A micro underwater glider

Abstract

The present invention belongs to the field of marine vehicles, and specifically relates to a micro underwater glider, which includes a bow fairing, a bow thermosalinograph unit, a fixed energy unit, a micro attitude adjustment device, an electronic control unit, a main pressure-resistant cabin, a micro buoyancy adjustment device, a horizontal wing, and a vertical wing; a stern fairing and a micro flexible antenna; the present invention adopts an integrated structural design scheme, with a solid and compact overall layout and strong impact resistance when entering the water; the micro attitude adjustment device and the micro buoyancy adjustment device realize the attitude adjustment function and the buoyancy adjustment function of the underwater glider in a very small space; the micro flexible antenna has a small drainage volume and is convenient for transportation. The present invention is small in weight and volume, only 12 kg, and has a low cost, but can realize all the functions of a conventional underwater glider, and can be used for carrier-aircraft air-drop high-speed deployment operations or shipborne large-scale throw-type operations in the future.

Description

Technical Field

[0001] The present invention belongs to the field of marine vehicles, and more particularly to a micro and small underwater glider. Background Art

[0002] With the deepening of marine scientific research, as a new type of unmanned underwater vehicle, the technology of underwater gliders has developed rapidly. An underwater glider is a new type of marine observation platform, which has been widely regarded worldwide due to its characteristics of low noise, small size, light weight, and long endurance time. The overall shape of the underwater glider is similar to that of a torpedo. It drives the whole machine to achieve a zigzag gliding motion by adjusting its own buoyancy. By carrying different types of sensors, it can collect various marine information, such as seawater temperature, salinity, dissolved oxygen, and chlorophyll content in seawater, in the form of single or multi-vehicle formations of underwater gliders. In the field of marine national defense, due to its characteristics of low noise and strong concealment, it can be used to collect important intelligence such as the marine hydrological environment and sound field environment of coastal countries. Conducting research on underwater glider technology is of great significance for marine resource development and marine national defense construction. At present, the weight of existing underwater gliders at home and abroad often exceeds 60 kg, and the cost is relatively high. It is still very difficult to use existing gliders for high-speed deployment by carrier aircraft or large-scale cluster operations. Summary of the Invention

[0003] Aiming at the problems of large weight and volume and high cost of existing underwater gliders, the purpose of the present invention is to provide a micro and small underwater glider. The micro and small underwater glider is small in volume and weight and low in cost, and can be used for marine environment observation.

[0004] The purpose of the present invention is achieved by the following technical solutions:

[0005] The present invention includes a bow fairing, a bow CTD (Conductivity, Temperature, Depth) probe unit, a bow end cap, a fixed energy unit, a micro attitude adjustment device, an electronic control unit, a main pressure-resistant hull, a micro buoyancy adjustment device, a horizontal wing, a vertical wing, a stern end cap, a stern fairing and a micro flexible antenna. The two ends of the main pressure-resistant hull are respectively and hermetically connected to the bow end cap and the stern end cap. The fixed energy unit is installed inside the bow end cap to provide electrical energy for the underwater glider. A bow fairing is connected to the outside of the bow end cap, and the bow CTD probe unit installed on the bow end cap is arranged in the bow fairing. The micro attitude adjustment device, the electronic control unit and the micro buoyancy adjustment device are respectively installed inside the main pressure-resistant hull. A stern fairing is connected to the outside of the stern end cap. The outer oil bladder in the micro buoyancy adjustment device is located outside the stern end cap and inside the stern fairing, and is in contact with seawater. A horizontal wing is installed on the main pressure-resistant hull, and the vertical wing and the micro flexible antenna are respectively installed on the stern fairing. The power source in the micro attitude adjustment device, the power source in the micro buoyancy adjustment device, the micro flexible antenna and the fixed energy unit are respectively connected to the electronic control unit.

[0006] Wherein: the bow CTD probe unit includes a depth probe, a CTD data acquisition board, a conductivity probe and a temperature probe. The depth probe is fixed at the forefront of the bow end cap through a pressing member, and the pressure detection membrane of the depth probe is in contact with the water body. The conductivity probe and the temperature probe are respectively fixed at the edge of the bow end cap and are respectively in contact with the water body. The CTD data acquisition board is installed inside the bow end cap through a fixing plate.

