Wave glider system based on turning wing plate steering

Abstract

The invention discloses a wave glider system based on turning wing plate steering, which comprises a sea surface floating body and a wave glider, the wave glider comprises a wave glider body, a transmission mechanism, a limiting mechanism and a wing plate; the left side of the wave glider body is connected with a left wing plate through a left limiting mechanism, the right side of the wave glider body is connected with a right wing plate through a right limiting mechanism, the left limiting mechanism and / or the right limiting mechanism are / is connected with a transmission mechanism, and the transmission mechanism drives the left limiting mechanism and / or the right limiting mechanism to turn over by 180 degrees. And further, 180-degree overturning of the left wing plate and / or the right wing plate is realized. According to the wave glider, by means of overturning of the limiting device, overturning steering of the wing plate is achieved, so that the overturned wing plate generates force opposite to the original direction on the wave glider, and the advancing direction is adjusted and controlled.

Description

Technical Field

[0001] The invention belongs to the field of wave glider systems, and in particular relates to a wave glider system for achieving heading change based on flipping wing panels. Background Art

[0002] The wave glider is a mobile observation platform that uses wave energy as a power source. It is mainly composed of a surface hull, an underwater glider, and a flexible rope that connects the two with negligible expansion and contraction. The surface hull rises and falls with the wave crests and troughs, and the underwater glider is pulled up and down by the flexible rope. The glider is equipped with a wing plate that can rotate within a limited angle. As the glider rises and sinks, the wing plate can provide a component of force for moving forward. This component force makes the glider move forward horizontally, and then drives the surface hull forward through the flexible rope. The system is capable of long-term and large-scale cruising. The system, in conjunction with the hydrological and hydroacoustic sensors it carries, can monitor the hydrological and hydroacoustic information of the sea surface and sea areas of a certain depth. It has a broad application background in the fields of national defense hydroacoustic monitoring and physical marine environment research.

[0003] At present, foreign wave glider technology is mature and can realize the steering and U-turn function, but they basically adopt a dual servo structure of the hull and the fish body, and force steering by controlling the tail fin servo. The turning radius is large, the requirements for the servo are high, the energy loss is high, the turning time is long, and the flexibility and ability to cope with emergencies are not strong.

[0004] Domestic patents also provide some methods for wave gliders to achieve steering and turning. For example, in the wave glider disclosed in patent CN202321175039.8, its steering is mainly achieved by installing a steering wheel at the bottom of the driving body. The steering wheel can rotate along the circumferential direction of the connecting rod to control the walking direction of the driving mechanism, and then control the sailing direction of the gliding mechanism.

[0005] Patent CN202111456354.3 also discloses a wave glider, whose steering control is also achieved by setting a steering member on the underwater driving mechanism to control the steering of the hull;

[0006] In patent CN202020036130.1, a small unmanned wave glider on the water surface is disclosed, which includes a servo system installed at the tail of an underwater tractor. As a steering system of the underwater tractor, it can steer according to the track setting; the compass system is installed at the head of the underwater tractor and can sense the current heading, roll angle and pitch of the underwater tractor.

[0007] The above patents basically use the servo structure of the hull and the wave glider body to achieve turning by "going around the corner". This method has a relatively large turning radius, high steering energy consumption, and poor flexibility and ability to cope with emergencies. Summary of the invention

[0008] In view of the shortcomings of the prior art, the first purpose of the present invention is to provide a wave glider steering solution that can achieve direction adjustment by flipping the wing panels; a technology that controls the glider to flip the wing panels by a prime mover such as a motor, thereby achieving differential steering of the underwater glider and further towing the surface ship to turn.

[0009] The technical solution adopted by the present invention is as follows:

[0010] A wave glider system based on flipping wing plate steering comprises a hull and a wave glider, wherein the wave glider comprises a wave glider body, a transmission mechanism, a limit mechanism and a wing plate; the left side of the wave glider body is connected to the left wing plate through a left limit mechanism, and the right side of the wave glider body is connected to the right wing plate through a right limit mechanism, wherein the left limit mechanism and / or the right limit mechanism are connected to a transmission mechanism, and the transmission mechanism drives the left limit mechanism and / or the right limit mechanism to realize 180° flipping, thereby realizing 180° flipping of the left wing plate and / or the right wing plate.

