Dual-mode underwater vehicle

Abstract

The application provides a dual-mode underwater vehicle, which is provided with a detachable trigger mechanism and a limiting mechanism, and an elastic umbrella belt which is fixed with the trigger mechanism and limits the unfolding of the side wing, so that the underwater vehicle can rely on the pure mechanical structure to unfold the side wing and tail wing by the water impact when entering the water, greatly improving the response speed and reliability of the wing unfolding. The dual-mode underwater vehicle can realize the switching of the side wing and the tail wing from the staggered folding to the flat unfolding state in the coaxial and non-coaxial conditions, avoiding the additional water power moment caused by the different surfaces of the two wings and increasing the instability of the movement. The underwater vehicle in the folded state can meet the size requirements of the standard A size launching barrel, and the size of the side wing and the tail wing of the underwater vehicle is ensured by the high folding rate, so as to ensure the maneuvering performance of the dual-mode underwater vehicle in gliding and turning, reduce the occupied space of the wing, and reduce the risk of wing damage during transportation, air drop and gun launching.

Description

Technical Field

[0001] This invention belongs to the technical field of underwater navigation equipment, specifically relating to a dual-mode underwater vehicle. Background Technology

[0002] Underwater gliders, profilers, and other underwater devices that move by altering their buoyancy offer unparalleled advantages in underwater observation due to their low power consumption, long range, and extended service life. These underwater vehicles typically consist of a winged, sealed cavity housing a center-of-gravity adjustment mechanism, a buoyancy adjustment mechanism, and related circuit boards and drivers. The center-of-gravity adjustment mechanism alters the underwater vehicle's attitude by changing the axial position and circumferential rotation angle of the battery and weight compartment; the buoyancy adjustment mechanism adjusts buoyancy by changing the overall volume of the underwater vehicle, providing the power source for its movement. However, the presence of side wings and a tail increases the difficulty of transporting and deploying underwater gliders and profilers by road, and also limits the possibility of air-drop or artillery-launched deployment. Compared to traditional ship-based deployment, air-drop and artillery-launched deployment offer advantages such as faster response time, wider deployment area, and greater flexibility and convenience, making them significant for military reconnaissance and observation of major maritime emergencies. Currently, most winged underwater vehicles such as gliders and profilers are fixed-wing. When subjected to air resistance during high-altitude deployment and the impact of water entry, they are highly susceptible to breakage, potentially preventing subsequent observation operations. Miniaturization and portability are major trends in the development of underwater equipment. Compared to traditional underwater vehicles, miniaturized and portable devices offer advantages such as easier transport and deployment, faster response times, lower costs, and greater scalability for group operations.

[0003] The invention patent with authorization announcement number CN112158318B discloses a telescopic wing mechanism, which includes a lead screw, a nut cooperating with the lead screw, a waterproof motor driving the lead screw to rotate, and two guide rods parallel to the lead screw. The waterproof motor drives the lead screw to rotate, which in turn drives the nut to move up and down. The up and down movement of the nut is transmitted through the linkage mechanism, enabling the tail wing to telescopically extend and retract. The shortcomings of this patent are that the telescopic wing occupies too large a size when retracted, resulting in a limitation on the overall size of the wing; and the tail wing area is too small when deployed, resulting in a decrease in turning maneuverability. At the same time, there is no corresponding axial and lateral limiting mechanism when the tail wing is deployed, making the tail wing a cantilever structure, which may experience slight swaying when impacted by water flow. Using a waterproof motor to drive the wing deployment increases the sealing section between the sealed cavity and the outside due to the presence of waterproof motor cables, which increases the complexity of the aircraft and the probability of seal failure, thus reducing the reliability of the aircraft.

[0004] Patent document CN110065609A discloses a synchronously folding horizontal stabilizer for a deep-sea manned submersible. Symmetrical openings are located at the tail of the submersible, allowing the stabilizers to extend and retract. A hydraulic cylinder drives a piston rod and a synchronous guide block for extension and retraction. The guide block, via two connecting rods, synchronously drives two horizontal stabilizers to rotate around a pivot axis. The deployment and folding of the stabilizers can be controlled by adjusting the cylinder stroke. However, this patent has several drawbacks: the retracted stabilizer occupies too large a planar dimension, failing to fully utilize available space; the lack of lateral restraint devices on the wing surfaces means that slight vertical movement due to water flow during deployment can affect the vehicle's motion performance; and the use of a hydraulic cylinder to drive the wing deployment increases the sealing section, potentially leading to seal failure.

[0005] Patent document CN110834697A discloses a flexible foldable wing device for underwater vehicles. The flexible foldable wing folds by wrapping a water-soluble film around rigid ribs, a flexible skin, and the flexible ribs, all in a folded state. Upon entering water, the water-soluble film automatically dissolves, and a torsion spring drives the folding wing adapter to rotate, unfolding the flexible skin. After unfolding to the working angle, a pawl and ratchet achieve self-locking. This patent uses a flexible skin as the wing surface, which may experience dents due to water flow during underwater vehicle movement, thus affecting the vehicle's maneuverability. Secondly, the rigid and flexible ribs in this design are cantilever beam structures, which are somewhat unreliable during underwater vehicle movement. Furthermore, the use of a water-soluble film to constrain wing deployment introduces uncertainty regarding the film's dissolution time, making it impossible to accurately predict wing deployment timing.

[0006] In summary, existing underwater vehicles have the following problems:

[0007] (1) Most underwater vehicles that use folding wings adopt flexible skin scheme. Since flexible skin is a non-rigid material, when the underwater vehicle moves, it will be affected by the water flow and a certain amount of indentation will occur, which makes the component force generated by the wing uncertain, thus affecting the movement performance of the underwater vehicle.

[0008] (2) Some underwater vehicles use folding wings that occupy too large a plane size when folded, which does not make full use of the space size and the overall folding rate is not high. They are not suitable for underwater equipment with strict size restrictions, such as air-dropped underwater vehicles.

[0009] (3) Most underwater vehicles have limitations in the way of unfolding folding wings. Those that use electrical components such as electromagnets and motors to drive the unfolding of wings need to consider their own waterproofing and the sealing of the wiring between the drive components and the sealed cavity, which will lead to an increase in overall cost and structural complexity. Those that use binding structures such as water-soluble wires will have different dissolution times due to different manufacturing processes, making the unfolding time uncertain.

[0010] (4) Most air-dropped underwater vehicles do not have a structure that can directly carry and release parachutes, and require the use of external objects for parachute landing and release.

[0011] (5) Some underwater vehicles use folding wing structures that are not subject to corresponding axial or circumferential limits, which may cause slight swaying under the action of water flow.

