An underwater vehicle grid fin synchronous deployment actuator

Abstract

The present invention is a synchronous deployment actuator for the grid fins of an underwater vehicle. The present invention relates to the technical field of grid fin synchronous deployment control. Aiming at problems such as complex structure, slow response speed, and poor reliability, it is difficult to meet the test requirements of high precision and high reliability. Through components such as a waterproof motor slider push rod, an orbital disk, a fixing and locking mechanism, etc., the present invention can simultaneously achieve the initial fixation, synchronous rapid deployment, and stable locking after deployment of four grid fins. The selection of the waterproof motor and the precise sealing design ensure the waterproof performance of the mechanism and meet the high-standard requirements of the vehicle test.

Description

Technical Field

[0001] The invention relates to the technical field of grid wing synchronous deployment control, in particular to a synchronous deployment actuator for a grid wing of an underwater vehicle. Background Art

[0002] Since the 1940s, Soviet scientists have conducted systematic theoretical and experimental research on the aerodynamics, structure, strength, quality and manufacturing process of grid wings. However, due to insufficient understanding of the various characteristics of this type of wing surface at the time, grid wings were not widely used.

[0003] In recent years, grid wing has attracted the attention of countries around the world again. Russia, the United States, Germany and China have strengthened the theoretical research and experimental development of grid wing, and have successfully applied it to satellites, rockets and missiles. As a new type of load-bearing stabilizing surface and control surface, it will surely be used more and more widely.

[0004] The grid wing is a less commonly used aerodynamic surface, which is formed by many thin grid walls inlaid in the frame. The layout of the grid wall in the frame is diverse, and the most basic ones are two types, one is the frame type and the other is the honeycomb type. The honeycomb type is divided into two types: upright and inclined. The most widely used is the honeycomb grid wing with the inclined wall at a 45° angle to the frame. As the lifting surface and control surface of aerial vehicles and water navigation devices, the honeycomb grid wing can improve its lift characteristics, increase its stability and controllability, and at the same time ensure that it has sufficient specific strength and specific stiffness in each flight stage.

[0005] The grid wing is an aerodynamic control surface formed by many thin grid walls embedded in the frame on a limited wingspan. It has good aerodynamic characteristics such as large lift, small hinge torque, and large stall angle of attack. It is a thin-walled truss structure with small mass and good stiffness. In the process of underwater vehicle model test, the attitude adjustment of the model after the water is crucial to the accuracy and safety of the test. As the lifting surface and control surface of aerial vehicles and water vehicles, the grid wing can improve its lift characteristics, increase its stability and controllability, and ensure that it has sufficient specific strength and specific stiffness in each flight stage. As an effective attitude adjustment mechanism, the grid wing is applied to the model water test research process. The grid wing can be quickly unfolded and locked when the model is out of the water, thereby realizing precise control of the model's attitude. However, the existing grid wing deployment control device often has problems such as complex structure, slow response speed, and poor reliability, which makes it difficult to meet the test requirements of high precision and high reliability. Therefore, during the model test, how to quickly open the grid wing and immediately fix and lock it after deployment has become a technical problem that needs to be solved urgently. Summary of the invention

[0006] In view of the deficiencies of the prior art, in order to address problems such as complex structure, slow response speed, and poor reliability, which make it difficult to meet the test requirements of high precision and high reliability, the present invention proposes a synchronous deployment actuator for the grid fins of an underwater vehicle.

[0007] The present invention provides the following technical solutions:

[0008] A synchronous deployment actuator for the grid fins of an underwater vehicle, the actuator comprising: a waterproof motor, an orbital disk, a slider push rod, a fixing mechanism, a locking mechanism, grid fins, and a vehicle housing;

[0009] The waterproof motor includes a controller and a driver for driving the orbital disk to rotate. The middle part of the orbital disk is key-connected to the waterproof motor, and the upper part is a spiral track, which converts the rotation of the waterproof motor into a linear motion of the slider push rod;

[0010] The slider push rod has a track at its lower part, which forms a lead screw structure with the spiral track on the orbital disk. The front section is a push rod for making a linear motion in the wall hole to push out the grid fins;

[0011] The fixing mechanism adopts a positioning bead structure, including a spherical ball and a spring. The spherical ball is inserted into the grid fins as a retaining pin in its normal state to prevent accidental deployment. When the slider push rod pushes the grid fins, due to the force being greater than the force restricted by the spring, its locked state is released;

[0012] The locking mechanism locks the grid fins through a spring lock when the four grid fins are fully deployed to ensure their stability; the vehicle housing is an arc structure and conforms to the rotary underwater vehicle when the grid fins are in a non-deployed state.