[0011] That is, the above-mentioned wave glider system based on flipping wing panels can realize differential steering by flipping all wing panels on one side, and can also realize overall steering by flipping wing panels on both sides. The principle of flipping all wing panels on one side is: only flip the wing panels on one side, so that the horizontal thrust provided by the wing panels on the side is different from the force received by the wing panels on the other side, thereby realizing differential steering, and can turn to any angle. When the desired direction of travel is reached, the flipped wing panels are reset to make the force directions provided by all wing panels the same, thereby restoring the forward travel state; the overall steering by flipping wing panels on both sides is based on the principle of flipping all wing panels on both sides to realize the equal and opposite transformation of driving force, so that the wave glider can reverse and realize the heading change.

[0012] As a further technical solution, the transmission mechanism drives part of the left limit mechanism and / or the right limit mechanism to achieve 180° flipping; the transmission mechanism drives all of the left limit mechanism and / or the right limit mechanism to achieve 180° flipping.

[0013] That is, the modes for flipping one-side wing panels are divided into partial flipping of one-side wing panels and full flipping of one-side wing panels. When turning in the mode of partial flipping of one-side wing panels, the driving force on the flipped side of the wing panel is less than that on the side of the wing panel that is not flipped, thereby achieving turning while moving. In addition, the more wing panels flipped on one side, the greater the difference between the driving force on that side and the other side, and the smaller the turning radius. Therefore, the size of the turning radius can also be adjusted by controlling the number of flipped wing panels. When flipping one-side wing panels completely, the driving forces provided by the wing panels on both sides are almost equal and opposite, and approximate in-situ turning can be achieved at this time.

[0014] As a further technical solution, the transmission mechanism is a connecting rod transmission structure.

[0015] As a further technical solution, the connecting rod transmission structure includes a prime mover, a rocker, and a connecting rod; the prime mover is fixed to the body of the wave glider and connected to one end of the rocker, and the other end of the rocker is connected to a long connecting rod; a plurality of short connecting rods are hinged on the long connecting rod, and each short connecting rod is connected to a corresponding limiting mechanism. The limiting mechanism is connected to the wing plate of the wave glider.

[0016] As a further technical solution, it also includes a worm gear self-locking structure, in which the worm is coaxially connected to the output shaft of the prime mover, and the worm wheel in the worm gear self-locking structure is connected to the rocker.

[0017] As a further technical solution, the transmission mechanism is a chain transmission structure.

[0018] As a further technical solution, the chain transmission structure is composed of a driving wheel, a chain, a driven wheel group and a prime mover; wherein the prime mover is fixed on the wave glider body, the power of the prime mover is input to the driving wheel, and the driving wheel drives the driven wheel connected to the limiting mechanism through the chain, thereby driving the limiting mechanism to rotate when the prime mover is running, thereby completing the flipping of the wing plate.

[0019] As a further technical solution, the transmission mechanism is a belt transmission structure.

[0020] As a further technical solution, the chain transmission structure is composed of a driving wheel, a synchronous belt, a driven wheel group and a prime mover; wherein, the prime mover is fixed on the wave glider body, the power of the prime mover is input to the driving wheel, and the driving wheel drives the driven wheel connected to the limiting mechanism through the synchronous belt, thereby driving the limiting mechanism to rotate when the prime mover is running, thereby completing the flipping of the wing plate.

[0021] As a further technical solution, the hull is a slender boat-shaped structure or a tadpole-like bionic structure.

[0022] Compared with the prior art, the invention has the following beneficial effects.

[0023] 1) The present invention implements a 180-degree flipping of the limiting device of the wing plate of the wave glider. With the help of the flipping of the limiting device, the wing plate in contact with the rotating limiting device is driven to flip, thereby realizing the flipping and steering of the wing plate, so that the flipped wing plate generates a force opposite to the original direction on the wave glider, thereby realizing the regulation of the travel direction; that is, steering by flipping the wing plate can realize flexible and small-diameter steering, thereby improving the overall maneuvering efficiency of the wave glider.

[0024] 2) The present invention provides limit angle conversion through the setting of the limit mechanism. The overall structure is relatively simple and has a small turning radius, which greatly reduces the time required for turning around, thereby improving the efficiency of ocean exploration of the wave glider and improving the quality of exploration.

[0025] 3) The present invention can significantly reduce the number of prime movers required for the underwater glider and significantly reduce the energy loss of the wave glider through the arrangement of various linkage devices. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 It is a schematic diagram of a wave glider system for achieving steering cruise based on wing panel flipping according to the present invention.

[0027] Figure 2 It is a schematic diagram of the unilateral flip wing plate in the form of a connecting rod mechanism disclosed in Example 1 of the present invention before flipping.

