruster connecting base 9 has a threaded hole, and the thruster connecting base 9 is fastened to the outer wall of the lower part of the L-shaped tail fixing assembly 8 by screws to ensure that the propeller thruster 10 can rotate with the L-shaped tail fixing assembly 8.

[0036] In the present invention, the servo fixed shell, the internal turntable 6, etc. are processed by CNC machinery, and the bionic tail wing guide device is 3D printed, and a variety of processing technologies are cooperated with each other to form together; the fixed outer shell is made of titanium alloy material, the tail wing fixing assembly and the propeller connecting base 9 are made of aviation aluminum, and the upper tail wing 4 and the lower tail wing 11 are made of carbon fiber.

[0037] After assembly, the steering gear fixed shell fixes the steering gear 7, and at the same time, there are protruding shafts on the upper and lower parts. The fixed adapter assembly is used as an intermediate component to connect the propeller propeller 10 and the bionic tail wing flow guide device to rotate around the protruding shaft of the steering gear fixed shell following the steering gear 7. When in use, it is fixed to the tractor through the bolt connection at the steering gear upper shell 2 and the steering gear middle shell 1, and the steering gear 7 and the propeller propeller 10 are remotely controlled to start separately. After the steering gear 7 is started, it can drive the bionic tail wing flow guide device and the propeller propeller 10 to swing within a range of 45 degrees to the left and right. After the propeller propeller 10 is started, it generates a forward thrust to drive the tractor to move. The combined force of the steering gear 7 and the propeller propeller 10 causes the tractor to generate vector propulsion motion.

[0038] Although the functions and working processes of the present invention have been described above in conjunction with the accompanying drawings, the present invention is not limited to the above-mentioned specific functions and working processes, and the above-mentioned specific implementation methods are merely illustrative rather than restrictive. Under the guidance of the present invention, ordinary technicians in this field can also make many forms without departing from the scope of protection of the purpose of the present invention and the claims, which are all within the protection of the present invention.

Claims

1. A vector propulsion device for a hybrid wave glider, characterized in that: It comprises a steering gear (7), a steering gear fixing shell, a bionic tail wing flow guide device, a fixing adapter assembly, a propeller propeller (10), a propeller propeller power source conversion device connector (12), and a steering gear power source conversion device connector (16), wherein the fixing adapter assembly comprises a tail wing fixing assembly and a propeller connecting base (9); The steering gear (7) is arranged inside the steering gear fixed housing, the top rotating shaft of the steering gear (7) is meshed with the inner circle of the internal turntable (6), the internal turntable (6) is fixedly connected to the bottom of the external turntable shaft (3), the upper part of the external turntable shaft (3) passes through the upper bearing (5) and protrudes from the top of the steering gear fixed housing; The tail wing fixing assembly comprises an L-shaped tail wing fixing assembly (8) fixed to the top and side wall of the steering gear fixing housing and a lower tail wing fixing assembly (13) arranged at the bottom of the steering gear fixing housing; the bionic tail wing flow guide device comprises an upper tail wing (4) and a lower tail wing (11), the upper tail wing (4) being fixed to the top of the steering gear fixing housing via the L-shaped tail wing fixing assembly (8), and the lower tail wing (11) being fixed to the bottom of the steering gear fixing housing via the lower tail wing fixing assembly (13); the upper portion of the external turntable shaft (3) is fixedly connected to the upper tail wing (4); A propeller connecting base (9) is fixed at the bottom of the propeller propeller (10), and the propeller connecting base (9) is fixed to the outer wall of the lower part of the L-shaped tail wing fixing assembly (8); the steering gear power source conversion device connector (16) is arranged on the outer wall of the steering gear fixing housing and is electrically connected to the steering gear (7), and the propeller propeller power source conversion device connector (12) is embedded in the lower tail wing (11) and is electrically connected to the propeller propeller (10); The bottom of the upper tail wing (4) is provided with a rectangular groove, the groove covers the upper end portion of the L-shaped tail wing fixing assembly (8), and the upper tail wing (4) rotates following the L-shaped tail wing fixing assembly (8); The steering gear fixing housing is composed of three rectangular parallelepiped housings, namely, an upper steering gear housing (2), a middle steering gear housing (1), and a lower steering gear housing (15). Each housing has threaded holes at four corners. The lower tail wing fixing assembly (13) is connected into a whole piece by bolts. The upper steering gear housing (2) is provided with a stepped through hole for mounting an upper bearing (5) and an external turntable shaft (3). The middle steering gear housing (1) is provided with a through hole for mounting an internal turntable (6) and an upper body of the steering gear (7). The upper steering gear housing (2) and the middle steering gear housing (1) are provided with bolts for fixed connection with a traction machine on the same side of their exteriors. The lower steering gear housing (15) is provided with a groove for placing a lower body of the steering gear (7). The side wall of the lower steering gear housing (15) is provided with a wiring hole. Cables are connected electrically between the steering gear power source conversion device connector (16) and the steering gear (7) through the wiring hole.

