An underwater glider

Abstract

An underwater glider belongs to the field of underwater robots. Existing underwater gliders need to adjust their own longitudinal inclination angles through a configured attitude adjustment device to obtain forward thrust, which weakens the carrying capacity of the underwater glider. At the same time, the attitude adjustment is affected by the nonlinear coupling of the hull dynamics and the fluid dynamics, which makes the change of the underwater glider's attitude highly unpredictable and lagging, and brings great challenges to the precise control of the underwater glider's gliding speed. The present invention includes a main hull, a buoyancy adjustment mechanism and two wing plates, the two wing plates are symmetrically arranged on both sides of the main hull, the buoyancy adjustment mechanism is installed in the main hull, and is used to control the buoyancy or sinking of the underwater glider, and also includes two wing plate attitude adjustment units symmetrically installed in the main hull, each wing plate attitude adjustment unit is connected to a wing plate, and can adjust the angle of attack and / or sweep angle of the wing plate when the underwater glider dives, so as to realize the multi-attitude movement of the underwater glider.

Description

Technical Field

[0001] The invention belongs to the field of underwater robots, and in particular relates to an underwater glider. Background Art

[0002] Underwater glider is a new type of underwater robot, which uses net buoyancy as driving force and the lift acting on the wing to generate forward propulsion, thereby performing underwater zigzag gliding motion. It has the advantages of low energy consumption and long range. Therefore, underwater gliders have developed rapidly in ocean exploration and search missions.

[0003] The wing is the power source of the underwater glider, and the angle of attack is a key parameter that affects the propulsion performance of the wing. Most of the existing underwater gliders are fixed-wing models, that is, the wing is fixedly connected to the main hull, so it is necessary to additionally configure a center of gravity adjustment device in the main hull of the underwater glider. The center of gravity adjustment device changes the attitude of the entire underwater glider, thereby indirectly adjusting the angle of attack of the wing to change the size and direction of the hydrodynamic force of the wing. However, this angle of attack adjustment method leads to poor controllability of the underwater glider and reduces environmental adaptability. In addition, the dynamic change of the attitude of the underwater glider caused by adjusting the angle of attack of the wing is not conducive to the real-time detection of the underwater glider to the target in front. At the same time, the existence of the center of gravity adjustment device will occupy a large space inside the underwater glider, reduce the carrying capacity of the underwater glider, and weaken the underwater detection capability of the underwater glider. In addition, because the adjustment of the attitude of the underwater glider by the center of gravity adjustment device is affected by the nonlinear coupling of the hull dynamics and the fluid dynamics, the change of the attitude of the underwater glider has strong unpredictability and hysteresis. Some underwater gliders can also adjust the angle of attack of two wing panels at the same time through motors. Although the underwater glider's attitude remains unchanged and the angle of attack of the wing panels can be changed, it is impossible to achieve individual control of each wing panel, which still affects the performance of the underwater glider. Moreover, neither fixed-wing underwater gliders nor movable-wing underwater gliders consider the sweep angle of the wing panels, which affects the area of ​​the hydrodynamic force on the wing panels and also affects the motion performance of the underwater glider. Summary of the invention

[0004] In view of this, the present invention provides an underwater glider, which can adjust the angle of attack and / or the sweep angle of the wing when the underwater glider dives, so as to increase the underwater movement performance of the underwater glider.

[0005] The technical solution adopted by the present invention to solve the above technical problems is:

[0006] An underwater glider comprises a main hull, a buoyancy adjustment mechanism and two wing panels, wherein the two wing panels are symmetrically arranged on both sides of the main hull. The buoyancy adjustment mechanism is installed in the main hull and is used to control the buoyancy or sinking of the underwater glider. The buoyancy adjustment mechanism also comprises two wing panel attitude adjustment units symmetrically installed in the main hull, each wing panel attitude adjustment unit is connected to a wing panel and can adjust the attack angle and / or sweep angle of the wing panel when the underwater glider dives, so as to realize multi-attitude movement of the underwater glider.