[0013] Preferably, the outer part of the housing adopts a recessed design, and the grid fins will be in this position at the start, avoiding affecting the air resistance when the grid fins are placed outside.

[0014] Preferably, the main shaft of the waterproof motor and the middle groove of the orbital disk are connected by a key, so that the rotation of the waterproof motor is transmitted to the disk.

[0015] Preferably, the waterproof motor drives the orbital disk to rotate, and an external limit slider makes it move in a straight line, finally pushing the grid fins to deploy.

[0016] Preferably, the actuator further includes an acceleration sensor and a controller for monitoring the vertical motion acceleration of the vehicle and feeding back the signal to the controller. The controller calculates the vertical motion displacement of the vehicle according to the cumulative trapezoidal integral of the acceleration signal, and when the displacement reaches the set value, the controller outputs a signal to drive the waterproof motor to act.

[0017] Preferably, the waterproof motor is waterproofed through a sealing seat and a rubber ring to prevent water from entering the vehicle body.

[0018] A control method for a synchronous deployment actuator of a grid fin of an underwater vehicle. The method is based on a synchronous deployment actuator of an underwater grid fin, and is characterized by comprising the following steps:

[0019] Step 1: Monitor the vertical motion acceleration of the vehicle through an acceleration sensor, and feedback the monitoring result to the controller;

[0020] Step 2: The controller performs cumulative trapezoidal integration on the acceleration signal to calculate the vertical motion displacement of the vehicle;

[0021] Step 3: When the displacement reaches the set value, the controller outputs a signal to drive the waterproof motor to act;

[0022] Step 4: The motor drives the disc to rotate, thereby controlling the movement of the slider and pushing the grid fin to deploy;

[0023] Step 5: When the grid fin is deployed in place, trigger the locking mechanism to lock the grid fin.

[0024] Preferably, the cumulative trapezoidal integration algorithm is used to integrate the acceleration signal into the displacement d, and at the same time compare it with the pre-set set value s. Once the displacement d is greater than or equal to the set value s, the controller outputs a signal to drive the waterproof motor to start rotating. At this time, the orbital disc rotates to drive the slider push rod to do a linear motion. The push rod thrust is greater than the spring force of the fixing mechanism, and the grid fin is gradually unlocked. The push rod continues to push out while the orbital disc rotates until the grid fin is pushed open to the specified angle θ. At this time, the motor reverses and the push rod retracts; the grid fin is fully deployed under the action of the upward lift force and hydrodynamic force, and is connected to the bottom locking structure while it is fully deployed, completing the locking of the grid fin.

[0025] A computer-readable storage medium, on which a computer program is stored, and the program is executed by a processor to implement a control method for a synchronous deployment actuator of a grid fin of an underwater vehicle.

[0026] A computer device, comprising a memory and a processor, wherein the memory stores a computer program, and the processor implements a control method for a synchronous deployment actuator of a grid fin of an underwater vehicle when executing the computer program.

[0027] The present invention has the following beneficial effects:

[0028] Compared with the prior art:

[0029] The present invention has high efficiency and can deploy four grid fins simultaneously. The present invention realizes the synchronous deployment and locking of the grid fins through a simple combination of mechanical structures, reducing the complexity and manufacturing cost of the device.

[0030] The present invention adopts a high-speed waterproof motor and a precise transmission mechanism, ensuring the rapid response and accurate deployment of the grid fins.

[0031] Through the waterproof design and precise locking mechanism of the present invention, the waterproof performance and stability of the device are improved, ensuring the smooth progress of the experiment. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] In order to more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the following will briefly introduce the drawings required for the description of the specific embodiments or the prior art. Obviously, the drawings in the following description are some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0033] Figure 1 is a schematic structural diagram of the present invention;

[0034] Figure 2 is a flowchart of the method of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0035] The following will clearly and completely describe the technical solutions of the present invention in conjunction with the drawings. Obviously, the described embodiments are some embodiments of the present invention, rather than all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts fall within the protection scope of the present invention.