[0028] Figure 3 It is a schematic diagram of the unilateral flip wing plate of the connecting rod mechanism disclosed in Example 1 of the present invention after being fully flipped.

[0029] Figure 4 It is a schematic diagram of a partially flipped wing plate of the connecting rod mechanism disclosed in Example 1 of the present invention.

[0030] Figure 5 It is a schematic diagram of the double-sided flip wing plate in the form of a connecting rod mechanism disclosed in Example 1 of the present invention before flipping.

[0031] Figure 6 It is a schematic diagram of the double-sided flip wing plate after flipping in the form of a connecting rod mechanism disclosed in Example 1 of the present invention.

[0032] Figure 7 It is a schematic diagram of the limiting mechanism in Example 1 of the present invention.

[0033] Figure 8 Schematic diagram of the worm gear self-locking structure in Example 1 of the present invention

[0034] Fig. 9 It is a schematic diagram of the structure of the chain transmission mechanism disclosed in Example 2 of the present invention.

[0035] In the figure: A represents the direction "forward", and B represents the direction "backward".

[0036] 101. hull; 102. wave glider; 201. limit mechanism; 301. servo; 302. rocker; 303. long connecting rod; 304. short connecting rod; 305. worm gear self-locking structure; 401. driving wheel; 402. chain; 403. driven wheel; 404. tensioning wheel; 501. limit sleeve; 502. wing plate shaft; 503. wing plate; 504. limit plate; 505. limit slot; 601. worm wheel; 602. worm. DETAILED DESCRIPTION

[0037] It should be noted that the following detailed descriptions are illustrative and intended to provide further explanation of the present invention. Unless otherwise specified, all technical and scientific terms used in the present invention have the same meanings as those commonly understood by those skilled in the art to which the present invention belongs.

[0038] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present invention. As used herein, unless otherwise explicitly stated in the present invention, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "include" and / or "include" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof;

[0039] For the convenience of description, if the words "up", "down", "left" and "right" appear in the present invention, they only indicate that they are consistent with the up, down, left and right directions of the drawings themselves, and do not limit the structure. They are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it cannot be understood as a limitation on the present invention.

[0040] Terminology explanation section: The terms "install", "connect", "connect", "fixed" and the like in the present invention should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integrated connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be an internal connection between two elements, or an interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to the specific circumstances.

[0041] As introduced in the background technology, the existing wave glider has the problem that the steering gear has high working power when turning, which makes the underwater glider and the hull have low autonomy, cannot turn around in time when encountering emergencies, and consumes a lot of energy for turning. In order to solve the above technical problems, the present invention proposes a two-way wave glider for underwater cruise detection.

[0042] Example 1

[0043] In a typical embodiment of the present invention, Figure 1 As shown, this embodiment proposes a wave glider for achieving steering cruise based on flipping wing panels, comprising a hull 101 and a wave glider 102, wherein the hull 101 and the wave glider 102 are connected by ropes; wherein the wave glider 102 is located below the hull 101; wherein the movement of the wave glider depends on a limiting device on the wave glider, wherein the limiting device is mainly composed of a limiting sleeve 501 and a wing panel shaft 502; a limiting slot 505 is arranged inside the limiting sleeve 501, which cooperates with a limiting plate 504 on the wing panel shaft 502, and the wing panel shaft 502 is fixedly connected to the wing panel 503, thereby limiting the relative rotation angle between the wing panel 503 and the limiting sleeve 501. The moving principle is as follows: when the wave crest arrives, the flip wing plate is impacted by the wave and rotates clockwise to the limit angle, the limit plate of the limit device contacts the limit slot, and the flip wing plate continues to be impacted by the wave in the front direction of the flip wing plate at a fixed angle. The whole process converts the energy of the wave into the kinetic energy of the wave glider. When the wave trough arrives, the flip wing plate is impacted by the wave and rotates counterclockwise to the limit angle, the limit plate contacts the limit slot, and the flip wing plate continues to be impacted by the wave in the back direction of the flip wing plate at a fixed angle. This force provides forward power for the entire wave glider.

[0044] Based on the traveling principle of the wave glider mentioned above, this embodiment implements a 180-degree flip of the limiting device of the wave glider wing panel. With the help of the flipping of the limiting device, the wing panel in contact with the rotating limiting device is driven to flip, thereby realizing the flipping and turning of the wing panel, so that the flipped wing panel generates a force on the wave glider in the opposite direction to the original direction, thereby realizing the regulation of the traveling direction.