[0012] In addition, the folding wings used by most underwater vehicles still exceed the cylindrical projection surface of the main body after folding, making it impossible to fold them into the barrel and failing to meet the size requirements of the A-size launch tube. Summary of the Invention

[0013] To address the problems existing in the prior art, this invention provides a dual-mode underwater vehicle equipped with folding side wings and a retractable tail fin. This allows the side wings and tail fin to transition from a staggered, retracted state to a planar, unfolded state, resulting in high folding efficiency. Simultaneously, it incorporates a parachute deployment and disembarkation mechanism, enabling the underwater vehicle to switch between a folded-in-a-barrel, parachute-dropped, and water-launched unfolded state without the need for additional mechanisms. Furthermore, both the folding side wings and the retractable tail fin employ rigid structures, allowing for simultaneous axial and circumferential restraint of the side wings and tail fin in the unfolded state, preventing displacement due to water currents during underwater vehicle movement.

[0014] The dual-mode underwater vehicle proposed in this invention utilizes the impact force of being dropped into water to deploy its side wings and tail fins and disembark. Compared to water-resistant binding mechanisms, this purely mechanical impact-based wing deployment method significantly improves the response speed and reliability of the wings. Compared to wing deployment methods relying on motors and servos, it reduces the possibility of seal failure due to electrical component wiring. In its folded state, the dual-mode underwater vehicle meets the size requirements of commonly used standard A-size deployment containers, allowing for deployment using general-purpose transport aircraft or cannons, increasing its versatility and enabling its application in a wide range of scenarios.

[0015] To achieve the above objectives, this invention proposes a dual-mode underwater vehicle that can switch between folding into a bucket, airdropping with a parachute, and operating with outstretched wings in the water.

[0016] A dual-mode underwater vehicle, comprising:

[0017] A sealed cavity and a folding side wing mechanism disposed on the cavity, wherein the two ends of the cavity are respectively connected to the front fairing and the rear fairing; the folding side wing mechanism includes two side wings;

[0018] A telescopic tail fin mechanism is located inside the tail fin fairing, the telescopic tail fin mechanism includes two tail fins; the side fins are arranged perpendicularly to the tail fins;

[0019] A limiting mechanism installed inside the tail fin fairing to restrict tail fin deployment;

[0020] A triggering mechanism that is detachably connected to the limiting mechanism and can trigger the limiting mechanism to release the tail fin and detach from the limiting mechanism under the action of external force;

[0021] The main body is fitted onto the front fairing with an elastic annular fixing strap. The fixing strap is detachably connected to the triggering mechanism through the elastic canopy strap and is mutually fixed. The middle part of the canopy strap is detachably connected to the folding side wing mechanism and restricts its deployment.

[0022] When the wings are triggered, the triggering mechanism disengages from the limiting mechanism, causing the parachute straps to lose their fixation and detach from the cavity along with the airdrop parachute, thereby releasing the restriction on the wings.

[0023] The anchoring strap and parachute strap are both elastic cord structures. The anchoring strap is used to secure the parachute to the front fairing to ensure its proper functioning, while the parachute strap connects the anchoring strap and the triggering mechanism. The tail fairing protects the retractable tail fin mechanism and provides it with stable support. The front fairing improves the overall streamlined shape and reduces drag during gliding, and forms a space with the cavity to accommodate components such as sonar, switches, and antennas.

[0024] To ensure the dual-mode underwater vehicle can perform normal parachute descent and detachment operations, the parachute straps are detachably connected to the triggering mechanism at the end furthest from the main body of the parachute, and detachably connected to the side wings at the middle of the straps. In the folded state, the parachute straps are taut between the side wings and the triggering mechanism, securing the straps and triggering mechanism and limiting the folding of the side wings; while the side wings are slack between the side wings and the fixing straps. After being dropped into the water, the triggering mechanism releases the limiting mechanism and detaches from it under the impact of water entry. The detached triggering mechanism will then spring outward under the elastic force of the parachute straps. The front fairing has a semi-elliptical structure with its diameter gradually decreasing from the end near the cavity to the end furthest from the cavity. The fixing straps are fitted onto it. Because the parachute is relatively lightweight, it will detach from the main body of the dual-mode underwater vehicle due to water resistance during descent, allowing the dual-mode underwater vehicle to then commence normal operations.

[0025] The two ends of the cavity are sealed by an upper end cover and a lower end cover, respectively. The upper end cover is connected to the front fairing, and the lower end cover is connected to the tail fin fairing.

[0026] The dual-mode underwater vehicle of this invention features a limiting mechanism to restrict the retractable tail fin, and taut parachute straps to restrict the folding side wings. A detachable connection between the triggering mechanism and the limiting mechanism ensures mutual fixation of the parachute straps and the triggering mechanism, as well as the folding restriction of the side wings, in the folded state. Upon triggering the wings, the triggering mechanism separates from the limiting mechanism, enabling the deployment of the tail fin and side wings, and the release of the airdrop parachute. This structural design is reasonable, resulting in high wing deployment response speed and reliability.

[0027] Furthermore, with its folding side wings and retractable tail fins, the dual-mode underwater vehicle meets the 124mm*914mm cylindrical size limit, allowing it to be packed into a standard size A delivery container. This reduces the overall size, facilitating transport and minimizing the risk of damage to the side wings and tail fins. Upon entering the water, the impact of the airdrop triggers a mechanism that releases the constraints on the tail fins, side wings, and airdrop parachute. Under the action of torsion springs, the tail fins and side wings rotate and unfold, enabling normal observation operations. The folding side wings and retractable tail fins also allow for airdrop or artillery-launched deployment, improving deployment response speed and expanding application scenarios.

[0028] Preferably, the tail fin fairing consists of two centrally symmetrical tail shells, each tail shell including a high end and a low end;

[0029] A clearance slot is provided between the two tail shells to provide space for the tail fin to deploy, and each slot is fixedly connected to one end of the cavity.

[0030] The telescopic tail fin mechanism also includes two drive mechanisms that provide rotational driving force for the two tail fins respectively, with each drive mechanism installed at the lower end of the corresponding tail shell.

[0031] As a further preferred embodiment, the drive mechanism includes:

[0032] A guide rod, one end of which is fixed to the corresponding tail shell and positioned perpendicular to the central axis of the cavity;

[0033] A fixed support and a rotating support are sequentially fitted onto the guide rod. The rotating support is fixedly connected to the tail fin. The fixed support has a square structure, with its opposite sides abutting against the tail shell and the cavity to restrict the axial rotation of the fixed support.

[0034] A corresponding receiving cavity is provided between the fixed support and the opposite side of the rotating support. The receiving cavity is provided with a tail fin torsion spring for driving the rotating support to rotate relative to the fixed support and driving the single tail fin to deploy.

[0035] The fixed support is provided with a spring pin, and the rotating support is provided with a corresponding fixing hole; after the tail fin extends into place, the spring pin pops out and enters the fixing hole to restrict the rotation of the rotating support.