[0036] In the description of the present invention, it should be noted that the orientation or positional relationship indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present invention. In addition, the terms "first", "second", "third" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance.

[0037] In the description of the present invention, it should be noted that unless otherwise clearly specified and limited, the terms "installed", "connected", "connected" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

[0038] In addition, the technical features involved in different embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0039] The present invention will be described in detail below in conjunction with specific embodiments. Specific Embodiment 1:

[0041] According to Figures 1 to 2 As shown, the specific optimized technical solution adopted by the present invention to solve the above technical problems is: The present invention relates to a synchronous deployment actuator for the grid fins of an underwater vehicle.

[0042] A synchronous deployment actuator for the grid fins of an underwater vehicle, the actuator comprising: a waterproof motor, an orbital disk, a slider push rod, a fixing mechanism, a locking mechanism, grid fins, and a vehicle housing;

[0043] The waterproof motor includes a controller and a driver, and is used to drive the orbital disk to rotate. The middle part of the orbital disk is connected to the waterproof motor by a key, and the upper part is a spiral track, which converts the rotation of the waterproof motor into a linear motion of the slider push rod;

[0044] The slider push rod, the lower part of the slider push rod is a track, which forms a lead screw structure with the spiral track on the orbital disk, and the front section is a push rod, which is used to perform a linear motion in the wall hole to push out the grid fins;

[0045] The fixing mechanism adopts a positioning bead structure, including a ball and a spring. The ball is inserted into the grid fins as a latch under normal conditions to prevent accidental deployment. When the slider push rod pushes the grid fins, due to the force being greater than the force restricted by the spring, the locking state is released;

[0046] The locking mechanism locks the grid fins through a spring lock when the four grid fins are fully deployed to ensure its stability; the vehicle housing is an arc structure, and when the grid fins are in a non-deployed state, it is conformal with the rotary underwater vehicle.

[0047] The present invention aims to provide a grid fin synchronous deployment mechanism and control scheme with simple structure, rapid response, and high reliability to meet the test requirements for attitude adjustment of rotary underwater vehicles.

[0048] The grid fin synchronous deployment control device of the present invention includes a waterproof motor (including a controller and a driver), a slider, a disk, a housing, a fixing and locking mechanism, and the specific structure is as follows:

[0049] Waterproof motor: It has a waterproof function and is used to rotate and drive the orbital disk to perform a rotational motion.

[0050] Slider push rod: The lower part is a track, which forms a lead screw structure with the spiral track above the disk, and the front part is a push rod, which moves linearly during operation and is used to push out the grid fins.

[0051] Rotating body housing: The storage position of the grid wings is designed to avoid the influence of air resistance on the actuator.

[0052] Fixing mechanism: Adopting a positioning bead structure design, consisting of a spring and a small ball. In the initial state, the small ball sinks into the groove to prevent it from unfolding accidentally. When it needs to be unfolded, the push rod of the slider pushes the grid wing, and the small ball pops out of the groove of the grid wing to unlock the grid wing.

[0053] Locking mechanism: When the grid wing is fully unfolded, it is locked by a spring lock to ensure its stability.

[0054] Disc: There is a groove in the middle, and the rotation of the motor can drive the disc to rotate. The upper part is a spiral track. When the disc rotates, it pushes the slider to move in a straight line.

[0055] In addition, the motor is fixed to the outer wall of the vehicle body through a sealing seat, and a rubber ring is provided inside to achieve sealing and prevent water from entering the projectile.

[0056] The actuator of the present invention mainly includes components such as a waterproof motor (including a controller and a driver), a slider push rod, an orbital disc, a fixing and locking mechanism, etc., which can simultaneously realize the initial fixation, synchronous rapid unfolding, and stable locking functions after unfolding of four grid wings. The selection of the waterproof motor and the precise sealing design ensure the waterproof performance of the mechanism, meeting the high-standard requirements of the vehicle body test. The rotation of the motor drives the orbital disc to rotate through a key connection, and then drives the slider to move linearly, quickly releasing and pushing out the four grid wings to a specified angle. After the grid wings are unfolded, they are locked by the locking mechanism to ensure the stability of the grid wings, and the slider also returns to its original position. This solution has a compact structure, rapid and precise movement, and can release four grid wings simultaneously, meeting the operation requirements in a complex test environment. Specific Embodiment 2:

