An underwater glider with movable horizontal wings

Abstract

The present invention belongs to the technical field of marine environment monitoring, and specifically discloses an underwater glider with movable horizontal wings, which comprises a glider body, horizontal wings, a slideway and a slide bar, wherein the slideway is fixed on the glider body and is parallel to the center line of the glider body; the slide bar is longitudinally movable and installed on the slideway, and the horizontal wings are fixed on the slide bar. The present invention can replace the method of adjusting the pitch angle of gliding motion by longitudinally moving a mass block in the existing underwater glider, greatly simplify the internal control structure of the underwater glider, and improve the impact resistance of the whole machine.

Description

Technical Field

[0001] The invention belongs to the technical field of marine environment monitoring, and in particular relates to an underwater glider with movable horizontal wings. Background Art

[0002] At present, the horizontal wing of the underwater glider is fixed. The longitudinal position of the center of gravity is changed by controlling the longitudinal movement of the mass block, and a satisfactory pitch angle of gliding motion is obtained; the directional control of the underwater glider is achieved by the lateral movement of the center of gravity of the mass block or the rudder. Placing the horizontal wing drive module inside the underwater glider can reduce the risks brought by dynamic sealing, improve the reliability of the whole machine to a certain extent, and the pitch angle can be controlled as needed. The underwater glider has better underwater motion control capabilities and reduces the difficulty of research and development and debugging. However, this structural solution generally has the following disadvantages:

[0003] The gliding angle adjustment of underwater gliders during gliding motion relies on the internal moving mass block to achieve the control of the motion posture, and thus requires auxiliary structures such as slides and brackets to support the mass block, which increases the structural weight; controlling the movement of the mass block requires equipment such as motors and transmission mechanisms, which increases the complexity of the structural mass block; the movement of the mass block, especially the longitudinal movement of the mass block, leads to a significant reduction in the impact resistance of the entire machine, making it difficult to use underwater gliders in fields such as ship-borne dropping and airdropping, which seriously limits the promotion and use of underwater gliders. Summary of the invention

[0004] The purpose of the present invention is to provide an underwater glider with movable horizontal wings, which can replace the existing method of using a mass block to longitudinally move to adjust the pitch angle of gliding motion in underwater gliders, greatly simplify the internal control structure of the underwater glider, and improve the impact resistance of the entire machine.

[0005] In order to achieve the above object, the technical solution adopted by the present invention is as follows:

[0006] An underwater glider with movable horizontal wings comprises a glider body, horizontal wings, a slide and a slide rod, wherein the slide is fixed on the glider body and is parallel to the center line of the glider body; the slide rod is longitudinally movably mounted on the slide, and the horizontal wings are fixed on the slide rod.

[0007] As a preferred embodiment of the present invention, the horizontal wing is arranged behind the center of gravity of the glider body.

[0008] As a preferred solution of the present invention, the underwater glider with movable horizontal wings also includes a mechanical fixing structure for fixing the longitudinal position of the horizontal wings.

[0009] As a preferred embodiment of the present invention, the underwater glider with movable horizontal wings further comprises a horizontal wing driving module, wherein the horizontal wing driving module is connected to the slide bar and drives the slide bar to enable the horizontal wing to achieve longitudinal movement.

[0010] As a preferred solution of the present invention, a buoyancy adjustment module for adjusting the buoyancy of the glider body is provided at the bow of the glider body.

[0011] As a preferred solution of the present invention, a battery pack is provided in the middle of the glider body, and the battery pack is electrically connected to the buoyancy adjustment module and the horizontal wing driving module respectively.

[0012] As a preferred embodiment of the present invention, the horizontal wing is made of elastic material and is fixed by a beam-shaped member and is in a curled and stored state before the underwater glider enters the water; after the underwater glider enters the water, the beam-shaped member is released to allow the horizontal wing to unfold freely.

[0013] As a preferred solution of the present invention, the bundle-shaped member is made of a water-soluble material.

[0014] As a preferred embodiment of the present invention, the water-soluble material is water-soluble cotton or water-soluble plastic.

[0015] As a preferred solution of the present invention, the elastic material is memory alloy, rubber or memory plastic.

[0016] As a preferred solution of the present invention, the horizontal wing is curled and stored around the sliding rod.

[0017] As a preferred solution of the present invention, the horizontal wing is curled and stored around the glider body.