[0036] The guide rod provides a center of rotation for the corresponding tail fin and restricts its planar movement. The other end of the guide rod is positioned within the corresponding hole in the other tail shell after both tail shells are installed. The fixed support provides planar support for the rotation of the rotating support. After the tail shells are installed, the fixed support is located between the lower end cover and the bottom of the tail shell, with its opposite sides abutting against the lower end cover and the tail shell respectively, thus restricting its axial rotational freedom. The rotating support secures the tail fin and increases its stability during rotational deployment. The tail fin torsion spring provides driving force to the corresponding tail fin, enabling its rotational deployment. The right angles at both ends of the tail fin torsion spring are fixedly connected to the fixed support and the rotating support, respectively.

[0037] As a further preferred embodiment, the drive mechanism also includes a tail fin linear spring sleeved on the guide rod, and a support link and a thrust link hinged to each other.

[0038] The fixed support is sleeved on the outside of the tail fin linear spring; when the two tail fins are retracted from the extended state to contact each other, they are folded in an alternating manner by compressing the corresponding tail fin linear springs.

[0039] The opposite ends of the support link and the thrust link correspond to one side of the hinged fixed support and the corresponding tail shell, respectively.

[0040] The thrust connecting rod is provided with a sloping boss that is smaller on the outside and larger on the inside, and the support connecting rod is provided with a sloping groove that matches the sloping boss.

[0041] When the two tail fins extend outwards until they no longer contact each other, the linear springs of the tail fins, which were originally in a compressed and energy-storing state, extend and reset, pushing the two tail fins into the same plane. At the same time, the inclined boss and the inclined groove engage, keeping the thrust link and the support link in a straight line connection, thereby limiting the axial movement of the tail fins and causing the tail fins to remain in a planar extended state.

[0042] The tail fin linear spring provides the driving force for axial displacement of the rotating support. In the folded state, the tail fin linear spring is compressed and stored by the mutual compression of the two fin surfaces. After the tail fin is deployed, the tail fin linear spring extends and resets, pushing the tail fin to the high end of the other tail shell, achieving planar deployment of the two tail fins. The opposite sides of the fixed support abut against the tail shell and the lower end cover, respectively, and the support connecting rod is hinged to its inner side (located inside the tail shell). The design of the inclined boss and inclined groove not only prevents the support connecting rod and the thrust connecting rod from over-rotating, but also prevents the tail fin from moving axially under the action of water flow after they are interlocked, thereby compressing the tail fin linear spring. At the same time, it also helps to limit the axial rotation of the fixed support.

[0043] Furthermore, the inclined boss and inclined groove have a slight interference fit to further prevent the support link and thrust link in the straightened state from bending due to water flow, thereby affecting the planar deployment of the tail fin.

[0044] As a further preferred embodiment, the drive mechanism also includes a tail fin linear bearing sleeved outside the tail fin linear spring, with the fixed support and the tail fin linear bearing having an interference fit. The tail fin linear bearing is used to enable the fixed support to slide more smoothly along the guide rod, completing the switch of the tail fin from a spatially folded state to a planar unfolded state.

[0045] As a further preferred embodiment, each tail fin corresponds to a limiting mechanism, the limiting mechanism comprising:

[0046] A trigger linear bearing fixed inside the corresponding tail shell, and an impact trigger rod slidably disposed inside the trigger linear bearing; the impact trigger rod is parallel to the central axis of the cavity and the tail fin respectively;

[0047] A guide plate fixedly connected to the impact trigger rod, wherein the guide plate has a guide groove that runs through its thickness direction and is inclined relative to the impact trigger rod;

[0048] A tapered rod is set perpendicular to the impact trigger rod, with one end of the tapered rod bent and slidably placed in the guide groove; when the tail fin is folded, the other end of the corresponding tapered rod is inserted vertically into the limiting hole of the tail fin to limit its movement;

[0049] A limiting block fixed inside the tail housing to prevent the cone rod from moving parallel to the impact trigger rod;

[0050] When the tail fin is triggered, the impact trigger rod, driven by the triggering mechanism, moves the guide plate towards the cavity, causing the cone rod to move away from the corresponding tail fin and releasing the restriction on the tail fin.

[0051] The trigger linear bearing is installed and positioned via a baffle fixed within the tail shell. It provides linear guidance for the impact trigger rod and ensures its stability. The impact trigger rod transmits the impact force during air-to-water deployment, facilitating the deployment of the side and tail wings. A guide plate and inclined guide groove convert the axial impact force along the impact trigger rod into a radial force, thereby lifting the cone rod away from the tail wing and releasing its restriction. A guide hole, penetrating along its thickness and perpendicular to the tail wing, is provided within the positioning block. With the tail wing folded, the cone rod passes through the guide hole and inserts into the positioning hole of the tail wing. A positioning nut is threaded onto the bent end of the cone rod to prevent it from falling out of the guide groove.

[0052] Furthermore, the end of the guide groove near the impact trigger rod bends towards the cavity to form a straight groove, which is parallel to the impact trigger rod. When the impact trigger rod is triggered and moved into position, the bent end of the cone rod will be located within this straight groove.

[0053] As a further preferred embodiment, the end of the impact trigger rod near the cavity end cap is provided with an impact spring, and the cavity end cap is correspondingly provided with a support column to provide central support for the impact spring. The impact spring is used to absorb part of the impact force of water entering the vessel, preventing the impact trigger rod from directly contacting the end cap and causing damage.

[0054] As a further preferred embodiment, the end of the impact trigger rod connected to the impact spring has a dimension larger than the inner diameter of the trigger linear bearing. This arrangement not only effectively prevents the impact trigger rod from disengaging when it rebounds and pushes it away from the cavity, but also further increases the stability of the impact spring installation.

[0055] As a further preferred option, each limiting mechanism corresponds to a triggering mechanism, and each triggering mechanism is connected to an umbrella belt;

[0056] The triggering mechanism includes an impact base plate detachably connected to the umbrella belt. The impact base plate has a stepped receiving hole that extends through its thickness direction at the location corresponding to the impact triggering rod. A triggering steel ball is provided in the stepped receiving hole.

[0057] The impact trigger rod has an annular boss on one end face away from the cavity, forming a groove that can embed part of the trigger steel ball. The annular boss is inserted into the stepped receiving hole. The impact base plate is also provided with a spring piece to prevent the trigger steel ball from falling out.

[0058] When the trigger steel ball enters the water and is impacted, it moves towards the cavity, pushing the impact trigger rod towards the cavity and separating it from the impact base plate. This releases the cone rod from the tail fin, eliminates the fixation of the parachute straps, and removes the restriction on the side wings.

[0059] The impact base plate increases the area of ​​the trigger mechanism's impact against the current. The trigger steel ball transmits the impact force upon entering the water. The design of the annular boss allows the impact trigger rod to be inserted into the stepped receiving hole of the impact base plate, thus limiting the planar displacement of the impact base plate.

[0060] Furthermore, the outer side of the tail shell is provided with a receiving groove for placing the impact base plate to assist in fixing the impact base plate.

