Steering device for underwater glider

Abstract

The present invention relates to a steering device for an underwater glider, comprising a steering mechanism for adjusting the steering of an underwater glider and a pressure sensor for detecting the force applied to the underwater glider. The power of the steering mechanism is connected to an active steering mechanism, which is installed inside the underwater glider. The device also comprises a locking mechanism for preventing the active steering mechanism from being damaged when the underwater glider is affected by a cross current, and an adjusting mechanism for adjusting the structure of the steering mechanism to ensure the navigation direction of the underwater glider. The locking mechanism is connected to the bottom of the steering mechanism and is located at the lower side of the active steering mechanism. The adjusting mechanism is installed inside the steering mechanism to solve the technical problem that the power part of the steering mechanism is damaged due to the reverse rotation torque when the underwater glider encounters a large cross current during long-term navigation.

Description

Technical Field

[0001] The invention relates to the field of underwater vehicles, and in particular to a steering device for an underwater glider. Background Art

[0002] An underwater glider is an unmanned underwater vehicle used for underwater exploration and research. It glides in the water and cruises for a long time by taking advantage of its own weight and buoyancy changes. Underwater gliders are usually equipped with various sensors that can collect environmental data such as temperature, salinity, depth, etc. They are widely used in marine scientific research, environmental monitoring, and marine resource exploration. The design of this device makes it more energy-efficient than traditional underwater robots, able to work continuously for a long time, while reducing dependence on batteries. They usually move on a specific track and use changes in gravity and buoyancy to conduct efficient underwater exploration. During the operation of underwater gliders, the steering device may encounter the following problems: Insensitive control: If the steering device responds slowly, it may cause the glider to be unable to adjust in time when it needs to change direction quickly. Failure or damage: The mechanical parts of the steering device may fail due to long-term use or environmental influences, causing the glider to lose directional control. Water flow influence: Strong water flow may affect the steering performance of the glider, causing it to deviate from the intended route.

[0003] In contrast, a Chinese invention with publication number CN113353219A discloses an adaptive variable-area tail rudder and an underwater glider, which divides a single rudder into multiple rudder plates, thereby adjusting the number of water flow rudder plates according to the lateral water flow regulation. However, during long-term navigation in the deep sea, because the underwater environment is relatively complex, steering adjustment is often required during navigation. At present, due to the limited space at the tail of the underwater glider, most of them use motors with gears for adjustment. Although space is saved, if the cross current is large, the reverse rotation torque formed by continuous impact will damage the steering part. In addition, because the underwater glider needs to navigate underwater for a long time, attachments will be generated on the outer surface and the outer surface of the rudder, affecting navigation. Summary of the invention

[0004] The invention provides a steering device for an underwater glider, so as to solve the technical problem that the power part of the steering mechanism is damaged due to the reverse rotation torque when the underwater glider encounters a large cross flow during long-term navigation.

[0005] A steering device for an underwater glider of the present invention adopts the following technical solution: comprising a steering mechanism for adjusting the steering of an aircraft body and a pressure sensor for detecting the force applied to the aircraft body, the power of the steering mechanism is connected to an active steering mechanism, the active steering mechanism is installed inside the aircraft body, and further comprising a locking mechanism for preventing the active steering mechanism from being damaged when the aircraft body is affected by a cross flow and an adjusting mechanism for adjusting the structure of the steering mechanism to ensure the navigation direction of the aircraft body, the locking mechanism is connected to the bottom of the steering mechanism and is located at the lower side of the active steering mechanism, and the adjusting mechanism is installed inside the steering mechanism;

[0006] The locking mechanism comprises an outer steering sleeve, the outer steering sleeve is externally connected to the active steering mechanism, an inner shaft is arranged inside the outer steering sleeve, a locking assembly is arranged between the inner shaft and the machine body, and the locking assembly is used to lock the active steering mechanism when the machine body is subjected to a cross flow and prevent the reverse torque generated by the external cross flow from damaging the active steering mechanism;

[0007] The steering mechanism comprises a rudder plate and an adjusting component. The adjusting component is arranged outside the rudder plate and is composed of a three-section structure, so that the overall structural change of the adjusting component can be adjusted.

[0008] Furthermore, the adjustment assembly includes a first adjustment plate, a second adjustment plate, and a third adjustment plate, wherein the first adjustment plate is arranged at the front side, and the first adjustment plate, the second adjustment plate, and the third adjustment plate are stacked backwards in sequence.

[0009] Furthermore, the tops and bottoms of the first adjustment plate, the second adjustment plate and the third adjustment plate are hinged to the rudder plate, and the first adjustment plate, the second adjustment plate and the third adjustment plate are slidably connected to each other.