[0007] The micro buoyancy adjustment device includes a buoyancy motor seal housing, a buoyancy drive motor, an inner oil bladder piston, a rolling diaphragm, an inner oil bladder housing, a micro single plunger unit, an oil outlet check valve, a crankshaft, a self-locking electromagnetic push rod, a stern end cover, an oil return check valve, an outer oil bladder and an inner oil bladder bottom cover. The oil outlet check valve and the oil return check valve are respectively installed on the stern end cover. One side of the inner oil bladder housing is connected to the inner side of the stern end cover, and the other side of the inner oil bladder housing is connected with an inner oil bladder bottom cover. The buoyancy drive motor and the buoyancy motor seal housing penetrate through the inner oil bladder bottom cover. The buoyancy drive motor is installed on the stern end cover, and the output shaft is connected to the crankshaft rotatably installed on the stern end cover. The buoyancy drive motor is sleeved with a buoyancy motor seal housing sealed and installed on the stern end cover. The inner oil bladder piston is sleeved on the buoyancy motor seal housing and is in sealed sliding connection with the buoyancy motor seal housing. One side of the rolling diaphragm is sealed and connected to the stern end cover, and the other side is sealed and connected to the inner oil bladder piston. The micro single plunger unit and the self-locking electromagnetic push rod are respectively installed on the inner side of the stern end cover. The micro single plunger unit corresponds to the oil outlet check valve, and the self-locking electromagnetic push rod corresponds to the oil return check valve. The buoyancy drive motor drives the crankshaft to rotate, and the piston of the micro single plunger unit is pushed to reciprocate through the crankshaft, and the hydraulic oil in the inner oil bladder is pumped into the outer oil bladder through the oil outlet check valve, and the hydraulic oil in the outer oil bladder flows back into the inner oil bladder through the action of the self-locking electromagnetic push rod on the oil return check valve.

[0008] The axial center line of the concentric part of the crankshaft is collinear with the axial center line of the stern end cover. A deep groove ball bearing B is sleeved on the eccentric shaft part of the crankshaft, and the crankshaft is in rolling contact with the piston in the micro single plunger unit through the deep groove ball bearing B.

[0009] An end cover oil outlet is provided on the inner side of the stern end cover. One side of the end cover oil outlet is opposite to the plunger pump oil outlet of the micro single plunger unit, and an O-ring axial seal is used for sealing between the plunger pump oil outlet and the end cover oil outlet. The oil outlet check valve is screwed into the stern end cover through a threaded hole opened on the outer side of the stern end cover, and the other side of the end cover oil outlet is opposite to the oil outlet check valve.

[0010] The output shaft of the buoyancy drive motor is connected to the crankshaft through a coupling, and a skeleton oil seal is used to provide rotary seal for the crankshaft.

[0011] A radial O-ring seal is provided on one side of the rolling diaphragm. The radial O-ring seal is sleeved in a radial seal groove opened on the stern end cover. An axial O-ring seal is provided on the other side of the rolling diaphragm. The axial O-ring seal is accommodated in an axial seal groove opened on the inner oil bladder piston and is fixed on the inner oil bladder piston through a pressing disc.

[0012] A buoyancy potentiometer is installed on the inner oil bladder bottom cover.

[0013] An oil filling plug for filling oil into the inner oil bladder is provided on the stern end cover.

[0014] A star-shaped ring is used as a dynamic seal between the inner oil bladder piston and the buoyancy motor seal housing.

[0015] The advantages and positive effects of the present invention are as follows:

[0016] 1. The present invention adopts an integrated overall structure technical solution, which has stronger impact resistance during the process of carrier aircraft airdrop or shipborne throw deployment.

[0017] 2. The present invention adopts technical solutions such as a one-key power-on switch and a flexible antenna, which greatly improves the operability of the carrier.

[0018] 3. The present invention has carried out miniaturization and low-power design on two core execution units of the attitude adjustment device and the buoyancy adjustment device of the glider, realizing all functions of the underwater glider in a very limited space and ensuring the endurance (not less than 45 days).

[0019] 4. The present invention has low cost and can carry out a large number of deployment operations and disposable operations.