[0007] On the basis of technical solution 1, the wing plate attitude adjustment unit includes a rotating shaft, an active bevel gear, a driven bevel gear, a right-angle support, an attack angle adjustment drive assembly and a sweep angle adjustment drive assembly. The attack angle adjustment drive assembly is connected to the active bevel gear to drive the active bevel gear to rotate. The active bevel gear is meshed with the driven bevel gear to form a transmission gear pair. One end of the rotating shaft is connected to the wing plate, and the other end is connected to the driven bevel gear. When the attack angle adjustment drive assembly drives the rotating shaft to rotate via the transmission gear pair, the rotating shaft drives the wing plate to flip to achieve the adjustment of the attack angle of the wing plate.

[0008] A right-angle plate of the right-angle support is sleeved outside the rotating shaft and supports the rotation of the rotating shaft, and the other right-angle plate is connected to the sweep angle adjustment driving assembly. When the sweep angle adjustment driving assembly drives the right-angle support to rotate, the right-angle support drives the wing plate to rotate around the axis of the active bevel gear via the rotating shaft, and the driven bevel gear and the active bevel gear always keep meshing and are driven to rotate, so that the sweep angle of the wing plate can be adjusted synchronously with the angle of attack when adjusting. The attack angle adjustment driving assembly adjusts the angle of attack of the wing plate to compensate for the angle of attack that is adjusted synchronously when the sweep angle is adjusted, thereby realizing independent adjustment of the sweep angle.

[0009] Based on Technical Solution 2, the attack angle adjustment drive assembly includes a servo motor, a transmission shaft, a transmission bevel gear A and a transmission bevel gear B. The motor shaft of the servo motor is connected to the transmission bevel gear A and can drive the transmission bevel gear A to rotate. The transmission bevel gear B is meshed with the transmission bevel gear A so that when the transmission bevel gear A rotates, the transmission bevel gear B can rotate with the transmission bevel gear A. The transmission bevel gear B is connected to the active bevel gear via the transmission shaft and can drive the active bevel gear to rotate.

[0010] On the basis of Technical Solution 2, the sweep angle adjustment drive assembly includes a driving servo, a rocker, a connecting rod, a rack and a gear. The motor shaft of the driving servo is connected to one end of the rocker and can drive the rocker to rotate. The other end of the rocker is movably connected to one end of the connecting rod and can drive the connecting rod to swing. The other end of the connecting rod is movably connected to one end of the rack and can drive the rack to move. The rack is meshed with the gear and can drive the gear to rotate. The gear is connected to the other right-angle plate of the right-angle support and is coaxially arranged with the driven bevel gear so that it can rotate around the axis of the driving bevel gear when the gear drives the right-angle support to rotate, thereby keeping the driven bevel gear always meshed with the driving bevel gear.

[0011] On the basis of Technical Solution 2, the outer diameter of the driving bevel gear is larger than the outer diameter of the driven bevel gear, so as to speed up the adjustment speed of the wing plate attack angle when the driven bevel gear rotates with the driving bevel gear.

[0012] Based on technical solution 1, the outer shell of the main hull is streamlined.

[0013] Compared with the prior art, the present invention has the following beneficial effects:

[0014] 1. The two wing panels of the underwater glider of the present invention can be independently controlled, and the wing panel attitude adjustment unit can independently adjust the angle of attack and the sweep angle of the wing panel, and can also jointly adjust the angle of attack and the sweep angle of the wing panel. Therefore, without changing the attitude of the underwater glider itself, the underwater glider can realize multiple attitude movements such as up and down floating, pitching, rolling or yaw by only relying on the changes of the angle of attack and the sweep angle of the two wing panels. This not only saves the setting of the center of gravity adjustment device, reduces the overall weight and size of the underwater glider, improves the carrying capacity of the underwater glider, but also improves the range of the underwater glider.

[0015] 2. When the underwater glider of the present invention performs various movements, the main hull always maintains a horizontal state, and there is no need to adjust its own longitudinal inclination angle to obtain forward thrust, so the surrounding environment can always be accurately detected, thereby improving the underwater detection capability of the underwater glider. At the same time, the maintenance of the main hull posture reduces the nonlinear coupling effect of the hull dynamics and fluid dynamics, making the posture of the underwater glider more controllable, and the gliding speed of the underwater glider can be accurately controlled.