[0010] Furthermore, the first adjustment plate, the second adjustment plate, and the third adjustment plate are all provided with inner supporting ribs, and the inner supporting ribs are tightly matched with each other.

[0011] Furthermore, the first adjustment plate and the second adjustment plate, and the second adjustment plate and the third adjustment plate are both arc-shaped structures.

[0012] Furthermore, the adjustment mechanism includes a pressure chamber, which is installed at the center position inside the rudder plate. Adjustment cylinders are arranged between the pressure chamber corresponding to the first adjustment plate, the second adjustment plate, and the third adjustment plate. An inner cavity is arranged inside the pressure chamber, and the inner cavity has two chambers corresponding to the two groups of adjustment components.

[0013] Furthermore, the two chambers inside the inner cavity are connected to the pressure output end of the locking mechanism, and a steering solenoid valve is arranged between the two chambers and the locking mechanism, and a balancing solenoid valve is arranged on the partition between the two chambers.

[0014] Furthermore, the locking assembly of the locking mechanism includes a telescopic cylinder, a steering seat is provided at the bottom of the outer steering sleeve, a cone block is provided inside the steering seat, the power end of the telescopic cylinder is connected to the cone block, and the cone block corresponds to the bottom of the inner shaft, a locking frame is provided at the opening between the machine body and the steering mechanism, a matching frame is provided inside the locking frame corresponding to the position of the outer steering sleeve, the inner shaft is axially slidably connected to the matching frame, a plurality of locking blocks are arranged in an array on the outer circular surface of the inner shaft located at the position of the matching frame, the locking block extends out of the matching frame, and a cone groove is formed inside the locking frame corresponding to the locking block.

[0015] Furthermore, the outer end of the locking block and the upper part of the conical groove inside the lock frame are both formed with friction lines.

[0016] Furthermore, the active steering mechanism includes a motor, an active bevel gear, and a passive bevel gear, and the passive bevel gear is key-connected to the outer steering sleeve.

[0017] The beneficial effects of the present invention are as follows: when the device adjusts the steering mechanism through the main force so that the heading of the machine body is adjusted, if a large cross current is encountered, the transmission part can be quickly locked through the adjustment mechanism to avoid reverse torque damaging the active steering mechanism part, and the attitude of the adjustment component on the side facing the cross current is subsequently adjusted through the adjustment mechanism, and the pressure to cope with the cross current and the power for steering are guaranteed through the high and low pressure difference of the water flow, and the overall attitude and navigation direction of the device are guaranteed. Moreover, through a multi-stage adjustment component, when one side causes a pressure difference due to attachments, the initial state of the adjustment component can be adjusted through the adjustment mechanism, thereby ensuring the balance of both sides of the adjustment component when sailing in a straight line. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0019] Figure 1 It is a structural schematic diagram of an embodiment of a steering device for an underwater glider of the present invention;

[0020] Figure 2A schematic diagram of a locking block structure of an embodiment of a steering device for an underwater glider of the present invention;

[0021] Figure 3 A schematic diagram of the internal structure of a steering seat of an embodiment of a steering device for an underwater glider of the present invention;

[0022] Figure 4 It is a schematic diagram of the internal supporting rib structure of an embodiment of a steering device for an underwater glider of the present invention;

[0023] Figure 5 It is a schematic diagram of the structure of an adjustment component of an embodiment of a steering device for an underwater glider of the present invention;

[0024] Figure 6 It is a schematic structural diagram of an initial state of a steering mechanism of an embodiment of a steering device for an underwater glider of the present invention;

[0025] Figure 7 It is a structural schematic diagram of the coordination between the steering mechanism and the water flow during steering of an embodiment of a steering device for an underwater glider of the present invention;

[0026] Figure 8 It is a structural schematic diagram of the coordination between the steering mechanism and the water flow after adjustment of an embodiment of a steering device for an underwater glider of the present invention;

[0027] Fig. 9 This is a schematic diagram of the inner cavity structure of an embodiment of a steering device for an underwater glider of the present invention;

[0028] Fig.10 This is a schematic diagram of the structure of an adjustment component of an embodiment of a steering device for an underwater glider of the present invention after external attachments are bonded.