[0020] 5. The present invention is small in weight and volume, only 13 kg, and can be rapidly deployed by airdrop using an unmanned aerial vehicle or the like to observe a specific sea area quickly, greatly improving the timeliness of ocean observation and having important scientific significance. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 is a three-dimensional structure schematic diagram of the present invention;

[0022] Figure 2 is a front view of the structure of the present invention;

[0023] Figure 3 is a top view of the structure of the present invention;

[0024] Figure 4A is a schematic diagram of the structure of the head temperature, salinity and depth detection unit of the present invention;

[0025] Figure 4B is Figure 4A a left view of;

[0026] Figure 5A is one of the schematic diagrams of the structure of the micro attitude adjustment device of the present invention;

[0027] Figure 5B is another schematic diagram of the structure of the micro attitude adjustment device of the present invention;

[0028] Figure 6 is a three-dimensional structure schematic diagram of the micro buoyancy adjustment device of the present invention;

[0029] Figure 7 Structural sectional view of the micro buoyancy adjustment device of the present invention (the outer oil bladder is in the minimum state);

[0030] Figure 8 Structural sectional view of the micro buoyancy adjustment device of the present invention (the outer oil bladder is in the maximum state);

[0031] Among them: 1 is the bow fairing, 2 is the bow CTD probe unit, 3 is the one - key power - on switch, 4 is the fixed energy unit, 5 is the micro - state adjustment device, 6 is the electronic control unit, 7 is the main pressure - resistant hull, 8 is the micro buoyancy adjustment device, 9 is the horizontal fin, 10 is the vertical fin, 11 is the stern fairing, 12 is the micro flexible antenna, 13 is the depth probe, 14 is the CTD data acquisition board, 15 is the conductivity probe, 16 is the temperature probe, 17 is the hollow square tube shaft, 18 is the eccentric main battery pack, 19 is the integrated pitch drive device, 20 is the roll potentiometer, 21 is the pitch potentiometer, 22 is the roll drive device, 23 is the buoyancy drive motor, 24 is the inner oil bladder housing, 25 is the stern end cap, 26 is the outer oil bladder, 27 is the buoyancy potentiometer, 28 is the bow end cap, 29 is the buoyancy motor seal housing, 30 is the inner oil bladder piston, 31 is the rolling diaphragm, 32 is the cross - groove coupling, 33 is the micro single - plunger unit, 34 is the oil outlet one - way valve, 35 is the crankshaft, 36 is the self - locking electromagnetic push rod, 37 is the oil filling plug, 38 is the oil return one - way valve, 39 is the inner oil bladder bottom cover, 40 is the plunger pump oil outlet, 41 is the end cap oil outlet, 42 is the threaded hole, 43 is the deep groove ball bearing A, 44 is the deep groove ball bearing B, 45 is the pressing disc. Specific implementation mode

[0032] The present invention will be further described in detail below with reference to the accompanying drawings.

[0033] As Figures 1 - 3As shown in the figure, the present invention includes a bow fairing 1, a bow CTD (Conductivity, Temperature, Depth) probe unit 2, a one - key power - on switch 3, a bow end cap 28, a fixed energy unit 4, a micro attitude adjustment device 5, an electronic control unit 6, a main pressure - resistant hull 7, a micro buoyancy adjustment device 8, a horizontal wing 9, a vertical wing 10, a stern end cap 25, a stern fairing 11 and a micro flexible antenna 12. The two ends of the main pressure - resistant hull 7 are respectively and hermetically connected to the bow end cap 28 and the stern end cap 25. The fixed energy unit 4 is installed inside the bow end cap 28 to provide electrical energy for the underwater glider. The bow fairing 1 is externally connected to the bow end cap 28, and the bow CTD probe unit 2 installed on the bow end cap 28 is arranged in the bow fairing 1. The micro attitude adjustment device 5, the electronic control unit 6 and the micro buoyancy adjustment device 8 are respectively installed inside the main pressure - resistant hull 7. The stern fairing 11 is externally connected to the stern end cap 25. The outer oil bladder 26 in the micro buoyancy adjustment device 8 is located outside the stern end cap 25 and inside the stern fairing 11, in contact with seawater. The horizontal wing 9 is installed on the main pressure - resistant hull 7, and the vertical wing 10 and the micro flexible antenna 12 are respectively installed on the stern fairing 11. The power source in the micro attitude adjustment device 5, the power source in the micro buoyancy adjustment device 8, the micro flexible antenna 12 and the fixed energy unit 4 are respectively connected to the electronic control unit 6. The main control board in the electronic control unit 6 controls the micro buoyancy adjustment device 8 and the micro attitude adjustment device 5 to adjust the buoyancy and attitude of the underwater glider, realizing the saw - tooth profile movement of the carrier.