[0016] 3. When the wing panel attitude adjustment unit of the present invention adjusts the angle of attack and the sweep angle of the wing panel, the active bevel gear and the driven bevel gear always remain in a meshing state. It is precisely because the active bevel gear and the driven bevel gear always remain in a meshing state and with the cooperation of the rotating shaft and the right-angle support, the real-time adjustment of the angle of attack and the sweep angle of the wing panel can be achieved, and the adjustment of the angle of attack will not affect the sweep angle. Therefore, the change in the angle of attack caused by the adjustment of the sweep angle can be compensated by the drive of the angle of attack adjustment drive assembly, thereby realizing independent control of the sweep angle.

[0017] 4. The attack angle adjustment drive assembly and the sweep angle adjustment drive assembly of the present invention both adopt gear transmission, which changes the driving direction and arrangement direction of the servo motor, that is, the attack angle adjustment drive assembly and the sweep angle adjustment drive assembly can be arranged along the length direction of the main hull without affecting the original structural dimensions of the main hull. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The accompanying drawings are incorporated as part of this application and are used to provide a further understanding of the present invention.

[0019] Figure 1It is a schematic diagram of the wing panels on both sides of the underwater glider of the present invention after being folded backwards symmetrically at a certain angle, wherein the angle of attack of the wing panels is zero and the sweep angle is not zero.

[0020] Figure 2 It is a schematic diagram of the wing panel of the underwater glider of the present invention in a fully deployed state, wherein the angle of attack of the wing panel is not zero and the sweep angle is zero degree.

[0021] Figure 3 It is a structural schematic diagram of the wing panel attitude adjustment unit and the wing panel assembly, wherein the sweep angle of each wing panel is zero degree and the angle of attack is not zero.

[0022] Figure 4 It is a structural schematic diagram of the wing panel attitude adjustment unit and the wing panel assembly, wherein the sweep angle of each wing panel is 90° and the angle of attack is 0°. At this time, both wing panels are completely folded into the main hull.

[0023] Figure 5 This is a partial enlarged view of the wing panel attitude adjustment unit and the wing panel assembly.

[0024] Description of reference numerals:

[0025] 1-main hull; 2-wing; 3-wing attitude adjustment unit; 3-1-rotating shaft; 3-2-driving bevel gear; 3-3-driven bevel gear; 3-4-right-angle support; 3-5-attack angle adjustment drive assembly; 3-5-1-servo motor; 3-5-2-transmission shaft; 3-5-3-transmission bevel gear A; 3-5-4-transmission bevel gear B; 3-6-sweep angle adjustment drive assembly; 3-6-1-driving servo; 3-6-2-rocker; 3-6-3-connecting rod; 3-6-4-rack; 3-6-5-gear; 4-floating and sinking adjustment mechanism. DETAILED DESCRIPTION

[0026] The present invention is described in detail below in conjunction with specific embodiments.

[0027] See also Figures 1 to 5 The underwater glider of this embodiment includes a main hull 1, a buoyancy adjustment mechanism 4, two wing panels 2 and two wing panel attitude adjustment units 3. The two wing panels 2 are symmetrically arranged on both sides of the main hull 1. The buoyancy adjustment mechanism 4 is installed in the main hull 1, preferably in the middle position of the main hull 1, and is used to control the buoyancy or sinking of the underwater glider. The two wing panel attitude adjustment units 3 are symmetrically installed in the main hull 1. Each wing panel attitude adjustment unit 3 is connected to a wing panel 2, and can adjust the attack angle and / or sweep angle of the wing panel 2 when the underwater glider dives, so as to realize the multi-attitude movement of the underwater glider.

[0028] Since each wing panel 2 is adjusted by a wing panel attitude adjustment unit 3, the two wing panels 2 can be independently controlled. At the same time, the wing panel attitude adjustment unit 3 can independently adjust the angle of attack and the sweep angle of the wing panel 2, and can also jointly adjust the angle of attack and the sweep angle of the wing panel 2. Therefore, without changing the attitude of the underwater glider body, the adjustment of the buoyancy of the underwater glider through the buoyancy adjustment mechanism 4 and the change of the angle of attack and the sweep angle of the two wing panels 2 through the wing panel attitude adjustment unit 3 can realize the underwater glider's up and down buoyancy, pitch, roll or yaw and other multi-attitude movements. This not only saves the setting of the center of gravity adjustment device (since the position of the center of gravity of the main hull 1 needs to be changed, the center of gravity adjustment device is arranged along the length direction of the main hull 1, which occupies a large space), reduces the overall weight and size of the underwater glider, improves the carrying capacity and underwater detection capability of the underwater glider, but also improves the range of the underwater glider. The buoyancy adjustment mechanism 4 can realize the buoyancy of the underwater glider by changing the buoyancy of the underwater glider (such as changing its own buoyancy by changing the drainage area) or the weight of the underwater glider (such as changing the weight by suction and discharge), but it will not affect the posture of the underwater glider.