[0029] In the figure: 1. body; 2. adjusting mechanism; 3. steering mechanism; 4. pressure sensor; 5. active steering mechanism; 11. nose; 12. wing; 13. tail frame; 21. pressure chamber; 22. adjusting cylinder; 23. inner cavity; 24. steering solenoid valve; 25. balancing solenoid valve; 31. rudder plate; 32. adjusting assembly; 321. first adjusting plate; 322. second adjusting plate; 323. third adjusting plate; 33. inner supporting rib; 61. telescopic cylinder; 62. steering seat; 63. outer steering sleeve; 64. inner shaft; 65. matching frame; 66. locking block; 67. locking frame; 68. pressure cylinder. DETAILED DESCRIPTION

[0030] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0031] An embodiment of a steering device for an underwater glider of the present invention is as follows Figures 1 to 10 As shown, it includes a steering mechanism 3 for adjusting the steering of the body 1 and a pressure sensor 4 for detecting the force condition of the body 1. The power of the steering mechanism 3 is connected to an active steering mechanism 5, which is installed inside the body 1. It also includes a locking mechanism for preventing the active steering mechanism 5 from being damaged when the body 1 is affected by a cross flow, and an adjusting mechanism 2 for adjusting the structure of the steering mechanism 3 to ensure the navigation direction of the body 1. The locking mechanism is connected to the bottom of the steering mechanism 3 and is located at the lower side of the active steering mechanism 5. The adjusting mechanism 2 is installed inside the steering mechanism 3.

[0032] The locking mechanism includes an outer steering sleeve 63, the outer steering sleeve 63 is externally connected to the active steering mechanism 5, an inner shaft 64 is provided inside the outer steering sleeve 63, a locking assembly is provided between the inner shaft 64 and the body 1, and the locking assembly is used to lock the active steering mechanism 5 when the body 1 is subjected to a cross flow and prevent the reverse torque generated by the external cross flow from damaging the active steering mechanism 5;

[0033] The steering mechanism 3 includes a steering plate 31 and an adjusting assembly 32 . The adjusting assembly 32 is arranged outside the steering plate 31 and is composed of a three-section structure, so that the overall structural change of the adjusting assembly 32 can be adjusted.

[0034] In this embodiment, the adjustment component 32 includes a first adjustment plate 321, a second adjustment plate 322, and a third adjustment plate 323. The first adjustment plate 321 is arranged on the front side, and the first adjustment plate 321, the second adjustment plate 322, and the third adjustment plate 323 are stacked backward in sequence. The stacking structure is utilized to ensure smooth water flow from front to back and avoid the joints affecting the overall streamline structure.

[0035] In this embodiment, the tops and bottoms of the first adjustment plate 321 , the second adjustment plate 322 , and the third adjustment plate 323 are hinged to the rudder plate 31 , and the first adjustment plate 321 , the second adjustment plate 322 , and the third adjustment plate 323 are slidably connected to each other.

[0036] In this embodiment, the first adjustment plate 321, the second adjustment plate 322, and the third adjustment plate 323 are all provided with internal support ribs 33, and the internal support ribs 33 are tightly matched with each other. The internal support ribs 33 can not only ensure the structural strength of the first adjustment plate 321, the second adjustment plate 322, and the third adjustment plate 323, but also utilize the cooperation between the internal support ribs 33 to ensure the mutual cooperation and the limitation of the degree of freedom when a sliding fit occurs.

[0037] In this embodiment, the first adjustment plate 321 and the second adjustment plate 322, as well as the second adjustment plate 322 and the third adjustment plate 323 are all arc-shaped structures. Because when the adjusting cylinder 22 supports its deformation, it is mainly the structure and posture adjustment of the central part. The use of arc-shaped structures can not only ensure that the amount of material used is reduced, but also ensure the tightness of the fitting.

[0038] In this embodiment, the adjusting mechanism 2 includes a pressure chamber 21, which is installed at the center position inside the rudder plate 31. An adjusting cylinder 22 is arranged between the pressure chamber 21 corresponding to the first adjusting plate 321, the second adjusting plate 322, and the third adjusting plate 323. An inner cavity 23 is arranged inside the pressure chamber 21. The inner cavity 23 has two chambers corresponding to the two groups of adjusting components 32. By using the two chambers, single adjustment on both sides can be guaranteed, and the pressure on both sides can be balanced by the balancing solenoid valve 25.

[0039] In this embodiment, the two chambers inside the inner cavity 23 are connected to the pressure output end of the locking mechanism, and a steering solenoid valve 24 is provided between the two chambers and the locking mechanism, and a balancing solenoid valve 25 is provided on the partition between the two chambers.