[0058] The difference between Embodiment 2 and Embodiment 1 of the present invention is only that:

[0059] The outer part of the vehicle body housing adopts a sunken design, and the grid wings will be in this position at the start, avoiding the influence on air resistance when the grid wings are placed outside. Specific Embodiment 3:

[0061] The difference between Embodiment 3 and Embodiment 2 of the present invention is only that:

[0062] The middle groove of the main shaft of the waterproof motor and the orbital disc is connected by a key, so that the rotation of the waterproof motor is transmitted to the disc. Specific Embodiment 4:

[0064] The difference between Embodiment 4 and Embodiment 3 of the present invention is only that:

[0065] A waterproof motor drives the track disc to rotate, and an external limit slider makes it move in a straight line, finally pushing the grid wings to unfold. Specific Embodiment Five:

[0067] The difference between the fifth embodiment of the present invention and the fourth embodiment is only that:

[0068] The mechanism further includes an acceleration sensor and a controller, which are used to monitor the vertical motion acceleration of the vehicle and feedback the signal to the controller. The controller calculates the vertical direction of the vehicle according to the double integral of the acceleration signal. Specific Embodiment Six:

[0070] The difference between the sixth embodiment of the present invention and the fifth embodiment is only that:

[0071] The waterproof motor achieves waterproofing through a sealing seat and a rubber ring to prevent water from entering the vehicle body. Specific Embodiment Seven:

[0073] The difference between the seventh embodiment of the present invention and the sixth embodiment is only that:

[0074] The present invention provides a control method for a grid wing synchronous deployment actuator of an underwater vehicle. The method is based on an underwater grid wing synchronous deployment actuator and includes the following steps:

[0075] Step 1: Monitor the vertical motion acceleration of the vehicle through an acceleration sensor and feedback the monitoring result to the controller;

[0076] Step 2: The controller performs cumulative trapezoidal integration on the acceleration signal to calculate the vertical motion displacement of the vehicle;

[0077] Step 3: When the displacement reaches the set value, the controller outputs a signal to drive the waterproof motor to act;

[0078] Step 4: The motor drives the disc to rotate, thereby controlling the movement of the slider and pushing the grid wings to unfold;

[0079] Step 5: When the grid wings are fully unfolded, trigger the locking mechanism to lock the grid wings. Specific Embodiment Eight:

[0081] The difference between the eighth embodiment of the present invention and the seventh embodiment is only that:

[0082] The acceleration signal is integrated into displacement d by using the cumulative trapezoidal integration algorithm, and at the same time, it is compared with a preset set value s. Once the displacement d is greater than or equal to the set value s, the controller outputs a signal to drive the waterproof motor to start rotating. At this time, the track disk rotates to drive the slider push rod to move linearly. The thrust of the push rod is greater than the elastic force of the spring of the fixing mechanism, and the grid wings are gradually unlocked. The push rod continues to push outwards as the track disk rotates until the grid wings are pushed open to a specified angle θ. At this time, the motor reverses and the push rod retracts; the grid wings are fully unfolded under the action of the upward lift force and hydrodynamic force, and are connected to the bottom locking structure while being fully unfolded, completing the locking of the grid wings. Specific Embodiment Nine:

[0084] The difference between Embodiment Nine and Embodiment Eight of the present invention lies only in:

[0085] The present invention provides a computer-readable storage medium, on which a computer program is stored. The program is executed by a processor to be used for implementing a control method for a grid wing synchronous deployment actuator of an underwater vehicle. The method is based on an underwater grid wing synchronous deployment actuator and includes the following steps:

[0086] Step 1: Monitor the vertical motion acceleration of the vehicle through an acceleration sensor and feedback the monitoring result to the controller;

[0087] Step 2: The controller performs cumulative trapezoidal integration on the acceleration signal to calculate the vertical motion displacement of the vehicle;

[0088] Step 3: When the displacement reaches the set value, the controller outputs a signal to drive the waterproof motor to act;

[0089] Step 4: The motor drives the disk to rotate, thereby controlling the movement of the slider and pushing the grid wings to unfold;

[0090] Step 5: When the grid wings are fully unfolded, trigger the locking mechanism to lock the grid wings.