[0029] Suppose the sweep angle of the wing 2 is a. When a=90°, the wing 2 is completely retracted into the main hull 1. When a=0°, the two wing panels 2 are fully unfolded and collinear. Suppose the angle of attack of the wing 2 is β. When β=90°, the wing 2 is in a vertical state; when β=0°, the wing 2 is completely in a horizontal state; when β>0°, the wing 2 flips upward; when β<0°, the wing 2 flips downward. The specific implementation process of the underwater glider's up and down, pitch or yaw movements is as follows:

[0030] Rapid vertical movement: When the sweep angle of the two wing panels 2 of the underwater glider is 0<a≤90° and the angle of attack β=0°, the two wing panels 2 are partially or completely retracted into the main hull 1, and the two wing panels 2 are symmetrically arranged. The buoyancy adjustment mechanism 4 adjusts the gravity of the underwater glider to be greater than or less than the buoyancy, and the wing panels generate less resistance to achieve rapid sinking or floating.

[0031] Slow vertical movement: When the sweep angle a of the two wing panels 2 of the underwater glider is less than 90° and the angle of attack β is 0°, most or all of the two wing panels 2 extend out of the main hull 1, and the two wing panels 2 are symmetrically arranged. The buoyancy adjustment mechanism 4 adjusts the gravity of the underwater glider to be greater than or less than the buoyancy, and the wing panels generate greater resistance to achieve slow sinking or floating.

[0032] Forward upward motion: when the sweep angle a of the two wing panels 2 of the underwater glider is less than 90° and the angle of attack β is greater than 0°, the buoyancy adjustment mechanism 4 adjusts the gravity of the underwater glider to be less than the buoyancy, and the underwater glider floats up. The underwater glider is subjected to the downward water flow pressure, and the wing panels are subjected to the forward and downward hydrodynamic force, which generates a forward component force. The underwater glider realizes forward upward motion, that is, it floats up and moves forward at the same time.

[0033] Forward dive motion: When the sweep angle a of the two wing panels 2 of the underwater glider is less than 90° and the angle of attack β is less than 0°, the buoyancy adjustment mechanism 4 adjusts the gravity of the underwater glider to be greater than the buoyancy, and the underwater glider sinks. The underwater glider is subjected to the upward water flow pressure, and the wing panels are subjected to the forward and upward hydrodynamic force, which generates a forward component force. The underwater glider realizes forward dive motion, that is, it moves forward while sinking.

[0034] Receding upward movement: When the sweep angle a of the two wing panels 2 of the underwater glider is less than 90° and the angle of attack β is less than 0°, the buoyancy adjustment mechanism 4 adjusts the gravity of the underwater glider to be less than the buoyancy, and the underwater glider floats up. The underwater glider is subjected to the downward water flow pressure, and the wing panels are subjected to the hydrodynamic force directed backward and downward, generating a backward component of force. The underwater glider realizes backward upward movement, that is, it floats up and retreats at the same time.

[0035] Reverse dive motion: When the sweep angle a of the two wing panels 2 of the underwater glider is less than 90° and the angle of attack β is greater than 0°, the buoyancy adjustment mechanism 4 adjusts the gravity of the underwater glider to be greater than the buoyancy, and the underwater glider sinks. The underwater glider is subjected to the upward water flow pressure, and the wing panels are subjected to the hydrodynamic force directed backward and upward, generating a backward component of force, and the underwater glider realizes a backward dive motion, that is, it moves forward while sinking.