[0061] As a further preferred embodiment, a suspension groove is provided on one side of the impact base plate, and a hook is provided at the end of the parachute strap away from the fixing strap. The parachute strap is connected to the suspension groove through the hook to prevent the impact base plate from moving or falling off, while providing axial restraint force for the airdrop parachute.

[0062] Preferably, the cavity has a mounting recess for mounting a folding side wing mechanism at one end near the tail fin fairing;

[0063] The folding wing mechanism also includes:

[0064] Mounting bridge plates that are fixedly connected to the mounting recesses at both ends;

[0065] A mounting post is located between the end of the mounting bridge plate furthest from the tail fin fairing and the corresponding cavity;

[0066] The upper and lower turntables are mounted on the mounting column and used to install the two side wings respectively;

[0067] A corresponding mounting cavity is provided between the opposite sides of the upper and lower turntables, and a side wing torsion spring is provided in the mounting cavity for driving the upper and lower turntables to rotate relative to each other and driving the side wings to unfold.

[0068] The mounting post is provided with an upper concealed hole and a lower concealed hole, and a radial linear spring and a positioning steel ball are respectively installed in the upper concealed hole and the lower concealed hole; the upper turntable and the lower turntable are respectively provided with positioning holes.

[0069] After the side wings are deployed, the positioning steel balls in the upper and lower concealed holes are ejected by the radial linear springs and partially embedded in the positioning holes of the upper and lower turntables, respectively, locking the upper and lower turntables.

[0070] The mounting bridge provides protection for the folding side wing mechanism. The mounting column provides a rotation center for the upper and lower turntables. Positioning steel balls, partially embedded in the positioning holes of the upper and lower turntables, provide circumferential and axial restraint for the side wings. The upper and lower turntables secure the side wings, ensuring smooth deployment. The two right-angled ends of the side wing torsion springs are fixedly connected to the upper and lower turntables respectively.

[0071] To further improve the stability of locking the upper and lower turntables after the flanks are deployed, as a further preferred option, two upper and two lower concealed holes are provided, and the two upper and two lower concealed holes are symmetrically arranged on the mounting post; correspondingly, two positioning holes are also provided on the upper and lower turntables.

[0072] As a further preferred embodiment, the lower turntable is provided with a sloping groove on the side near the upper turntable, and the upper turntable is provided with a sloping protrusion on the side near the lower turntable.

[0073] When the side wings are folded, the high end of the ramp boss contacts the high end of the ramp groove, achieving staggered folding; when the side wings are unfolded, the high end of the ramp boss contacts the low end of the ramp groove, realizing the side wings changing from a cross-folded state to a planar unfolded state.

[0074] As a further preferred embodiment, the upper turntable is provided with mounting holes arranged along its thickness direction, and an axial linear spring is provided in the mounting holes to provide driving force for the rotation and sinking of the upper turntable during the flapping of the side wings. Furthermore, multiple sets of mounting holes and axial linear springs can be provided, and these sets of mounting holes and axial linear springs are evenly distributed along the circumference of the upper turntable.

[0075] As a further preferred embodiment, thrust bearings are respectively provided on opposite sides of the upper and lower turntables. The thrust bearings are respectively interference-fitted with the corresponding turntables to reduce rotational resistance during wing deployment.

[0076] Preferably, each of the two wing sides has a hook groove on its opposite side, and each wing corresponds to a parachute strap; each corresponding parachute strap has a hook in the middle that corresponds to the hook groove, and the end of the parachute strap away from the fixing strap is connected to the triggering mechanism for fixing; when the wing is folded, the hook hooks onto the corresponding hook groove to limit the folding of the wing.

[0077] To improve the stability of the airdrop parachute installation, as a preferred option, multiple sets of limiting mechanism, triggering mechanism and parachute straps are provided, with each set corresponding to the other; and multiple parachute straps are distributed along the circumference of the cavity.

[0078] Preferably, the cavity is equipped with a center of gravity adjustment mechanism, a piston-type buoyancy adjustment mechanism, and related electrical components such as a circuit board and a driver.

[0079] Preferably, after the tail fin is deployed, a space is left inside the tail fin fairing to accommodate the piston of the buoyancy adjustment mechanism for buoyancy adjustment; a dynamic seal is provided between the piston and the cavity.

[0080] The side wings and tail wing in this invention are both rigid, plate-like structures.

[0081] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0082] The dual-mode underwater vehicle of this invention, by incorporating a detachably connected triggering mechanism and a limiting mechanism, as well as elastic parachute straps fixed to the triggering mechanism and restricting the deployment of the side wings, enables the underwater vehicle to deploy its side wings and tail fins upon water entry using a purely mechanical structure and the impact of water entry, significantly improving the response speed and reliability of wing deployment. The dual-mode underwater vehicle of this invention can switch between staggered folding and planar deployment states for the side wings and tail fins, respectively, in coaxial and non-coaxial configurations, avoiding the additional hydrodynamic torque generated by the two wings not being on the same plane, thus preventing increased motion instability. In the folded state, the underwater vehicle of this invention meets the size requirements of a standard A-size delivery container, ensuring gliding and turning maneuverability through a high folding ratio, reducing the space occupied by the wings, and lowering the risk of wing damage during transport, airdrop, and artillery deployment. Simultaneously, without exceeding the size limit of a standard A-size delivery container, it maximizes the area of ​​the side wings and tail fins in the deployed state. The present invention provides a technical solution to the problems of difficult transportation and deployment of winged underwater vehicles, enabling rapid high-altitude deployment and greatly expanding the application scenarios of winged underwater vehicles. Attached Figure Description

[0083] Figure 1 This is a schematic diagram of the structure of the present invention in the folded state with an umbrella, according to an embodiment of the invention;

[0084] Figure 2 This is a schematic diagram of the structure of the present invention in the parachute deployment state according to an embodiment;

[0085] Figure 3 This is an exploded view of the drive mechanism in the folding side wing mechanism of this invention embodiment;

[0086] Figure 4 This is an exploded view of the upper and lower turntables in the folding side wing mechanism of this invention embodiment;

[0087] Figure 5 This is a schematic diagram of the tail fin fairing and its internal structure in an embodiment of the present invention;

[0088] Figure 6 This is an exploded view of the tail fin fairing and its internal structure in an embodiment of the present invention;

[0089] Figure 7 This is an exploded view of the tail fin fairing and cavity when the piston is extended in an embodiment of the present invention;

[0090] Figure 8 This is a schematic diagram of the airdrop parachute in an embodiment of the present invention.