[0040] In this embodiment, the locking assembly of the locking mechanism includes a telescopic cylinder 61, a steering seat 62 is provided at the bottom of the outer steering sleeve 63, a cone block is provided inside the steering seat 62, the power end of the telescopic cylinder 61 is connected to the cone block, and the cone block corresponds to the bottom of the inner shaft 64, a locking frame 67 is provided at the opening between the body 1 and the steering mechanism 3, a matching frame 65 is provided inside the locking frame 67 corresponding to the position of the outer steering sleeve 63, the inner shaft 64 is axially slidably connected to the matching frame 65, and a plurality of locking blocks 66 are arranged in an array on the outer circular surface of the inner shaft 64 at the position of the matching frame 65, the locking block 66 extends out of the matching frame 65, and a cone groove is formed inside the locking frame 67 corresponding to the locking block 66.

[0041] In this embodiment, friction patterns are formed on the outer end of the locking block 66 and the upper half of the inner conical groove of the locking frame 67. When the inner shaft 64 and the locking block 66 are lifted, the locking block 66 and the locking frame 67 can be locked by the friction patterns, thereby preventing the reverse torque from being transmitted to the active steering mechanism 5.

[0042] In this embodiment, the active steering mechanism 5 includes a motor, an active bevel gear, and a passive bevel gear, and the passive bevel gear is key-connected to the outer steering sleeve 63 .

[0043] In this embodiment, the interior of the fuselage 1 is filled with existing underwater glider components, and a circular nose 11 is provided at the front end, a tail frame 13 is provided at the rear, wings 12 are provided on both sides of the fuselage 1, and a steering mechanism 3 is installed between the fuselage 1 and the tail frame 13.

[0044] The working principle is as follows: when the body 1 is sailing through the internal power mechanism, the pressure sensors 4 on both sides detect the water flow and control the active steering mechanism 5 to adjust the angle of the adjustment component 32 to ensure the sailing direction;

[0045] Because the underwater environment is complex and there is an angle difference between the navigation direction and the water flow direction, when there is an angle between the navigation direction and the water flow direction, the initial angle of the adjustment component 32 is adjusted by controlling the active steering mechanism 5 first, and when the cross flow is large, the piston rod of the telescopic oil cylinder 61 is controlled to extend, and the cone block is driven by the telescopic oil cylinder 61 to squeeze the inner shaft 64, so that the inner shaft 64 is lifted. At this time, the inner shaft 64 drives the locking block 66 to rise, and the inner shaft 64 locks the locking frame 67 through the locking block 66. At this time, no matter how large the pressure of the external water flow impacting the adjustment component 32 is, the reverse torque will be locked at the locking block 66 and will not continue to be transmitted to the passive bevel gear, so as to avoid damage to the components of the active steering mechanism 5;

[0046] And because when the cross flow is large, there is still impact between the water flow and the regulating component 32, the pressure sensor 4 can also detect the pressure of the cross flow, for example Figure 7 In the situation shown, the navigation direction of the body 1 needs to be adjusted. At this time, the inner shaft 64 can be controlled to lift and squeeze the pressure cylinder 68, and the steering solenoid valve 24 on the left side of the inner cavity 23 can be opened at the same time, so that the oil pressure enters the left side of the inner cavity 23, so that the left side adjustment cylinder 22 extends, and the adjustment cylinder 22 squeezes the left side adjustment component 32 outward. Because the water flow on the left side passes through the convex adjustment component 32 (the faster the water flow, the smaller the pressure), and the water flow distance on the right side remains unchanged (the slower the water flow, the greater the pressure), the pressure on the right side squeezes the left side, so that the posture of the body 1 can be adjusted to ensure the navigation direction;

[0047] During normal navigation, if there is an attachment (such as Fig.10As shown), and the attachments have affected the balance of the adjustment components 32 on both sides, at this time, all the steering solenoid valves 24 and the balancing solenoid valves 25 are opened to make the pressure inside the inner cavity 23 communicate with each other. When there are more attachments on the right side, the steering mechanism 3 as a whole will have a tendency to swing to the right. When the right swing occurs, the water flow impacts the adjustment cylinder 22 on the right side, and the adjustment cylinder 22 on the left side will be easier to extend than the adjustment cylinder 22 on the right side. When the left adjustment cylinder 22 is extended, the convexity of the left and right sides is the same, and the pressure is balanced. At this time, the balancing solenoid valve 25 is locked to ensure the pressure balance on both sides, which does not affect the subsequent further adjustment;

[0048] The steering solenoid valve 24 and the balancing solenoid valve 25 can be opened at intervals to make the telescopic oil cylinder 61 generate pulse power, and utilize the shock force to shake off the attachments on the outside of the adjustment component 32.