[0036] The above-mentioned movements are linear movements of the underwater glider. When the underwater glider performs linear movement, the postures of the left wing panel 2 and the right wing panel 2 are symmetrical about the streamlined shell. The posture sensing sensor and speed sensing sensor inside the underwater glider sense its own movement posture and movement speed in real time, and feed back to the processor to synchronously adjust the attack angle and sweep angle of the left wing panel 2 and the right wing panel 2 to meet the speed requirements of the linear movement of the underwater glider.

[0037] Floating rotational motion: when the sweep angles of the two wing panels 2 of the underwater glider are equal and a<90°, the attack angle β of the left wing panel 2 is>0°, and the attack angle β of the right wing panel 2 is<0°, the buoyancy adjustment mechanism 4 adjusts the gravity of the underwater glider to be less than the buoyancy, and the underwater glider floats up. The underwater glider is subjected to the downward water flow pressure. The left wing panel 2 is subjected to the hydrodynamic force pointing forward and downward, and the right wing panel 2 is subjected to the hydrodynamic force pointing backward and downward. The two wing panels 2 generate a right-turning torque, and the underwater glider realizes floating rotational motion, that is, it rotates to the right around the plumb line while floating up.

[0038] Sinking rotational motion: when the sweep angles of the two wing panels 2 of the underwater glider are equal and a<90°, the angle of attack β of the left wing panel 2 is<0°, and the angle of attack β of the right wing panel 2 is>0°, the buoyancy adjustment mechanism 4 adjusts the gravity of the underwater glider to be greater than the buoyancy, and the underwater glider sinks. The underwater glider is subjected to the upward water flow pressure. The left wing panel 2 is subjected to the hydrodynamic force pointing upward and rearward, and the right wing panel 2 is subjected to the hydrodynamic force pointing downward and forward. The two wing panels generate a left turning torque, and the underwater glider realizes a sinking rotational motion, that is, it rotates left around the plumb line while sinking.

[0039] Forward yaw motion: when the sweep angle a of the two wing panels 2 of the underwater glider is less than 90°, and the sweep angle of the left wing panel 2 is smaller than that of the right wing panel 2, and the angle of attack β is greater than 0°, the buoyancy adjustment mechanism 4 adjusts the gravity of the underwater glider to be less than the buoyancy, and the underwater glider floats up. The underwater glider is subjected to the downward water flow pressure, the left wing panel 2 is subjected to the hydrodynamic force directed forward and downward, and the right wing panel 2 is subjected to the hydrodynamic force directed right front and downward, and the underwater glider realizes forward yaw motion, that is, it yawing to the right while moving forward.

[0040] Rearward yaw motion: when the sweep angle a of the two wing panels 2 of the underwater glider is less than 90°, and the sweep angle of the left wing panel 2 is smaller than that of the right wing panel 2, and the angle of attack β is less than 0°, the buoyancy adjustment mechanism 4 adjusts the gravity of the underwater glider to be less than the buoyancy, and the underwater glider floats up. The underwater glider is subjected to downward water flow pressure, and the left wing panel 2 is subjected to hydrodynamic force directed to the rear and lower side, while the right wing panel 2 is subjected to hydrodynamic force directed to the rear and lower left side of z. The underwater glider realizes rearward yaw motion, that is, it yawing to the right while moving backward.

[0041] The above-mentioned movements are maneuvering movements of the underwater glider. When the underwater glider performs maneuvering movements, the postures of the left wing panel 2 and the right wing panel 2 are different. The posture sensing sensor and speed sensing sensor inside the underwater glider sense its own movement posture and movement speed in real time, and feed back to the processor to adjust the attack angle and sweep angle of the left wing panel 2 and the right wing panel 2 to meet the speed requirements of the underwater glider's maneuvering movements.

[0042] It can be seen that when the underwater glider performs the above movement, the main hull 1 is always in a horizontal state, and there is no need to adjust its own longitudinal inclination angle to obtain forward thrust, so the surrounding environment can always be accurately detected, thereby improving the underwater detection capability of the underwater glider. At the same time, the maintenance of the posture of the main hull 1 reduces the nonlinear coupling effect of the hull dynamics and the fluid dynamics, making the posture of the underwater glider more controllable, and the gliding speed of the underwater glider can be accurately controlled.

[0043] Therefore, the underwater glider of this embodiment is suitable for being made into a micro-sized, highly maneuverable underwater glider.