[0091] In the diagram: 1-Airdrop parachute, 2-Front fairing, 3-Upper end cover, 4-Cavity, 5-Lower end cover, 6-Folding side wing mechanism, 7-Retractable tail wing mechanism, 8-Piston, 9-Tail shell, 10-Trigger mechanism, 11-Impact base plate, 12-Spring, 13-Trigger steel ball, 14-Stepped receiving hole, 101-Fixing strap, 102-Parachute strap, 103-Hook, 104-Hook, 401-Mounting recess, 601-Mounting bridge plate, 602-Upper turntable, 602a-Upper turntable positioning hole, 602b-Mounting hole, 602c-Sloping boss, 603-Side wing torsion spring, 604-Lower turntable, 604a-Lower turntable positioning hole, 604b-Sloping groove, 605-Side Wing, 605a-Hook groove, 606-Thrust bearing, 607-Radial linear spring, 608-Positioning steel ball, 609-Mounting post, 609a-Upper concealed hole, 609b-Lower concealed hole, 901-Tail wing torsion spring, 902-Tail wing linear spring, 903-Guide rod, 904-Tail wing linear bearing, 905-Fixed support, 906-Rotating support, 907-Tail wing, 908-Thrust connecting rod, 909-Support connecting rod, 910-Baffle, 911-Impact trigger rod, 912-Guide connecting plate, 913-Conical rod, 914-Impact spring, 915-Limit block, 916-Trigger linear bearing, 917-Limit hole, 918-Nut, 919-Guide groove. Detailed Implementation

[0092] like Figure 1-8 As shown, a dual-mode underwater vehicle mainly consists of an airdrop parachute 1, a front fairing 2, a cavity 4, a tail fairing, a folding side wing mechanism 6, a telescopic tail wing mechanism 7, a limiting mechanism, and a triggering mechanism 10. The two ends of the cavity 4 are connected to an upper end cover 3 and a lower end cover 5, respectively, and are watertightened with O-rings to form a sealed cavity. Inside the sealed cavity are a center of gravity adjustment mechanism, a piston-type buoyancy adjustment mechanism, and related circuit boards, drivers, and other electrical components. The center of gravity adjustment mechanism changes the underwater vehicle's attitude by altering the axial position and circumferential rotation angle of the two battery-loaded compartments. The buoyancy adjustment mechanism changes the overall volume and thus adjusts buoyancy by changing the size of the piston 8 extending out of the cavity, providing a power source for the underwater vehicle's movement. A step seal is used for dynamic sealing between the piston 8 and the cavity 4.

[0093] The front fairing 2 is connected to the upper end cover 3, and the tail fairing is connected to the lower end cover 5. The front fairing 2 is used to improve the overall streamline to reduce water resistance during gliding. The non-sealed section formed by the front fairing 2 and the upper end cover 3 contains components such as sonar, switches, and antennas (not shown in the figure). The telescopic tail fin mechanism 7 and the limiting mechanism are located inside the tail fairing, and the triggering mechanism 10 is located outside the tail fairing and is detachably connected to the limiting mechanism. The folding side wing mechanism 6 is located outside the cavity 4; the main body of the airdrop parachute 1 is fitted onto the front fairing 2 via an elastic fixing strap 101. The fixing strap 101 is connected to the triggering mechanism 10 via the elastic parachute strap 102 and is mutually fixed. One end of the parachute strap 102 is connected to the fixing strap 101, and the other end is detachably connected to the triggering mechanism 10. The middle part is detachably connected to the folding side wing mechanism 6 and restricts the unfolding of the folding side wing. The limiting mechanism is used to restrict the unfolding of the telescopic tail wing mechanism 7. Under the action of external force, the triggering mechanism 10 can trigger the limiting mechanism to release the tail wing 907 and disengage from the limiting mechanism. At the same time, the disengaged triggering mechanism 10, under the action of the rebound force of the parachute strap 102, disengages from the main body of the underwater vehicle along with the parachute strap 102 and releases the restriction on the folding side wing mechanism 6.

[0094] A mounting recess 401 is provided on the cavity 4 near the tail fin fairing, and a folding side wing mechanism 6 is installed in the mounting recess 401. The folding side wing mechanism 6 mainly consists of a mounting bridge plate 601, an upper turntable 602, a side wing torsion spring 603, a lower turntable 604, two side wings 605, and two thrust bearings 606. The two ends of the mounting bridge plate 601 are fixed to the two ends of the mounting recess 401 by screws. A mounting post 609 is provided between the end of the mounting bridge plate 601 away from the tail fin fairing and the cavity 4. The mounting bridge plate 601 and the mounting post 609 provide protection for the folding side wing mechanism 6 and provide a rotation center for the deployment of the side wings 605, respectively.

[0095] The upper turntable 602 and lower turntable 604 are respectively fitted onto the mounting post 609 to fix the two side wings 605 and ensure the smooth deployment of the side wings 605. A corresponding mounting cavity is provided between the opposite sides of the upper turntable 602 and lower turntable 604, and a side wing torsion spring 603 is disposed within this cavity to drive the upper turntable 602 and lower turntable 604 to rotate relative to each other and thus deploy the side wings 605. The side wing torsion spring 603 provides rotational driving force for the deployment of the side wings 605, and its two right-angled ends are inserted into corresponding holes on the upper turntable 602 and lower turntable 604 to connect with them.

[0096] The mounting post 609 has an upper concealed hole 609a and a lower concealed hole 609b. A set of radial linear springs 607 and positioning steel balls 608 are respectively installed in the upper concealed hole 609a and the lower concealed hole 609b. The upper turntable 602 and the lower turntable 604 have positioning holes (602a, 604a) corresponding to the upper concealed hole 609a and the lower concealed hole 609b. When the side wing 605 is deployed, the positioning steel balls 608 in the upper concealed hole 609a and the lower concealed hole 609b are ejected under the action of the radial linear springs 607 and partially embedded in the positioning holes (602a, 604a) of the upper turntable 602 and the lower turntable 604, locking the upper turntable 602 and the lower turntable 604 and constraining the circumferential rotation and axial movement of the side wing 605. Optionally, two upper concealed holes 609a and two lower concealed holes 609b are provided, and the two upper concealed holes 609a and the two lower concealed holes 609b are symmetrically arranged on the mounting post 609; the corresponding positioning holes (602a, 604a) on the upper turntable 602 and the lower turntable 604 are also provided in two.

[0097] A ramp boss 602c is designed below the upper turntable 602 (on the side near the lower turntable 604), and a ramp groove 604b is provided on the side of the lower turntable 604 near the upper turntable 602. When the side wing 605 is folded, the high end of the ramp boss 602c contacts the high end of the ramp groove 604b, achieving staggered folding. When the side wing 605 is unfolded, the high end of the ramp boss 602c contacts the low end of the ramp groove 604b, realizing the side wing 605 changing from a cross-folded state to a planar unfolded state. The upper turntable 602 is also provided with mounting holes 602b arranged along its thickness direction. The mounting holes 602b are used to install axial linear springs that provide driving force for the rotation and sinking of the side wing 605 during unfolding. Multiple sets of mounting holes 602b and axial linear springs can be provided, and multiple sets of mounting holes 602b and axial linear springs are evenly distributed around the circumference of the upper turntable 602.