[0034] The whole machine of this embodiment adopts an integrated structure design, with only one sealed cabin section (i.e., the main pressure - resistant hull 7). The main pressure - resistant hull 7 is cylindrical and made of carbon fiber composite material. The carbon fiber composite material has the characteristics of high specific strength and high specific stiffness, and can provide the maximum buoyancy for the carrier on the premise of ensuring strength and stability. Since the bow end cap 28 and the stern end cap 25 need to be opened, they are made of aluminum alloy material. The CTD data acquisition board 14 in the bow CTD probe unit 2, the one - key power - on switch 3, the fixed energy unit 4, the micro attitude adjustment device 5, the electronic control unit 6 and the micro buoyancy adjustment device 8 are all installed in the sealed main pressure - resistant hull 7. The main pressure - resistant hull 7 is sealed with an O - ring, which can meet the technical requirements of a maximum working depth of 1000 meters.

[0035] The one - key power - on switch 3 of this embodiment realizes the connection and disconnection of two contact motors by converting rotational motion into linear motion. The power - on and power - off operations of the carrier can be realized by simply rotating outside the carrier, and its volume and weight are very small, greatly improving the operability of the carrier and shortening the pre - deployment recovery time.

[0036] The energy unit of this embodiment is divided into a fixed energy unit 4 and an eccentric main battery pack 18 in the micro attitude adjustment device 5. The system power supply voltage is 12V, providing energy for the micro underwater glider. Among them, the eccentric main battery pack 18, in addition to being an energy unit, also serves as a centroid adjustment weight in the micro attitude adjustment device 5, reducing the overall weight without adding additional ballast. The fixed energy unit 4 of this embodiment can be a disposable lithium battery.

[0037] The electronic control unit 6 of this embodiment is a prior art, including a main control board, an electronic compass, a radio module, a GPS module, and an Iridium module. The main control board controls the actions of each actuator through pre-programming and collects various data of the underwater glider during operation; the electronic compass is used to detect the attitude and heading of the underwater glider, providing feedback information for the attitude adjustment and heading control of the underwater glider; the radio module, GPS, and Iridium module are used for the positioning communication of the carrier; the above-mentioned main control board and each module are fixed on a plastic board to form an integral body and are fixed in the main pressure-resistant cabin 7 through two pull rods.

[0038] The micro flexible antenna 12 of this embodiment is a prior art, including two rigid segments and one flexible segment. The GPS and Iridium antennas are fixedly installed in the PEEK (polyether ether ketone) high-strength rigid segment at the top. PEEK has good wave transmission ability to ensure the signal of the combined antenna. The middle segment is a rubber vulcanized flexible segment that can be bent arbitrarily, facilitating transportation. The tail end segment is an aluminum alloy rigid segment for sealed connection with the carrier.

[0039] As Figures 1 - 3 and Figure 4A 、 Figure 4B As shown in the figure, the bow temperature-salinity-depth detection unit 2 of this embodiment includes a depth probe 13, a temperature-salinity-depth data acquisition board 14, a conductivity probe 15, and a temperature probe 16. This embodiment uses OEM probes to integrate the bow end cover 28. The depth probe 13 is fixed at the forefront of the bow end cover 28 through a pressing member, and the pressure detection membrane of the depth probe 13 is in contact with the water body; the conductivity probe 15 and the temperature probe 16 are respectively fixed at the edge of the bow end cover 28 to ensure that after installing the bow fairing 1, the two probes can be in good contact with the water body to ensure the accuracy of the detection data; the temperature-salinity-depth data acquisition board 14 is installed inside the bow end cover 28 through a plastic fixing plate.

[0040] As Figures 1 - 3 and Figure 5A 、 Figure 5BAs shown, the micro attitude adjustment device 5 of this embodiment is a prior art, adopting the "Centroid Adjustment Device for an Underwater Robot" disclosed on July 7, 2017, with the publication number CN106926997A. The micro attitude adjustment device 5 of this embodiment includes a hollow square tube shaft 17, an eccentric main battery pack 18, an integrated pitch drive device 19, a roll potentiometer 20, a pitch potentiometer 21, and a roll drive device 22. The eccentric main battery pack 18 is installed on the hollow square tube shaft 17 through a square fitting hole and can slide back and forth relative to the hollow square tube shaft 17, but cannot rotate relative to the hollow square tube shaft 17. The integrated pitch drive device 19 is installed inside the hollow square tube shaft 17 and can drive the eccentric main battery pack 18 to move back and forth along the hollow square tube shaft 17. The pitch attitude adjustment amount is feedback controlled by the pitch potentiometer 21. The roll drive device 22 can drive the hollow square tube shaft 17 to rotate, thereby driving the eccentric main battery pack 18 to rotate, causing the underwater glider to generate a roll motion. The roll attitude adjustment amount is feedback controlled by the roll potentiometer 20. During the ascent and descent processes, the underwater glider generates a roll attitude and can cooperate with the horizontal wing 9 and the vertical wing 10 to control the navigation of the underwater glider.