[0044] like Figure 3 and Figure 5 As shown, the wing plate posture adjustment unit 3 of this embodiment includes a rotating shaft 3-1, an active bevel gear 3-2, a driven bevel gear 3-3, a right-angle support 3-4, an attack angle adjustment drive assembly 3-5 and a sweep angle adjustment drive assembly 3-6. The attack angle adjustment drive assembly 3-5 is connected to the active bevel gear 3-2 to drive the active bevel gear 3-2 to rotate. The active bevel gear 3-2 is meshed and connected with the driven bevel gear 3-3 to form a transmission gear pair. One end of the rotating shaft 3-1 is connected to the wing plate 2, and the other end is connected to the driven bevel gear 3-3. A right-angle plate of the right-angle support 3-4 is sleeved outside the rotating shaft 3-1 through a bearing and supports the rotating shaft 3-1 to rotate, and the other right-angle plate is connected to the sweep angle adjustment drive assembly 3-6. Among them, the outer diameter of the active bevel gear 3-2 is larger than the outer diameter of the driven bevel gear 3-3, so as to accelerate the adjustment speed of the attack angle of the wing plate 2 when the driven bevel gear 3-3 rotates with the active bevel gear 3-2.

[0045] When the underwater glider needs to adjust the angle of attack of the wing 2, the angle of attack adjustment drive assembly 3-5 is started, and the angle of attack adjustment drive assembly 3-5 drives the driven bevel gear 3-3 to rotate via the active bevel gear 3-2, and the driven bevel gear 3-3 drives the wing 2 to flip via the rotating shaft 3-1, thereby adjusting the angle of attack of the wing 2. When the underwater glider needs to adjust the angle of attack and the sweep angle of the wing 2 synchronously, the sweep angle adjustment drive assembly 3-6 is started, and the sweep angle adjustment drive assembly 3-6 drives the rotating shaft 3-1 to rotate around the axis of the active bevel gear 3-2 via the right-angle support 3-4, and the rotating shaft 3-1 drives the wing 2 to rotate around the axis of the active bevel gear 3-2, thereby adjusting the sweep angle of the wing 2. When the rotating shaft 3-1 drives the wing plate 2 to rotate around the axis of the active bevel gear 3-2, it also drives the driven bevel gear 3-3 to rotate around the axis of the active bevel gear 3-2. Since the attack angle adjustment drive assembly 3-5 is not started, the active bevel gear 3-2 is in a stationary state, and the driven bevel gear 3-3 is forced to rotate, and drives the rotating shaft 3-1 and the wing plate 2 to rotate around the axis of the rotating shaft 3-1, that is, when the wing plate 2 rotates around the active bevel gear 3-2, it also rotates around the axis of the rotating shaft 3-1, that is, the synchronous adjustment of the attack angle and the sweep angle of the wing plate 2 is achieved. When the two wing plates 2 of the underwater glider of this embodiment are gradually unfolded from the folded state (the sweep angle gradually decreases), the two wing plates 2 will also be gradually turned upward from the horizontal state at the same time (the attack angle gradually becomes greater than 0), eliminating the process of active adjustment of the attack angle. When the underwater glider only needs to adjust the sweep angle of the wing panel 2, the sweep angle adjustment drive component 3-6 is started and the angle of attack adjustment drive component 3-5 is started at the same time. The angle of attack adjustment drive component 3-5 compensates for the angle of attack adjusted synchronously during the sweep angle adjustment, thereby realizing independent adjustment of the sweep angle.

[0046] It can be seen that when the angle of attack and the sweep angle of the wing plate 2 are adjusted, the active bevel gear 3-2 and the driven bevel gear 3-3 always remain in a meshing state. It is precisely because the active bevel gear 3-2 and the driven bevel gear 3-3 always remain in a meshing state, and with the cooperation of the rotating shaft 3-1 and the right-angle support 3-4, the real-time adjustment of the angle of attack and the sweep angle of the wing plate 2 can be achieved, and the adjustment of the angle of attack will not affect the sweep angle. Therefore, the change in the angle of attack caused by the adjustment of the sweep angle can be compensated by the drive of the angle of attack adjustment drive component 3-5, thereby realizing independent control of the sweep angle.