[0049] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A steering device for an underwater glider, comprising a steering mechanism (3) for adjusting the steering of a body (1) and a pressure sensor (4) for detecting the force applied to the body (1), an active steering mechanism (5) installed inside the body (1), the active steering mechanism (5) being used to drive the steering mechanism (3) to rotate, characterized in that: It also includes a locking mechanism for preventing the active steering mechanism (5) from being damaged when the body (1) is affected by a cross flow, and an adjusting mechanism (2) for adjusting the structure of the steering mechanism (3) to ensure the navigation direction of the body (1), the locking mechanism being connected to the bottom of the steering mechanism (3) and located at the lower side of the active steering mechanism (5), and the adjusting mechanism (2) being installed inside the steering mechanism (3); The locking mechanism comprises an outer steering sleeve (63), the outer steering sleeve (63) is externally connected to the active steering mechanism (5), an inner shaft (64) is arranged inside the outer steering sleeve (63), a locking assembly is arranged between the inner shaft (64) and the machine body (1), and the locking assembly is used to lock the active steering mechanism (5) when the machine body (1) is subjected to a cross flow and to prevent the reverse torque generated by the external cross flow from damaging the active steering mechanism (5); The steering mechanism (3) comprises a steering plate (31) and an adjustment assembly (32), wherein two groups of the adjustment assemblies (32) are respectively arranged on two sides of the outside of the steering plate (31), and each group of the adjustment assemblies (32) is composed of a three-section structure, so that the overall structural change of the adjustment assembly (32) can be adjusted; The three-section structure of the adjustment component (32) comprises a first adjustment plate (321), a second adjustment plate (322), and a third adjustment plate (323), wherein the first adjustment plate (321) is arranged at the front side, and the first adjustment plate (321), the second adjustment plate (322), and the third adjustment plate (323) are stacked in sequence backwards; The regulating mechanism (2) comprises a pressure chamber (21), the pressure chamber (21) being mounted at a central position inside the rudder plate (31), the pressure chamber (21) being provided with regulating oil cylinders (22) corresponding to the first regulating plate (321), the second regulating plate (322), and the third regulating plate (323), the pressure chamber (21) being provided with an inner cavity (23), and the inner cavity (23) being provided with two chambers corresponding to the two groups of regulating components (32), respectively.

2. The steering device for an underwater glider according to claim 1, characterized in that: The tops and bottoms of the first adjustment plate (321), the second adjustment plate (322) and the third adjustment plate (323) are hinged to the rudder plate (31), and the first adjustment plate (321), the second adjustment plate (322) and the third adjustment plate (323) are slidably connected to each other.

3. The steering device for an underwater glider according to claim 2, characterized in that: The first adjustment plate (321), the second adjustment plate (322), and the third adjustment plate (323) are all provided with internal support ribs (33) inside, and the internal support ribs (33) are tightly matched between each other.

4. The steering device for an underwater glider according to claim 3, characterized in that: The first adjustment plate (321) and the second adjustment plate (322) are in cooperation, and the second adjustment plate (322) and the third adjustment plate (323) are in cooperation, both of which are arc-shaped structures.

5. The steering device for an underwater glider according to claim 1, characterized in that: The locking assembly of the locking mechanism comprises a telescopic oil cylinder (61), a steering seat (62) is arranged at the bottom of the outer steering sleeve (63), a cone block is arranged inside the steering seat (62), a power end of the telescopic oil cylinder (61) is connected to the cone block, and the cone block corresponds to the bottom of the inner shaft (64), a locking frame (67) is arranged at the opening between the body (1) and the steering mechanism (3), a matching frame (65) is arranged inside the locking frame (67) at a position corresponding to the outer steering sleeve (63), the inner shaft (64) is axially slidably connected to the matching frame (65), a plurality of locking blocks (66) are arranged in an array on the outer circumferential surface of the inner shaft (64) at the position of the matching frame (65), the locking blocks (66) extend out of the matching frame (65), and a cone groove is formed inside the locking frame (67) corresponding to the locking blocks (66).

6. The steering device for an underwater glider according to claim 5, characterized in that: By controlling the subsequent lifting of the inner shaft (64) to squeeze the pressure cylinder (68), the oil outlet end of the pressure cylinder (68) after being squeezed becomes the pressure output end of the locking mechanism, the two chambers inside the inner cavity (23) are connected to the pressure output end of the locking mechanism, and a steering solenoid valve (24) is provided between the two chambers and the locking mechanism, and a balancing solenoid valve (25) is provided on the partition between the two chambers.

7. The steering device for an underwater glider according to claim 6, characterized in that: The outer end of the locking block (66) and the upper part of the inner conical groove of the locking frame (67) are both formed with friction lines.

8. The steering device for an underwater glider according to claim 1, characterized in that: The active steering mechanism (5) comprises a motor, an active bevel gear, and a passive bevel gear, wherein the passive bevel gear is key-connected to the outer steering sleeve (63).

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