[0041] As Figures 1 - 3 and Figures 6 - 8As shown in the figure, the micro buoyancy adjustment device 8 of this embodiment includes a buoyancy potentiometer 27, a buoyancy motor seal housing 29, a buoyancy drive motor 23, an inner oil bladder piston 30, a rolling diaphragm 31, an inner oil bladder housing 24, a coupling, a micro single plunger unit 33, an oil outlet check valve 34, a crankshaft 35, a self-locking electromagnetic push rod 36, a stern end cover 25, an oil filling plug 37, an oil return check valve 38, an outer oil bladder 26, and an inner oil bladder bottom cover 39. The stern end cover 25 of this embodiment is a fixed support, and all components are installed on the stern end cover 25. At the same time, the stern end cover 25 also serves as the valve block of the hydraulic system, and each oil circuit of the hydraulic system is processed on the stern end cover 25, effectively reducing the volume and weight of the hydraulic system. The oil outlet check valve 34 and the oil return check valve 38 are respectively installed on the stern end cover 25. One side of the inner oil bladder housing 24 is connected to the inner side of the stern end cover 25, and the other side of the inner oil bladder housing 24 is connected to an inner oil bladder bottom cover 39; the buoyancy drive motor 23 and the buoyancy motor seal housing 29 both penetrate through the inner oil bladder bottom cover 39. The buoyancy drive motor 23 is installed on the stern end cover 25, and the output shaft is connected to the crankshaft 35 rotatably installed on the stern end cover 25. The buoyancy drive motor 23 is externally sleeved with a buoyancy motor seal housing 29 sealed and installed on the stern end cover 25; the inner oil bladder piston 30 is sleeved on the buoyancy motor seal housing 29 and is in sealed sliding connection with the buoyancy motor seal housing 29. One side of the rolling diaphragm 31 is sealed and connected to the stern end cover 25, and the other side is sealed and connected to the inner oil bladder piston 30; the micro single plunger unit 33 and the self-locking electromagnetic push rod 36 are respectively installed on the inner side of the stern end cover 25, and the outer oil bladder 26 is installed on the outer side of the stern end cover 25. The micro single plunger unit 33 corresponds to the oil outlet check valve 34, and the self-locking electromagnetic push rod 36 corresponds to the oil return check valve 38. The buoyancy drive motor 23 drives the crankshaft 35 to rotate, and the piston of the micro single plunger unit 33 is reciprocated by the crankshaft 35, pumping the hydraulic oil in the inner oil bladder into the outer oil bladder 26 through the oil outlet check valve 34, and the hydraulic oil in the outer oil bladder 26 flows back into the inner oil bladder through the action of the self-locking electromagnetic push rod 36 on the oil return check valve 38.

[0042] Both ends of the crankshaft 35 of this embodiment are rotatably installed on the stern end cover 25 through two deep groove ball bearings A43. The axial center line of the concentric part of the crankshaft 35 is collinear with the axial center line of the stern end cover 25. At the same time, two deep groove ball bearings B44 are sleeved on the eccentric shaft part of the crankshaft 35. The crankshaft 35 is in rolling contact with the piston in the micro single plunger unit 33 through the deep groove ball bearings B44, thus converting the sliding friction between the crankshaft 35 and the plunger during the rotation and pushing of the plunger into rolling friction, effectively improving the working efficiency of the system.

[0043] The micro single plunger unit 33 of this embodiment is fixedly connected to the stern end cover 25 by two M6 screws. An end cover oil outlet 41 is provided inside the stern end cover 25. One side of the end cover oil outlet 41 faces the plunger pump oil outlet 40 of the micro single plunger unit 33, and an O-ring axial seal is used between the plunger pump oil outlet 40 and the end cover oil outlet 41 to play a sealing role; the oil outlet check valve 34 is screwed into the stern end cover 25 through a threaded hole 42 opened on the outside of the stern end cover 25, and the other side of the end cover oil outlet 41 faces the oil outlet check valve 34. The pressurized oil generated by the micro plunger unit 33 can flow into the outer oil bladder 26 through the oil outlet check valve 34, but it cannot flow back in the reverse direction.