[0047] In addition, combined Figure 5The driven bevel gear 3-3 can rotate 360° under the drive of the active bevel gear 3-2, that is, the angle of attack of the wing plate 2 can be adjusted and controlled at any angle, and the angle of attack of the wing plate 2 affects the magnitude and direction of the hydrodynamic force on the wing plate 2. The sweep angle adjustment drive assembly 3-6 can drive the right-angle support 3-4 to rotate at a large angle, that is, the sweep angle of the wing plate 2 can be adjusted and controlled at a large angle, and the sweep angle of the wing plate 2 affects the action area between the hydrodynamic force and the wing plate 2, so the underwater glider of this embodiment can present different motion states under the influence of different hydrodynamic forces.

[0048] In order to reduce the resistance of the underwater glider when it moves underwater, the main hull 1 generally adopts a flat and long structure, that is, the size in the vertical direction is not large. Since the wing attitude adjustment unit 3 is installed in the main hull 1, if the angle of attack adjustment drive component 3-5 and the sweep angle adjustment drive component 3-6 are directly driven by servo motors, the main hull 1 needs to have enough space in the vertical direction, that is, the size of the main hull 1 in the vertical direction needs to be increased, which will affect the performance of the underwater glider.

[0049] like Figure 5 As shown, the attack angle adjustment drive assembly 3-5 of this embodiment includes a servo motor 3-5-1, a transmission shaft 3-5-2, a transmission bevel gear A3-5-3 and a transmission bevel gear B3-5-4. The motor shaft of the servo motor 3-5-1 is connected to the transmission bevel gear A3-5-3 and can drive the transmission bevel gear A3-5-3 to rotate. The transmission bevel gear B3-5-4 is meshed and connected with the transmission bevel gear A3-5-3 so that it rotates with the transmission bevel gear A3-5-3 when the transmission bevel gear A3-5-3 rotates. The transmission bevel gear B3-5-4 is connected to the active bevel gear 3-2 via the transmission shaft 3-5-2 and can drive the active bevel gear 3-2 to rotate. The attack angle adjustment drive assembly 3-5 of this embodiment adopts a bevel gear transmission pair, which changes the driving direction and arrangement direction of the servo motor 3-5-1, that is, the attack angle adjustment drive assembly 3-5 can be arranged along the length direction of the main hull 1, which will not affect the original structural dimensions of the main hull 1.

[0050] like Figure 5As shown, the sweep angle adjustment drive assembly 3-6 of this embodiment includes a driving servo 3-6-1, a rocker 3-6-2, a connecting rod 3-6-3, a rack 3-6-4 and a gear 3-6-5. The motor shaft of the driving servo 3-6-1 is connected to one end of the rocker 3-6-2 and can drive the rocker 3-6-2 to swing. The other end of the rocker 3-6-2 is movably connected to one end of the connecting rod 3-6-3 and can drive the connecting rod 3-6-3 to swing. The other end of the connecting rod 3-6-3 is movably connected to the gear One end of the rack 3-6-4 can drive the rack 3-6-4 to move linearly, the rack 3-6-4 is meshed with the gear 3-6-5 and can drive the gear 3-6-5 to rotate, the gear 3-6-5 is connected to the other right angle plate of the right angle support 3-4 and is coaxially arranged with the driven bevel gear 3-3, so that when the gear 3-6-5 drives the right angle support 3-4 to rotate, it can rotate around the axis of the active bevel gear 3-2, and keep the driven bevel gear 3-3 and the active bevel gear 3-2 always meshed. When it is necessary to adjust the sweep angle or jointly adjust the sweep angle and the angle of attack, the driving servo 3-6-1 drives the rocker 3-6-2 to swing to one side, the rocker 3-6-2 drives the rack 3-6-4 to move via the connecting rod 3-6-3, and the rack 3-6-4 drives the gear to rotate to one side, thereby driving the right angle support 3-4 to rotate. The sweep angle adjustment drive assembly 3-6 adopts the cooperation of the gear 3-6-5 and the rack 3-6-4 to convert the rotational motion of the driving servo 3-6-1 into reciprocating linear motion, and then converts the linear motion into rotational motion, thereby realizing the rotation of the right-angle support 3-4, and also changing the driving direction and arrangement direction of the servo motor 3-5-1, that is, the sweep angle adjustment drive assembly 3-6 can also be arranged along the length direction of the main hull 1, and it will not affect the original structural dimensions of the main hull 1.