[0018] Compared with the prior art, the underwater glider with movable horizontal wings provided by the present invention has the following beneficial effects:

[0019] The underwater glider of the present invention designs the original fixed horizontal wing into a longitudinally movable structure. During the underwater gliding movement of the underwater glider, the gliding angle of the underwater glider can be adjusted by changing the longitudinal position of the horizontal wing on the glider body, thereby effectively solving the problem that the gliding angle of the traditional solid horizontal wing is affected by the hydrodynamic force, replacing the method of adjusting the gliding pitch angle of the gliding movement by longitudinally moving the mass block of the existing underwater glider, greatly simplifying the internal control structure of the underwater glider and improving the impact resistance of the whole machine; moreover, in the case where there is a mass block control device inside the underwater glider, the longitudinally movable horizontal wing device proposed by the present invention can also be added, thereby reducing the control torque requirement of the mass block and improving the control effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the technical solution of the embodiment of the present invention, the drawings of the embodiment are briefly introduced below.

[0021] Figure 1 1 is a schematic structural diagram of an underwater glider with movable horizontal wings provided by the present invention (I), in which the horizontal wings are shown in a horizontally unfolded state;

[0022] Figure 2 It is a structural schematic diagram (II) of an underwater glider with movable horizontal wings provided by the present invention, in which the horizontal wings are shown in a rolled-up and stored state. DETAILED DESCRIPTION

[0023] The specific implementation of the present invention is further described in detail below in conjunction with the accompanying drawings and examples. The following examples are used to illustrate the present invention, but are not intended to limit the scope of the present invention.

[0024] In the description of the present invention, it should be understood that the terms "upper", "lower", "left", "right", "front", "back", "top", "bottom", etc. indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying 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 a limitation on the present invention. It should be understood that the terms "first", "second", etc. are used in the present invention to describe various information, but such information should not be limited to these terms, which are only used to distinguish the same type of information from each other. For example, without departing from the scope of the present invention, "first" information may also be referred to as "second" information, and similarly, "second" information may also be referred to as "first" information.

[0025] like Figure 1As shown, a preferred embodiment of the present invention provides an underwater glider with movable horizontal wings, which includes a glider body 1, a horizontal wing 2, a slide 3 and a slide bar 4. The slide 3 is fixed on the glider body 1 and is parallel to the center line of the glider body 1; the slide bar 4 is longitudinally movable and installed on the slide 3, and the horizontal wing 2 is fixed on the slide bar 4. Therefore, the underwater glider of the embodiment of the present invention designs the original fixed horizontal wing into a longitudinally movable structure. During the underwater gliding movement, the underwater glider can adjust the gliding angle of the underwater glider by changing the longitudinal position of the horizontal wing 2 on the glider body 1, thereby effectively solving the problem that the traditional solid horizontal wing is affected by the hydrodynamic force and affects the gliding angle, replacing the method of adjusting the gliding pitch angle by longitudinally moving the mass block in the existing underwater glider, greatly simplifying the internal control structure of the underwater glider, and improving the impact resistance of the whole machine; and in the case that there is a mass block control device inside the underwater glider, the longitudinally movable horizontal wing device proposed by the present invention can also be added, thereby reducing the control torque requirement of the mass block and improving the control effect.

[0026] Exemplarily, the underwater glider with movable horizontal wings also includes a mechanical fixing structure for fixing the longitudinal position of the horizontal wing 2, such as detachable fixing components such as buckles, bolts, pins, etc., to facilitate the positioning and adjustment of the horizontal wing before the underwater glider is launched.

[0027] For example, Figure 1 As shown, the underwater glider with movable horizontal wings also includes a horizontal wing driving module 5, which is connected to the slide bar 4 and drives the slide bar 4 to make the horizontal wing 2 move longitudinally. The horizontal wing driving module 5 is driven by a motor and can make the slide bar 4 move linearly through a transmission component. Such a design enables the underwater glider to achieve horizontal wing positioning adjustment before or after launch, thereby improving the applicability of the underwater glider.

[0028] For example, Figure 1As shown, in order to optimize the internal structure of the underwater glider and the setting of its center of gravity, the horizontal wing 2 is arranged behind the center of gravity of the glider body 1; the bow of the glider body 1 is provided with a buoyancy adjustment module 6 for adjusting the buoyancy of the glider body 1; the middle of the glider body 1 is provided with a battery pack 7, and the battery pack 7 is electrically connected to the buoyancy adjustment module 6 and the horizontal wing driving module 5 respectively. Among them, the buoyancy adjustment module 6 is a buoyancy adjustment device dedicated to existing underwater gliders. During operation, when the buoyancy is zero, the underwater glider is suspended in the water; the buoyancy regulating module 6 controls the buoyancy of the underwater glider to be negative buoyancy, and the underwater glider begins to sink; because the horizontal wing 2 is at the tail end of the underwater glider (behind the center of gravity), the underwater glider is asymmetrical front to back, and during the sinking process, the rear half of the underwater glider is subjected to a lift force (upward) greater than the front half, the underwater glider tilts head and stabilizes at a head tilt angle, the underwater glider glides downward and forward, and the rudder 9 is used to control the direction of the gliding movement; after reaching the specified water depth, the buoyancy regulating module 6 controls the buoyancy of the underwater glider to be positive buoyancy, and the underwater glider floats up. During the floating process, the rear half of the underwater glider is subjected to a lift force (downward) greater than the front half, the underwater glider tilts tail and stabilizes at a tail tilt angle, the underwater glider glides upward and forward, and the rudder 9 is used to control the direction of the gliding movement.