[0044] The buoyancy-driven motor 23 of this embodiment is fixed to the stern end cover 25 through a bell-shaped cover. The output shaft of the buoyancy-driven motor 23 is connected to the crankshaft 35 through a coupling, and a skeleton oil seal is used to provide rotary sealing for the crankshaft 35; the coupling of this embodiment is a cross-slotted coupling 32. Then, the buoyancy motor seal housing 29 is sleeved outside the buoyancy-driven motor 23 and fixed to the stern end cover 25 by screws. A radial O-ring is used for sealing between the stern end cover 25 and the buoyancy motor seal housing 29, so that the oil in the inner oil bladder is isolated from the buoyancy-driven motor 23. The rotation of the buoyancy-driven motor 23 drives the crankshaft 35 to rotate, thereby driving the piston of the micro single plunger unit 33 to reciprocate up and down, and further pumping the oil in the inner oil bladder into the outer oil bladder 26.

[0045] The oil return check valve 38 of this embodiment is screwed into the stern end cover 25 through a threaded hole 42 opened on the inside of the stern end cover 25, and the self-locking electromagnetic push rod 36 is also installed on the stern end cover 25 through a fixing member. Under normal conditions, the hydraulic oil in the outer oil bladder 26 cannot flow back into the inner oil bladder through the oil return check valve 38, and the push rod of the self-locking electromagnetic push rod 36 can reciprocate when it is energized; when it is positively energized, the push rod of the self-locking electromagnetic push rod 36 extends, pushing open the valve core of the oil return check valve 38, so that reverse flow can occur. At this time, under the action of the return spring force of the outer oil bladder 26, the hydraulic oil flows back into the inner oil bladder. After the power is cut off, the push rod of the self-locking electromagnetic push rod 36 remains in the extended state until the oil return process is completed; then it is reversely energized, the push rod of the self-locking electromagnetic push rod 36 retracts, and after the power is cut off, the push rod of the self-locking electromagnetic push rod 36 remains in the retracted state, and the oil return check valve 38 closes. A grease plug 37 for injecting oil into the inner oil bladder is provided on the stern end cover 25.

[0046] The outer oil bladder 26 of this embodiment is made of rubber with relatively high elasticity. A radial O-ring is provided on it during the vulcanization molding of the oil bladder, and it is fixedly installed on the stern end cover 25 through a snap ring.

[0047] A radial O-ring is provided on one side of the rolling diaphragm 31 of this embodiment, and the radial O-ring is sleeved in a radial sealing groove provided on the stern end cover 25. An axial O-ring is provided on the other side of the rolling diaphragm 31, and the axial O-ring is accommodated in an axial sealing groove provided on the inner oil bag piston 30, and is fixed to the inner oil bag piston 30 through a clamping plate 45. The rolling diaphragm 31 and the inner oil bag piston 30 are sealed by the axial O-ring provided on the rolling diaphragm 31. The radial O-ring of the rolling diaphragm 31 is sleeved in the radial sealing groove of the stern end cover 25. Then, the rolling diaphragm 31 is subjected to a convolution process, and then the inner oil bag housing 24 is sleeved on the outer side of the rolling diaphragm 31 and fixedly connected to the stern end cover 25 by screws. The inner oil bag bottom cover 39 is fixed to the inner oil bag housing 24 by screws, and the buoyancy potentiometer 27 is fixed to the inner oil bag bottom cover 39 by screws. The inner oil bag piston 30 can slide back and forth on the buoyancy motor sealing shell 29 during operation, and the buoyancy motor sealing shell 29 plays a good guiding role to prevent the piston from deflecting and causing inaccurate measurement. A star ring is used as a dynamic seal between the inner oil bag piston 30 and the buoyancy motor sealing shell 29.

[0048] The miniature single plunger unit 33 of the present invention is a commercial product purchased from Germany's Hawe Company, model number MPE4. The self-locking electromagnetic push rod 36 of the present invention is a commercial product purchased from Shenzhen Zongtai Electromechanical Co., Ltd., model number SDK2-0734S-12A09-09.

[0049] The weight of the micro underwater glider of the present invention is no more than 12 kilograms, the operating depth is no less than 1000 meters, and the endurance time is no less than 45 days.