[0051] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention, rather than to limit the scope of protection of the present invention. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solution of the present invention can be modified or replaced by equivalents without departing from the essence and scope of the technical solution of the present invention.

Claims

1. An underwater glider, comprising a main hull, a buoyancy adjustment mechanism and two wing plates, wherein the two wing plates are symmetrically arranged on both sides of the main hull, and the buoyancy adjustment mechanism is installed in the main hull to control the buoyancy or sinking of the underwater glider, characterized in that: It also includes two wing attitude adjustment units symmetrically installed in the main hull, each wing attitude adjustment unit is connected to a wing, and can adjust the attack angle and sweep angle of the wing when the underwater glider dives, so as to realize the multi-attitude movement of the underwater glider; The wing plate attitude adjustment unit includes a rotating shaft, an active bevel gear, a driven bevel gear, a right-angle support, an attack angle adjustment drive assembly and a sweep angle adjustment drive assembly. The attack angle adjustment drive assembly is connected to the active bevel gear to drive the active bevel gear to rotate. The active bevel gear is meshed with the driven bevel gear to form a transmission gear pair. One end of the rotating shaft is connected to the wing plate, and the other end is connected to the driven bevel gear. When the attack angle adjustment drive assembly drives the rotating shaft to rotate via the transmission gear pair, the rotating shaft drives the wing plate to flip to achieve the adjustment of the attack angle of the wing plate; one end of the right-angle support drives the rotating shaft to rotate via the transmission gear pair, and the rotating shaft drives the wing plate to flip to achieve the adjustment of the attack angle of the wing plate. A right-angle plate is sleeved outside the rotating shaft and supports the rotation of the rotating shaft, and the other right-angle plate is connected to the sweep angle adjustment driving assembly. When the sweep angle adjustment driving assembly drives the right-angle support to rotate, the right-angle support drives the wing plate to rotate around the axis of the active bevel gear via the rotating shaft, and the driven bevel gear and the active bevel gear always keep meshing and are driven to rotate, so that the sweep angle of the wing plate can synchronously adjust the angle of attack when adjusting, and the attack angle adjustment driving assembly adjusts the angle of attack of the wing plate to compensate for the angle of attack that is synchronously adjusted when the sweep angle is adjusted, thereby realizing independent adjustment of the sweep angle.

2. An underwater glider according to claim 1, characterized in that: The attack angle adjustment drive assembly includes a servo motor, a transmission shaft, a transmission bevel gear A and a transmission bevel gear B. The motor shaft of the servo motor is connected to the transmission bevel gear A and can drive the transmission bevel gear A to rotate. The transmission bevel gear B is meshed with the transmission bevel gear A so that when the transmission bevel gear A rotates, the transmission bevel gear B can rotate with the transmission bevel gear A. The transmission bevel gear B is connected to the active bevel gear via the transmission shaft and can drive the active bevel gear to rotate.

3. The underwater glider according to claim 1, characterized in that: The sweep angle adjustment drive assembly includes a driving servo, a rocker, a connecting rod, a rack and a gear. The motor shaft of the driving servo is connected to one end of the rocker and can drive the rocker to rotate. The other end of the rocker is movably connected to one end of the connecting rod and can drive the connecting rod to swing. The other end of the connecting rod is movably connected to one end of the rack and can drive the rack to move. The rack is meshed with the gear and can drive the gear to rotate. The gear is connected to the other right-angle plate of the right-angle support and is coaxially arranged with the driven bevel gear, so that it can rotate around the axis of the driving bevel gear when the gear drives the right-angle support to rotate, so as to keep the driven bevel gear always meshed with the driving bevel gear.

4. The underwater glider according to claim 1, characterized in that: The outer diameter of the driving bevel gear is greater than the outer diameter of the driven bevel gear, so as to accelerate the adjustment speed of the wing plate attack angle when the driven bevel gear rotates with the driving bevel gear.

5. The underwater glider according to claim 1, characterized in that: The outer shell of the main hull is streamlined.

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