[0098] Two thrust bearings 606 are respectively installed on opposite sides of the upper turntable 602 and the lower turntable 604. The thrust bearings 606 are interference fit with the upper turntable 602 and the lower turntable 604 to reduce rotational resistance during wing expansion.

[0099] The tail fin fairing consists of two centrally symmetrical tail shells 9, each tail shell 9 having a high end and a low end; the two tail shells 9 are respectively fixed to the lower end cover 5 by screws, and there is a clearance slot between the two tail shells 9 to provide deployment space for the tail fin 907.

[0100] The telescopic tail wing mechanism 7 includes two tail wings 907 perpendicular to the side wings and two drive mechanisms for rotating the tail wings 907, each drive mechanism being mounted at the lower end of the corresponding tail shell 9.

[0101] The drive mechanism includes a guide rod 903, a fixed support 905, a rotating support 906, a thrust rod 908, a support rod 909, and a tail fin torsion spring 901. The guide rod 903 is positioned perpendicular to the central axis of the cavity 4, with one end fixed inside the corresponding tail shell 9, and the other end inserted into the corresponding hole of the other tail shell 9 after installation. The fixed support 905 and the rotating support 906 are sequentially sleeved on the guide rod 903. The rotating support 906 is fixedly connected to a tail fin 907 and positioned near the other tail shell 9. The fixed support 905, the support rod 909, the thrust rod 908, and the corresponding tail shell 9 are sequentially hinged. The thrust rod 908 and the support rod 909 together constitute a limiting component to further prevent the fixed support 905 from rotating axially and to prevent the tail fin from rebounding after extension. The opposite sides of the fixed support 905 abut against the lower end of the lower cover 5 and the tail shell 9, respectively, to restrict the axial rotation of the fixed support 905. A corresponding receiving cavity is provided between the opposite sides of the fixed support 905 and the rotating support 906. The tail fin torsion spring 901 is installed in this receiving cavity, with its two ends fixedly connected to the fixed support 905 and the rotating support 906, respectively. This spring provides the rotating support 906 with a rotational driving force relative to the fixed support 905, thereby deploying the single tail fin 907. A spring pin is provided on the fixed support 905, and a corresponding fixing hole is provided on the rotating support 906. After the tail fin 907 extends into position, the spring pin pops out and inserts into the fixing hole to lock the rotating support 906.

[0102] The drive mechanism also includes a tail fin linear spring 902 and a tail fin linear bearing 904 sequentially sleeved on the outside of the guide rod 903. A fixed support 905 is sleeved on the outside of the tail fin linear bearing 904 and is interference-fitted with it. The thrust rod 908 has a sloping boss with a smaller outer surface and a larger inner surface, and the support rod 909 has a sloping groove that matches the sloping boss. The sloping boss and the sloping groove are slightly interference-fitted. The tail fin linear spring 902 is used to provide the driving force for axial displacement of the rotating support 906. In the folded state of the tail fin 907, the compression and energy storage of the tail fin linear spring 902 are achieved by the mutual compression of the two fin surfaces, i.e., the staggered folding of the two tail fins 907. When the tail fin 907 is deployed to the point where the two fin surfaces no longer contact each other, the tail fin linear spring 902 returns to its original position, so that the two tail fins 907 are in the same plane. At the same time, the inclined boss and the inclined groove are engaged to keep the thrust rod 908 and the support rod 909 in a straight line connection, and to prevent the tail fin 907 from moving axially under the action of water flow, thereby compressing the tail fin linear spring 902.

[0103] Each tail fin 907 is equipped with a limiting mechanism, each limiting mechanism including a trigger linear bearing 916, an impact trigger rod 911, a guide plate 912, and a cone rod 913. The trigger linear bearing 916 is fixed inside the corresponding tail shell 9. The impact trigger rod 911 is arranged parallel to the central axis of the cavity 4 and the tail fin 907, and is slidably disposed within the trigger linear bearing 916. The guide plate 912 is fixedly connected to the impact trigger rod 911, and has a guide groove 919 extending through its thickness direction. The guide groove 919 is inclined relative to the impact trigger rod 911. One end of the cone rod 913 is bent and slidably disposed within the guide groove 919, and the end is threadedly connected to a nut 918 to prevent it from slipping out of the guide groove 919; the other end is vertically inserted into the limiting hole 917 on the tail fin 907 when the tail fin 907 is folded, thus restricting the tail fin 907 to the folded state. A limiting block 915 is provided inside the tail shell 9 at the corresponding position of the cone rod 913. The limiting block 915 has a guide hole for the vertical tail fin 907. The other end of the cone rod 913 passes through the guide hole and inserts into the limiting hole 917 of the tail fin. The end of the impact trigger rod 911 near the cavity 4 is larger than the inner diameter of the trigger linear bearing 916 and is connected to an impact spring 914. The other end of the impact spring 914 is supported by a pillar on the lower end cover 5, which provides central support for the impact spring 914. The impact spring 914 absorbs part of the water ingress impact force, preventing the impact trigger rod 911 from directly impacting the lower end cover 5 and causing damage.

[0104] When the wing is triggered, the impact trigger rod 911, driven by the triggering mechanism 10, moves the guide plate 912 towards the cavity 4, causing the cone rod 913 to move away from the corresponding tail fin 907 and releasing the restriction on the tail fin 907. The end of the guide groove 919 near the impact trigger rod 911 bends towards the cavity 4 to form a straight groove, which is parallel to the impact trigger rod 911. When the impact trigger rod 911 is triggered and moved into position, the bent end of the cone rod 913 is located within this straight groove.

[0105] Each limiting mechanism is equipped with a corresponding triggering mechanism 10, and each triggering mechanism 10 is connected to a corresponding umbrella strap 102. The triggering mechanism 10 includes an impact base plate 11, a triggering steel ball 13, and a spring piece 12. The impact base plate 11 has a stepped receiving hole 14 arranged along its thickness direction at the position corresponding to the impact triggering rod 911, and the triggering steel ball 13 is disposed in the stepped receiving hole 14. The spring piece 12 is fixedly connected to the impact base plate 11 at the corresponding stepped receiving hole 14 to prevent the triggering steel ball 13 from falling off. The end face of the impact triggering rod 911 near the impact base plate 11 has an annular boss and forms a groove that can embed part of the triggering steel ball 13, and the impact triggering rod 911 is inserted into the stepped receiving hole 14 through the annular boss and connected to the impact base plate 11. After the trigger steel ball 13 enters the water and is impacted, it moves towards the cavity 4, pushing the impact trigger rod 911 towards the cavity 4 and separating it from the impact base plate 11. This releases the cone rod 913 from the tail fin 907, while also removing the fixation on the parachute belt 102 and releasing the restriction on the side fin 605.