[0050] The working principle of the present invention is:

[0051] The micro underwater glider for marine environment observation of the present invention can be airdropped and deployed by an unmanned aerial vehicle or other aircraft, or can be deployed in large numbers by throwing during the voyage of a scientific research ship. When the ship sails to the designated deployment area, the micro underwater glider is put into the water. After entering the water, the underwater glider communicates with the shore-based station and accepts the designated task to start working. First, the micro buoyancy adjustment device 8 starts to work, reducing the buoyancy of the micro underwater glider itself and adjusting the pitch attitude of the underwater glider for diving operation. At this time, the underwater glider starts to dive, and the set course of the underwater glider is ensured by the roll device during the diving process. When diving to the designated depth (such as 1000 meters), the micro buoyancy adjustment device 8 pumps oil outwards to make the volume of the outer oil bladder 26 larger, and at the same time switches the pitch attitude of the underwater glider to make the underwater glider move upward and return to the water surface to communicate with the shore-based station. During the diving and surfacing processes, the detection sensors work throughout the process, recording the sea trial data during the cycle process. When all tasks are completed, the recovery operation is carried out using a fishing net by providing GPS points by the underwater glider. Since the cost of the present invention is low, in the case of high recovery costs or difficult-to-recover sea areas, it can also be self-destructed after all tasks are completed.

[0052] The buoyancy adjustment of the underwater glider is specifically as follows:

[0053] When the underwater glider needs to increase the drainage volume of the carrier, the hydraulic oil in the inner oil bladder needs to be discharged into the outer oil bladder 26. At this time, the push rod of the self-locking electromagnetic push rod 36 remains retracted, and the oil return check valve 38 is closed. The buoyancy drive motor 23 is energized and rotates, driving the crankshaft 35 to rotate through the cross-slotted coupling 32. During the rotation of the crankshaft 35, the piston of the micro single plunger unit 33 is pushed to reciprocate, realizing the oil suction and discharge action, and pumping the hydraulic oil in the inner oil bladder into the outer oil bladder 26 through the oil outlet check valve 38. From the Figure 7 state changes to the Figure 8 state shown, realizing the increase in the drainage volume of the outer oil bladder 26.

[0054] When the underwater glider needs to reduce the drainage volume of the carrier to realize the diving action on the water surface, a pulsed voltage (about 50 ms) is applied positively to the self-locking electromagnetic push rod 36. At this time, the push rod of the self-locking electromagnetic push rod 36 extends, overcoming the elastic force of the return spring in the valve core of the oil return check valve 38 and pushing the valve core open, so that the oil return check valve 38 can flow reversely. Under the action of the resilience of the outer oil bladder 26, the hydraulic oil flows back into the inner oil bladder passively through the oil return check valve 38. From the Figure 8 state changes to the Figure 7 state shown, realizing the reduction in the drainage volume of the outer oil bladder 26.