[0091] The acceleration signal is integrated into displacement d by using the cumulative trapezoidal integration algorithm, and at the same time, it is compared with a preset set value s. Once the displacement d is greater than or equal to the set value s, the controller outputs a signal to drive the waterproof motor to start rotating. At this time, the track disk rotates to drive the slider push rod to move linearly. The thrust of the push rod is greater than the elastic force of the spring of the fixing mechanism, and the grid wings are gradually unlocked. The push rod continues to push outwards as the track disk rotates until the grid wings are pushed open to a specified angle θ. At this time, the motor reverses and the push rod retracts; the grid wings are fully unfolded under the action of the upward lift force and hydrodynamic force, and are connected to the bottom locking structure while being fully unfolded, completing the locking of the grid wings. Specific Embodiment Ten:

[0093] The difference between Embodiment Ten and Embodiment Nine of the present invention lies only in:

[0094] The present invention provides a computer device, including a memory and a processor. The memory stores a computer program, and when the processor executes the computer program, a control method for the synchronous deployment actuator of an underwater vehicle grid fin is implemented. The method is based on the synchronous deployment actuator of the underwater grid fin and includes the following steps:

[0095] Step 1: Monitor the vertical motion acceleration of the vehicle through an acceleration sensor and feedback the monitoring result to the controller;

[0096] Step 2: The controller performs cumulative trapezoidal integration on the acceleration signal to calculate the vertical motion displacement of the vehicle;

[0097] Step 3: When the displacement reaches the set value, the controller outputs a signal to drive the waterproof motor to act;

[0098] Step 4: The motor drives the disc to rotate, thereby controlling the movement of the slider and pushing the grid fin to deploy;

[0099] Step 5: When the grid fin is fully deployed, trigger the locking mechanism to lock the grid fin.

[0100] The acceleration signal is integrated into displacement d using the cumulative trapezoidal integration algorithm and compared with the preset set value s. Once the displacement d is greater than or equal to the set value s, the controller outputs a signal to drive the waterproof motor to start rotating. At this time, the orbital disc rotates to drive the slider push rod to move linearly. The thrust of the push rod is greater than the spring force of the fixing mechanism, and the grid fin is gradually unlocked. The push rod continues to push outwards as the orbital disc rotates until the grid fin is pushed open to the specified angle θ. At this time, the motor reverses and the push rod retracts; the grid fin is fully deployed under the action of the upward lift force and hydrodynamic force, and is connected to the bottom locking structure while it is fully deployed, completing the locking of the grid fin. Specific Embodiment XI:

[0102] The difference between Embodiment XI and Embodiment X of the present invention is only that:

[0103] The actuator of the present invention mainly includes a waterproof motor (including a controller and a driver), a slider push rod, an orbital disc, a fixing and locking mechanism, etc. It can simultaneously achieve the initial fixing, synchronous rapid deployment, and stable locking functions of four grid fins. The selection of the waterproof motor and the precise sealing design ensure the waterproof performance of the mechanism, meeting the high standards required for the vehicle test. The rotation of the motor drives the orbital disc to rotate through a key connection, and then drives the slider to move linearly, quickly releasing and pushing out the four grid fins to a specified angle. After the grid fins are deployed, they are locked by the locking mechanism to ensure their stability, and the slider also returns to its original position. This solution has a compact structure, rapid and precise actions, and can release four grid fins simultaneously, meeting the operation requirements in complex test environments.

[0104] Specifically:

[0105] It includes: a waterproof motor, including a controller and a driver, used to drive the disc to rotate; an orbital disc, connected to the motor in the middle through a key, with a spiral track on the upper part, which can convert the rotation of the motor into the linear motion of the slider; a slider push rod, with a track at the lower part, forming a lead screw structure with the spiral track on the disc, and a push rod at the front section, used to make a linear motion in the wall hole to push out the grid fins; a housing, designed as an arc structure, conforming to the rotary vehicle when the grid fins are in the non-deployed state; a fixing mechanism, composed of a ball and a spring. The ball is inserted into the grid fin as a latch under normal conditions to prevent its accidental deployment. When the slider pushes the grid fin, due to the force being greater than the force restricted by the spring, it releases the locked state; a locking mechanism, when the four grid fins are fully deployed, locks the grid fins through a spring lock to ensure their stability;

[0106] The external of the rotary vehicle housing is designed in a sunken shape, and the grid fins will be in this position at the beginning, avoiding affecting the air resistance when the grid fins are placed outside.