[0106] One side of the impact base plate 11 is provided with a suspension groove, and the end of the parachute strap 102 away from the fixing strap 101 is provided with a hook 104 corresponding to the suspension groove; the two side wings 605 are respectively provided with hook grooves 605a on opposite sides, and the parachute strap 102 is provided with a hook 103 corresponding to the hook groove 605a; the parachute strap 102 is fixed and the side wings 605 are folded and limited by connecting the hook 104 to the suspension groove and the hook 103 to the hook groove 605a. The outer side of the tail shell 9 is provided with a receiving groove for placing the impact base plate 11 to assist in fixing the impact base plate 11.

[0107] The parachute straps 102, triggering mechanism 10, and limiting mechanism are one-to-one, and multiple sets of each can be provided; that is, in addition to the necessary corresponding tail fin 907, an additional number can be provided to make the installation of the airdrop parachute 1 more stable. In this embodiment, four sets of parachute straps 102, triggering mechanism 10, and limiting mechanism are provided, and after installation, the four parachute straps 102 are dispersed in a circumferential manner relative to the cavity 4, further improving the stability of the installation of the airdrop parachute 1.

[0108] To ensure the normal operation of the buoyancy adjustment mechanism, after the tail fin 907 is deployed, a space is left inside the tail fin fairing to accommodate the extended piston 8, so as to achieve buoyancy adjustment.

[0109] The installation and workflow of the dual-mode underwater vehicle in this embodiment are as follows:

[0110] Installation steps of the dual-mode underwater vehicle: Place the airdrop parachute 1 onto the front fairing 2 using the fixing strap 101. Press down on the two tail fins 907 and move them in the compression direction of the corresponding tail fin linear spring 902. After moving them to the corresponding positions, press down on the spring pin on the fixing support 905 to release the fixing of the rotating support 906, allowing it to rotate and retract the tail fins 907. Move the cone rod 913 to the end of the guide groove 919 near the tail fin 907, so that the cone rod 913 is inserted into the limiting hole 917 of the tail fin to limit the rotation of the tail fin 907. Then, fix the two tail shells 9 onto the lower end cover 5. After inserting the annular boss of the impact trigger rod 911 into the stepped receiving hole 14 of the impact base plate 11, push the impact base plate 11 to the receiving groove of the tail shell 9. Then, use the hook 104 on the parachute strap 102 to hook the suspension groove of the impact base plate 11 to prevent it from falling off. The side wing 605 is folded up and its hook groove 605a is connected to the hook 103 on the corresponding parachute belt 102 to achieve rotational limitation of the side wing 605.

[0111] During operation, the center of gravity adjustment mechanism moves the center of gravity to the tail end of the dual-mode underwater vehicle (the end closest to the lower end cover 5). After the dual-mode underwater vehicle is dropped into the water with its tail end vertically downward, the trigger steel ball 13 in the impact base plate 11 will move upward after being impacted by the water flow, thereby pushing the impact trigger rod 911 upward (towards the cavity 4). As the impact trigger rod 911 moves upward, the guide plate 912 fixed on the impact trigger rod 911 will move upward. Due to the inclined setting of the guide groove 919, the cone rod 913 can be pulled out from the limiting hole 917 of the tail fin to release the rotation limit on the tail fin 907. Then, the rotating support 906 will rotate and unfold together with the tail fin 907 under the drive of the tail fin torsion spring 901. When the two tail fins 907 have rotated through a certain angle and are no longer in contact with each other, the tail fin linear spring 902, which was originally in a compressed and energy-storing state, will extend and reset, pushing the tail fin 907 to the axial limit position (the high end of the other tail shell 9). After the tail fin 907 rotates into position, the spring pin on the fixed support 905 will pop out and enter the fixing hole of the rotating support 906, thereby limiting the rotational movement of the rotating support 906 and the tail fin 907 and restricting their circumferential rotational freedom relative to the fixed support 905. When the tail fin 907 moves axially into position, the thrust rod 908 and the support rod 909 will be in a straight state, thus preventing the tail fin 907 from moving axially under the action of water flow and compressing the tail fin linear spring 902. The inclined boss on the thrust rod 908 will also be embedded in the inclined groove of the support rod 909 to limit the rotation between the two. Optionally, the inclined boss and the inclined groove are slightly interference-fitted to further prevent the support rod 909 and the thrust rod 908 in the straightened state from bending due to water flow, thereby affecting the planar deployment of the tail fin 907.

[0112] After the impact trigger rod 911 moves upward to the retracted tail fin fairing, the impact base plate 11, lacking central support, will pop outward under the elastic tension of the parachute belt 102, simultaneously releasing the restriction on the side wings 605. Subsequently, the upper and lower turntables (602, 604) in the folding side wing mechanism 6 will drive the two side wings 605 to rotate and unfold under the drive of the side wing torsion spring 603. During the unfolding process, under the push of the axial linear spring in the upper turntable 602, the high end of the ramp boss of the upper turntable 602 will gradually turn from the high end of the ramp groove of the lower turntable 604 to the low end, thereby realizing the side wings 605 changing from a cross-folded state to a planar unfolded state. After the side wing 605 is fully extended, the positioning steel balls 608 in the upper and lower concealed holes (609a, 609b) on the mounting column 609 are ejected by the radial linear spring 607 and partially enter the positioning holes (602a, 604a) of the upper and lower turntables respectively, thereby locking the upper and lower turntables (602, 604) and completing the circumferential and axial fixation of the side wing 605.

[0113] After entering the water, the water entry electrode of the dual-mode underwater vehicle will be energized. Since the piston 8 of the buoyancy adjustment mechanism is in a contracted state at this time, the overall buoyancy is negative, and the dual-mode underwater vehicle will descend. Due to the low density of the airdrop parachute, and its attachment to the front fairing 2 via the fixing strap 101 (smaller at the top, larger at the bottom), the airdrop parachute 1 will detach from the underwater vehicle body using water resistance, completing the parachute release operation. During the upward movement of the impact trigger rod 911, the impact spring 914 will absorb some energy and compress it, preventing the impact trigger rod 911 from directly impacting the lower end cover 5 and reducing the risk of damage to the lower end cover 5. Simultaneously, when the impact force weakens, the compressed and energy-stored impact spring 914 will extend, pushing the impact trigger rod 911 back to its original position. The guide plate 912 will also move downwards. Due to the presence of the straight groove in the guide plate 912, the cone rod 913 will remain in a withdrawn state. After the dual-mode underwater vehicle descends to a certain depth, it will adjust its attitude and push out piston 8, glide to the surface and move away from the airdrop parachute 1 area, and then carry out normal operations.