Claims

1. A micro underwater glider, characterized in that: It includes a bow fairing (1), a bow CTD (Conductivity, Temperature, Depth) probe unit (2), a bow end cap (28), a fixed energy unit (4), a micro attitude adjustment device (5), an electronic control unit (6), a main pressure-resistant hull (7), a micro buoyancy adjustment device (8), a horizontal wing (9), a vertical wing (10), a stern end cap (25), a stern fairing (11) and a micro flexible antenna (12). The two ends of the main pressure-resistant hull (7) are respectively and hermetically connected to the bow end cap (28) and the stern end cap (25). The fixed energy unit (4) is installed inside the bow end cap (28) to supply electric energy to the underwater glider. The bow fairing (1) is connected to the outside of the bow end cap (28), and the bow CTD probe unit (2) installed on the bow end cap (28) is arranged in the bow fairing (1); the micro attitude adjustment device (5), the electronic control unit (6) and the micro buoyancy adjustment device (8) are respectively installed inside the main pressure-resistant hull (7). The stern fairing (11) is connected to the outside of the stern end cap (25). The outer oil bladder (26) in the micro buoyancy adjustment device (8) is located outside the stern end cap (25) and inside the stern fairing (11) and contacts with seawater; the horizontal wing (9) is installed on the main pressure-resistant hull (7), and the vertical wing (10) and the micro flexible antenna (12) are respectively installed on the stern fairing (11); the power source in the micro attitude adjustment device (5), the power source in the micro buoyancy adjustment device (8), the micro flexible antenna (12) and the fixed energy unit (4) are respectively connected to the electronic control unit (6); The described micro buoyancy adjustment device (8) includes a buoyancy motor seal housing (29), a buoyancy drive motor (23), an inner oil bladder piston (30), a rolling diaphragm (31), an inner oil bladder housing (24), a micro single plunger unit (33), an oil outlet check valve (34), a crankshaft (35), a self-locking electromagnetic push rod (36), a stern end cover (25), an oil return check valve (38), an outer oil bladder (26), and an inner oil bladder bottom cover (39). The oil outlet check valve (34) and the oil return check valve (38) are respectively installed on the stern end cover (25). One side of the inner oil bladder housing (24) is connected to the inner side of the stern end cover (25), and the other side of the inner oil bladder housing (24) is connected to the inner oil bladder bottom cover (39). The buoyancy drive motor (23) and the buoyancy motor seal housing (29) both pass through the inner oil bladder bottom cover (39). The buoyancy drive motor (23) is installed on the stern end cover (25), and the output shaft is connected to the crankshaft (35) rotatably installed on the stern end cover (25). The buoyancy drive motor (23) is externally sleeved with the buoyancy motor seal housing (29) sealed and installed on the stern end cover (25). The inner oil bladder piston (30) is sleeved on the buoyancy motor seal housing (29) and is in sealed sliding connection with the buoyancy motor seal housing (29). One side of the rolling diaphragm (31) is sealed and connected to the stern end cover (25), and the other side is sealed and connected to the inner oil bladder piston (30). The micro single plunger unit (33) and the self-locking electromagnetic push rod (36) are respectively installed on the inner side of the stern end cover (25). The micro single plunger unit (33) corresponds to the oil outlet check valve (34), and the self-locking electromagnetic push rod (36) corresponds to the oil return check valve (38). The buoyancy drive motor (23) drives the crankshaft (35) to rotate, and the piston of the micro single plunger unit (33) is pushed to reciprocate through the crankshaft (35), pumping the hydraulic oil in the inner oil bladder into the outer oil bladder (26) through the oil outlet check valve (34), and the hydraulic oil in the outer oil bladder (26) flows back into the inner oil bladder through the action of the self-locking electromagnetic push rod (36) on the oil return check valve (38). An end cover oil outlet (41) is provided on the inner side of the stern end cover (25). One side of the end cover oil outlet (41) faces the plunger pump oil outlet (40) of the micro single plunger unit (33), and an O-ring axial seal is used between the plunger pump oil outlet (40) and the end cover oil outlet (41). The oil outlet check valve (34) is screwed into the stern end cover (25) through a threaded hole (42) opened on the outer side of the stern end cover (25), and the other side of the end cover oil outlet (41) faces the oil outlet check valve (34). One side of the rolling diaphragm (31) is provided with a radial O-ring seal, which is sleeved in a radial sealing groove formed in the stern end cover (25). The other side of the rolling diaphragm (31) is provided with an axial O-ring seal, which is accommodated in an axial sealing groove formed in the inner oil bladder piston (30) and fixed to the inner oil bladder piston (30) by a pressing disc (45).

2. The micro underwater glider according to claim 1, characterized in that: The bow CTD unit (2) includes a depth probe (13), a CTD data acquisition board (14), a conductivity probe (15) and a temperature probe (16). The depth probe (13) is fixed to the foremost end of the bow end cover (28) by a pressing member, and the pressure detection membrane of the depth probe (13) is in contact with the water body. The conductivity probe (15) and the temperature probe (16) are respectively fixed to the edge of the bow end cover (28) and are respectively in contact with the water body. The CTD data acquisition board (14) is installed inside the bow end cover (28) through a fixing plate.

3. The micro underwater glider according to claim 1, characterized in that: The axial center line of the concentric part of the crankshaft (35) is collinear with the axial center line of the stern end cover (25). A deep groove ball bearing B (44) is sleeved on the eccentric shaft part of the crankshaft (35). The crankshaft (35) is in rolling contact with the piston in the micro single plunger unit (33) through the deep groove ball bearing B (44).

4. The micro underwater glider according to claim 1, characterized in that: The output shaft of the buoyancy drive motor (23) is connected to the crankshaft (35) through a coupling, and a skeleton oil seal is used to provide rotary seal for the crankshaft (35).

5. The micro underwater glider according to claim 1, characterized in that: A buoyancy potentiometer (27) is installed on the inner oil bladder bottom cover (39).

6. The micro underwater glider according to claim 1, characterized in that: An oil injection plug (37) for injecting oil into the inner oil bladder is provided on the stern end cover (25).

7. The micro underwater glider according to claim 1, characterized in that: A star-shaped ring is used as a dynamic seal between the inner oil bladder piston (30) and the buoyancy motor seal housing (29).

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