[0107] The middle groove of the motor spindle and the orbital disc is connected by a key, so that the rotation of the motor is transmitted to the disc.

[0108] The motor drives the orbital disc to rotate, and the external limit slider makes it move linearly, finally pushing the grid fins to deploy.

[0109] It also includes an acceleration sensor, used to monitor the vertical motion acceleration of the vehicle and feedback the signal to the controller. The controller calculates the vertical motion displacement of the vehicle according to the cumulative trapezoidal integral of the acceleration signal. When the displacement reaches the set value, the controller outputs a signal to drive the waterproof motor to act.

[0110] When considering the mechanism of the present invention, a set of control methods is also considered. The principle is:

[0111] Acceleration sensor feedback: Monitor the vertical motion acceleration of the vehicle through the acceleration sensor and feedback it to the controller.

[0112] Displacement calculation: The controller performs cumulative trapezoidal integration on the acceleration signal to calculate the vertical motion displacement of the vehicle.

[0113] Motor drive: When the displacement reaches the set value, the controller outputs a signal to drive the waterproof motor to operate.

[0114] Grid wing deployment: The motor drives the gear to rotate, pulls out the fixed pin, and pushes out the push rod through the lead screw to push the grid wing to deploy.

[0115] Locking mechanism triggering: When the grid wing is fully deployed, the locking mechanism is triggered to lock the grid wing.

[0116] The specific steps are as follows:

[0117] Monitor the vertical motion acceleration of the vehicle and feedback it to the controller;

[0118] The controller performs cumulative trapezoidal integration on the acceleration signal to calculate the vertical motion displacement of the vehicle;

[0119] When the displacement reaches the set value, the controller outputs a signal to drive the waterproof motor to operate;

[0120] The motor drives the disk to rotate, thereby controlling the movement of the slider and pushing the grid wing to deploy;

[0121] When the grid wing is fully deployed, the locking mechanism is triggered to lock the grid wing.

[0122] The control method also includes the sealing design of the waterproof motor, which realizes waterproofing through the sealing seat and rubber ring to prevent water from entering the vehicle body.

[0123] The description of the grid wing deployment control scheme is as follows: During the experiment, the vertical motion acceleration a of the vehicle is monitored by the acceleration sensor arranged at the tail of the test model and feedback to the controller. After receiving the acceleration signal, the controller uses the cumulative trapezoidal integration algorithm to integrate the acceleration signal into displacement d, and at the same time compares it with the preset set value s. Once the displacement d is greater than or equal to the set value s, the controller outputs a signal to drive the waterproof motor to start rotating. At this time, the orbital disk rotates to drive the slider push rod to move linearly. The thrust of the push rod is greater than the spring force of the fixing mechanism, and the grid wing is gradually unlocked. The push rod continues to push out as the orbital disk rotates until the grid wing is pushed open to the specified angle θ. At this time, the motor reverses and the push rod retracts.. The grid wing is fully deployed under the action of the upward lift force and hydrodynamic force, and is connected to the bottom locking structure at the same time as it is fully deployed to complete the locking of the grid wing.

[0124] In the description of this specification, the description referring to terms such as "one embodiment", "some embodiments", "example", "specific example", or "some examples", etc. means that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present invention.

[0125] The above is only a preferred implementation manner of a synchronous deployment actuator for underwater vehicle grid fins. The protection scope of a synchronous deployment actuator for underwater vehicle grid fins is not limited to the above embodiments. Any technical solutions falling within this concept belong to the protection scope of the present invention. It should be noted that for those skilled in the art, several improvements and variations made without departing from the principle of the present invention should also be regarded as within the protection scope of the present invention.