Claims

1. A dual-mode underwater vehicle, characterized in that, include: A sealed cavity and a folding side wing mechanism disposed on the cavity, wherein the two ends of the cavity are respectively connected to the front fairing and the rear fairing; the folding side wing mechanism includes two side wings; A telescopic tail fin mechanism is located inside the tail fin fairing, the telescopic tail fin mechanism includes two tail fins; the side fins are arranged perpendicularly to the tail fins; A limiting mechanism installed inside the tail fin fairing to restrict tail fin deployment; A triggering mechanism that is detachably connected to the limiting mechanism and can trigger the limiting mechanism to release the tail fin and detach from the limiting mechanism under the action of external force; The main body is fitted onto the front fairing with an elastic annular fixing strap. The fixing strap is detachably connected to the triggering mechanism through the elastic canopy strap and is mutually fixed. The middle part of the canopy strap is detachably connected to the folding side wing mechanism and restricts its deployment. When the wings are triggered, the triggering mechanism will disengage from the limiting mechanism, causing the parachute straps to lose their fixation and detach from the cavity along with the airdrop parachute, thereby releasing the restriction on the wings. The tail fin fairing consists of two centrally symmetrical tail shells, each tail shell including a high end and a low end; A clearance slot is provided between the two tail shells to provide space for the tail fin to deploy, and each slot is fixedly connected to one end of the cavity. The telescopic tail fin mechanism also includes two drive mechanisms that provide rotational driving force for the two tail fins respectively, with each drive mechanism installed at the lower end of the corresponding tail shell; Each tail fin corresponds to a limiting mechanism, and the limiting mechanism includes: A trigger linear bearing fixed inside the corresponding tail shell, and an impact trigger rod slidably disposed inside the trigger linear bearing; the impact trigger rod is parallel to the central axis of the cavity and the tail fin respectively; A guide plate fixedly connected to the impact trigger rod, wherein the guide plate has a guide groove that runs through its thickness direction and is inclined relative to the impact trigger rod; A tapered rod is set perpendicular to the impact trigger rod, with one end of the tapered rod bent and slidably placed in the guide groove; when the tail fin is folded, the other end of the corresponding tapered rod is inserted vertically into the limiting hole of the tail fin to limit its movement; A limiting block fixed inside the tail housing to prevent the cone rod from moving parallel to the impact trigger rod; When the tail fin is triggered, the impact trigger rod, driven by the triggering mechanism, moves the guide plate towards the cavity, causing the cone rod to move away from the corresponding tail fin and release the restriction on the tail fin; Each limit mechanism corresponds to a trigger mechanism, and each trigger mechanism is connected to an umbrella belt; The triggering mechanism includes an impact base plate detachably connected to the umbrella belt. The impact base plate has a stepped receiving hole that extends through its thickness direction at the location corresponding to the impact triggering rod. A triggering steel ball is provided in the stepped receiving hole. The impact trigger rod has an annular boss on one end face away from the cavity and forms a groove that can embed part of the trigger steel ball. The annular boss is inserted into the stepped receiving hole. The impact base plate is also provided with a spring piece to prevent the trigger steel ball from falling out. When the trigger steel ball enters the water and is impacted, it moves towards the cavity, pushing the impact trigger rod towards the cavity and separating it from the impact base plate. This releases the cone rod from the tail fin, eliminates the fixation of the parachute belt, and releases the restriction on the side fins. Each of the two wing sections has a hook groove on one of its opposite sides, and each wing section corresponds to a parachute strap. Each parachute strap has a hook in the middle that corresponds to the hook groove. The end of the parachute strap away from the fixing strap is connected to the triggering mechanism for fixation. When the wing is folded, the hook hooks onto the corresponding hook groove to limit the folding of the wing.

2. The dual-mode underwater vehicle according to claim 1, characterized in that, The drive mechanism includes: A guide rod, one end of which is fixed to the corresponding tail shell and positioned perpendicular to the central axis of the cavity; A fixed support and a rotating support are sequentially fitted onto the guide rod. The rotating support is fixedly connected to the tail fin. The fixed support has a square structure, with its opposite sides abutting against the tail shell and the cavity to restrict the axial rotation of the fixed support. A corresponding receiving cavity is provided between the fixed support and the opposite side of the rotating support. The receiving cavity is provided with a tail fin torsion spring for driving the rotating support to rotate relative to the fixed support and driving the single tail fin to deploy. The fixed support is provided with a spring pin, and the rotating support is provided with a corresponding fixing hole; after the tail fin extends into place, the spring pin pops out and enters the fixing hole to restrict the rotation of the rotating support.

3. The dual-mode underwater vehicle according to claim 2, characterized in that, The drive mechanism also includes a tail fin linear spring sleeved on the guide rod, and a support link and a thrust link hinged to each other. The fixed support is sleeved on the outside of the tail fin linear spring; when the two tail fins are retracted from the extended state to contact each other, they are folded in an alternating manner by compressing the corresponding tail fin linear springs. The opposite ends of the support link and the thrust link correspond to one side of the hinged fixed support and the corresponding tail shell, respectively. The thrust connecting rod is provided with a sloping boss that is smaller on the outside and larger on the inside, and the support connecting rod is provided with a sloping groove that matches the sloping boss. When the two tail fins extend outwards until they no longer contact each other, the tail fin linear springs, which were originally in a compressed and energy-storing state, will extend and reset, pushing the two tail fins into the same plane. At the same time, the inclined boss and the inclined groove engage, keeping the thrust link and the support link in a straight line connection, thereby limiting the axial movement of the tail fins and causing the tail fins to remain in a planar extended state.

4. The dual-mode underwater vehicle according to claim 1, characterized in that, The cavity has a mounting recess for mounting a folding side wing mechanism at one end near the tail fin fairing. The folding wing mechanism also includes: Mounting bridge plates that are fixedly connected to the mounting recesses at both ends; A mounting post is located between the end of the mounting bridge plate furthest from the tail fin fairing and the corresponding cavity; The upper and lower turntables are mounted on the mounting column and used to install the two side wings respectively; A corresponding mounting cavity is provided between the opposite sides of the upper and lower turntables, and a side wing torsion spring is provided in the mounting cavity for driving the upper and lower turntables to rotate relative to each other and driving the side wings to unfold. The mounting post is provided with an upper concealed hole and a lower concealed hole, and a radial linear spring and a positioning steel ball are respectively installed in the upper concealed hole and the lower concealed hole; the upper turntable and the lower turntable are respectively provided with positioning holes. After the side wings are deployed, the positioning steel balls in the upper and lower concealed holes are ejected by the radial linear springs and partially embedded in the positioning holes of the upper and lower turntables, respectively, locking the upper and lower turntables.

5. The dual-mode underwater vehicle according to claim 4, characterized in that, The lower turntable has a sloping groove on the side near the upper turntable, and the upper turntable has a sloping protrusion on the side near the lower turntable. When the side wings are folded, the high end of the ramp boss contacts the high end of the ramp groove, achieving staggered folding; when the side wings are unfolded, the high end of the ramp boss contacts the low end of the ramp groove, realizing the side wings changing from a cross-folded state to a planar unfolded state.

6. The dual-mode underwater vehicle according to claim 5, characterized in that, The upper turntable is provided with mounting holes along its thickness direction, and an axial linear spring is provided in the mounting holes to provide driving force for the upper turntable to rotate and sink during the wing deployment process.

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