[0029] For example, Figure 1 and Figure 2 As shown, the horizontal wing 2 is made of elastic material, and the horizontal wing 2 is fixed by the beam 8 and is in a curled storage state before the underwater glider enters the water; after the underwater glider enters the water, the beam 8 is released to allow the horizontal wing 2 to unfold freely. Therefore, the embodiment of the present invention designs the horizontal wing 2 to be made of elastic material, which can make the horizontal wing 2 have curling deformation characteristics, and uses the beam 8 to fix the curling shape of the horizontal wing 2, so that the horizontal wing 2 is in a curled storage state before the underwater glider is put into the water, which is convenient for storage and transportation; at the same time, after the underwater glider is put into the water, the beam 8 can automatically release the horizontal wing 2 in the curled storage state, and at this time the horizontal wing 2 is freely unfolded and restored to a horizontal state under the action of its own elastic force; it can be seen that the structural form of the storage and unfolding of the horizontal wing 2 has the advantages of simple structure, convenient use and strong reliability.

[0030] Exemplarily, the beam 8 is made of a water-soluble material. When the underwater glider enters the water, the beam 8 can dissolve in water, loosening the horizontal wing 2 to allow it to unfold freely, further improving the reliability and convenience of folding and unfolding the horizontal wing 2. In this embodiment, the water-soluble material is preferably water-soluble cotton or water-soluble plastic.

[0031] Exemplarily, in order to ensure that the horizontal wing 2 remains in a horizontal state after being unfolded, the elastic material is a memory alloy, rubber or memory plastic.

[0032] For example, in order to facilitate the curling and storage of the horizontal wing 2, the following two storage forms can be adopted according to the longitudinal position of the horizontal wing 2: First, when the horizontal wing 2 is away from or close to the glider body 1, the horizontal wing 2 is curled and stored around the slide rod 4, such as Figure 2 As shown; the second type, when the horizontal wing 2 is on the glider body 1, the horizontal wing 2 is curled and stored around the glider body 1.

[0033] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "connected" and "connection" 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 an indirect connection 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.

[0034] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and substitutions can be made without departing from the technical principles of the present invention. These improvements and substitutions should also be regarded as the scope of protection of the present invention.

Claims

1. An underwater glider with movable horizontal wings, characterized in that: The invention comprises a glider body, a horizontal wing, a slide, a slide bar and a horizontal wing driving module, wherein the slide is fixed on the glider body and is parallel to the center line of the glider body; the slide bar is longitudinally movably mounted on the slide, and the horizontal wing is fixed on the slide bar; the horizontal wing is arranged behind the center of gravity of the glider body; the horizontal wing driving module is connected with the slide bar, and drives the slide bar to make the horizontal wing move longitudinally; a buoyancy regulating module for regulating the buoyancy of the glider body is provided at the bow of the glider body; a battery pack is provided in the middle of the glider body, and the battery pack is electrically connected with the buoyancy regulating module and the horizontal wing driving module respectively.

2. An underwater glider with movable horizontal wings according to claim 1, characterized in that: Also included is a mechanical fixing structure for fixing the longitudinal position of the horizontal wing.

3. An underwater glider with movable horizontal wings according to claim 1 or 2, characterized in that: The horizontal wing is made of elastic material and is fixed by a beam-shaped member and is in a curled and stored state before the underwater glider enters the water; after the underwater glider enters the water, the beam-shaped member is released to allow the horizontal wing to unfold freely.

4. The underwater glider with movable horizontal wings according to claim 3, characterized in that: The bundle-shaped member is made of a water-soluble material, and the water-soluble material is water-soluble cotton or water-soluble plastic.

5. The underwater glider with movable horizontal wings according to claim 3, characterized in that: The elastic material is memory alloy, rubber or memory plastic.

6. The underwater glider with movable horizontal wings according to claim 3, characterized in that: The horizontal wing is rolled up and stored around the slide rod, or the horizontal wing is rolled up and stored around the glider body.

Images