Claims

1. An underwater vehicle grid fin synchronous deployment actuator, characterized in that: The synchronous deployment actuator of the grid fins of the underwater vehicle includes: a waterproof motor, an orbital disc, a slider push rod, a fixing mechanism, a locking mechanism, grid fins, and the outer shell of the vehicle; The waterproof motor is used to drive the orbital disc to rotate. The middle part of the orbital disc is key-connected to the waterproof motor. The surface of the orbital disc is a spiral track, which converts the rotational motion of the waterproof motor into the linear motion of the slider push rod; The slider push rod has a track at its lower part, which forms a lead screw structure with the spiral track on the orbital disc. The front section is a push rod, which is used to perform linear motion in the wall hole to push out the grid fins. The wall hole is arranged on the outer shell of the vehicle; The fixing mechanism adopts a positioning bead structure, including a spherical ball and a spring. The spherical ball is inserted into the grid fins as a retaining pin under normal conditions to prevent accidental deployment. When the slider push rod pushes the grid fins, due to the force being greater than the force restricted by the spring, its locked state is released; When the four grid fins are fully deployed, the locking mechanism locks the grid fins through a spring lock to ensure its stability. The overall outer shell of the vehicle is an arc structure, which conforms to the underwater vehicle when the grid fins are in the non-deployed state.

2. The synchronous deployment actuator of the grid fins of the underwater vehicle according to claim 1, wherein: The outer part of the outer shell of the underwater vehicle adopts a concave design. The grid fins will be in a concave position at the start, avoiding affecting the air resistance when the grid fins are placed outside.

3. The synchronous deployment actuator of the grid fins of the underwater vehicle according to claim 2, wherein: The main shaft of the waterproof motor and the orbital disc are connected by a key to transmit the rotation of the waterproof motor to the disc.

4. The synchronous deployment actuator of the grid fins of the underwater vehicle according to claim 3, wherein: The waterproof motor drives the orbital disc to rotate, and the external limit slider makes it move in a straight line, finally pushing the grid fins to deploy.

5. The underwater vehicle grid fin synchronous deployment actuator according to claim 4, characterized in that: The synchronous deployment actuator of the grid fins of the underwater vehicle further includes an acceleration sensor and a controller, which are used to monitor the vertical motion acceleration of the underwater vehicle and feedback the signal to the controller. The controller calculates the vertical motion displacement of the vehicle using the cumulative trapezoidal integration algorithm according to the acceleration signal. When the displacement reaches the set value, the controller outputs a signal to drive the waterproof motor to act.

6. The synchronous deployment actuator of the grid fins of the underwater vehicle according to claim 5, wherein: The waterproof motor is waterproof through a sealing seat and a rubber ring to prevent water from entering the underwater vehicle.

7. A control method for the synchronous deployment actuator of the grid fins of an underwater vehicle, the method being based on the synchronous deployment actuator of the grid fins of the underwater vehicle according to any one of claims 1-6, characterized in that: It includes the following steps: Step 1: Monitor the vertical motion acceleration of the underwater vehicle through the acceleration sensor and feedback the monitoring result to the controller; Step 2: The controller performs cumulative trapezoidal integration on the acceleration signal to calculate the vertical motion displacement of the underwater vehicle; Step 3: When the displacement reaches the set value, the controller outputs a signal to drive the waterproof motor to act; Step 4: The motor drives the disc to rotate, thereby controlling the movement of the slider and pushing the grid fins to deploy; Step 5: When the grid fins are deployed in place, trigger the locking mechanism to lock the grid fins.

8. The method according to claim 7, wherein: The acceleration signal is integrated into displacement d using the cumulative trapezoidal integration algorithm, and at the same time, it is compared with the preset value s. Once the displacement d is greater than or equal to the set value s, the controller outputs a signal to drive the waterproof motor to start rotating. At this time, the orbital disk rotates to drive the slider push rod to move linearly. The thrust of the push rod is greater than the elastic force of the spring of the fixing mechanism, and the grid wings are gradually unlocked. The push rod continues to push outwards as the orbital disk rotates until the grid wings are pushed open to the specified angle θ. At this time, the motor reverses and the push rod retracts; the grid wings are fully deployed under the action of the upward lift force and hydrodynamic force, and are connected to the bottom locking structure while being fully deployed, completing the locking of the grid wings.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that, The computer program is executed by a processor to implement the method according to any one of claims 7-8.

10. A computer device, comprising a memory and a processor, the memory storing a computer program, characterized in that: When the processor executes the computer program, the method according to any one of claims 7-8 is implemented.

Images