2. The vector propulsion device for a hybrid wave glider according to claim 1, characterized in that: The upper body of the steering gear (7) is located inside the steering gear middle housing (1), the lower body of the steering gear (7) is located inside the steering gear lower housing (15), and the steering gear (7) is fixedly connected to the inner wall of the steering gear middle housing (1) via a steering gear fixing plate and bolts.

3. The vector propulsion device for a hybrid wave glider according to claim 1, characterized in that: The bottom of the steering gear lower housing (15) is provided with a convex shaft integrally formed therewith; one side of the lower tail wing fixing assembly (13) is connected to the L-shaped tail wing fixing assembly (8) by screws, and the upper end of the other side is provided with a stepped hole, and the lower bearing (14) in the stepped hole is movably connected to the convex shaft at the bottom of the steering gear lower housing (15); the lower tail wing fixing assembly (13) is fixedly connected to the lower tail wing (11) by screws, and the lower tail wing (11) rotates following the lower tail wing fixing assembly (13); a wiring groove is provided inside the lower tail wing (11), and a cable electrically connects a propeller propeller power source conversion device connector (12) and the propeller propeller (10) through the wiring groove.

4. The vector propulsion device for a hybrid wave glider according to claim 1, characterized in that: The external turntable shaft (3) comprises an integrally structured stepped upper shaft (301) and a fixed disc (302); the stepped portion of the stepped upper shaft (301) passes through the top of the steering gear upper housing (2) and is connected to the L-shaped tail wing fixing assembly (8); a through hole is provided on the upper portion of the stepped upper shaft (301) and is fixedly connected to the upper tail wing (4) by means of bolts; the outer peripheries of the fixed disc (302) and the internal turntable (6) are both provided with fixed threaded holes (303); the fixed disc (302) and the internal turntable (6) are fixed by means of screws after being overlapped, and the external turntable shaft (3) is fixed to the top of the internal turntable (6) by means of bolts; the fixed disc (302) is located inside the steering gear upper housing (2), and the upper bearing (5) is also located inside the steering gear upper housing (2).

5. The vector propulsion device for a hybrid wave glider according to claim 1, characterized in that: The propeller thruster (10) has a flange at the bottom, and is connected to the thruster connection base (9) via the flange to form an integral body. The thruster connection base (9) has a threaded hole, and the thruster connection base (9) is fastened to the side wall of the L-shaped tail wing fixing assembly (8) via screws, so that the propeller thruster (10) rotates along with the L-shaped tail wing fixing assembly (8).

6. The vector propulsion device for a hybrid wave glider according to claim 1, characterized in that: The steering gear (7) and the propeller propeller (10) are remotely controlled respectively. When the steering gear (7) is started, it drives the bionic tail wing flow guide device and the propeller propeller (10) to swing within a range of 45 degrees to the left and right. When the propeller propeller (10) is started, it generates a forward thrust to drive the tractor to move. The combined force of the steering gear (7) and the propeller propeller (10) causes the tractor to generate vector propulsion motion.

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