[0045] Using the above steering principle, this embodiment proposes two steering modes of the wave glider: differential steering with flipping of all wing panels on one side and overall steering with flipping of wing panels on both sides;

[0046] Among them, for the differential steering with all wing panels flipped on one side, the principle is: only flip the wing panel on one side, so that the horizontal thrust provided by the wing panel on this side is different from the force exerted on the wing panel on the other side, thereby realizing differential steering, and it can turn to any angle. When the desired direction of travel is reached, the flipped wing panel is reset, so that the force direction provided by all wing panels is the same, thereby restoring the forward travel state.

[0047] The principle of overall steering with the flipping of the two side wing panels is to flip all the two side wing panels to achieve

[0048] The driving force is transformed in the opposite direction, so that the wave glider can go backwards and change its heading.

[0049] The above-mentioned steering mode by flipping the wing plate can achieve flexible and small-diameter steering, thereby improving the overall maneuvering efficiency of the wave glider.

[0050] The following is a description of the unilateral flip structure design as an example in conjunction with the accompanying drawings; the wave glider 102 comprises a wave glider body and a flip wing system; the flip wing system comprises a connecting rod transmission mechanism, a limiting mechanism 201 and a wing; the limiting mechanism is used to limit the deflection angle of the wing, so as to convert the separation of the water flow impact force into the driving force for advancement; it is used to flip the wing under the action of the driving device, so as to change the direction of the driving force; the connecting rod transmission mechanism is used to connect each limiting mechanism with the driving device, so that a single prime mover can complete the flipping control of multiple wing plates, so as to save the number of prime movers; in order to keep the wing limit mechanism in a fixed position when the wave glider is moving, a locking device needs to be added here;

[0051] This embodiment uses Figure 2 , Figure 3 , Figure 4 The unilateral flipping based on the connecting rod transmission is taken as an example for explanation: wherein the unilateral wing flipping mode is divided into unilateral wing partial flipping (such as Figure 4 As shown) and one-side wing panel is completely flipped (as shown Figure 2 , Figure 3 ). When turning by partially flipping one side of the wing, the driving force on the flipped side is less than the unflipped side, thus achieving turning while moving. In addition, the more wing panels are flipped on one side, the greater the difference between the driving force on that side and the other side, and the smaller the turning radius. Therefore, the turning radius can also be adjusted by controlling the number of flipped wing panels. When all wing panels on one side are flipped, the driving forces provided by the wing panels on both sides are almost equal and opposite, and approximate in-situ turning can be achieved.

[0052] like Figure 2 , Figure 3As shown, the connecting rod transmission mechanism in the flip wing system in this embodiment includes four parts: a steering gear 301, a rocker 302, a long connecting rod 303, a short connecting rod 304, and a worm gear self-locking structure 305; the steering gear 301 is fixed on the body of the wave glider 102, the worm in the worm gear self-locking structure 305 is coaxially connected to the output shaft of the steering gear 301, and the worm 601 in the worm gear self-locking structure 305 is connected to one end of the rocker 302. The steering gear 301 provides power for the mechanism, the rocker 302 is the prime mover, and the other end of the rocker 302 is connected to the long connecting rod 303; a plurality of short connecting rods 304 are hinged on the long connecting rod 303, and each short connecting rod 304 is connected to a corresponding limiting mechanism 201. The limiting mechanism 201 is connected to the wing of the wave glider. When the steering gear 301 applies an axial force to the pulley mechanism, the transmission mechanism drives the rocker 302 to rotate, and the rocker 302 drives the long connecting rod 303 and the short connecting rod 304 to rotate, thereby driving the limit mechanism to rotate to achieve the purpose of reversing the flip wing plate.

[0053] When the single-sided wing panel is in partial flipping mode, the short connecting rod 304 only needs to be connected to part of the wing panel on one side, and the other structures are exactly the same; when the single-sided wing panel is in full flipping mode, the short connecting rod 304 only needs to be connected to all the wing panels on one side, and the other structures are exactly the same.

[0054] In this embodiment, a device with a one-way transmission function is also installed in the above-mentioned connecting rod transmission mechanism. Specifically, corresponding to the worm gear self-locking structure 305 described above, the driving device can only drive the limit device to rotate in one direction, and the limit device then drives the wing plate 503 to rotate; and the wing plate 503 will not reversely rotate the limit device. At the same time, the worm gear structure also plays a deceleration function, reducing the torque of the driving device, using the speed of the driving device to exchange for the high torque of the driving limit device, and reducing the specifications of the driving device. The existence of the worm gear also prevents the wing plate 503 from reacting to the steering gear 301.

[0055] refer to Figure 8 To illustrate the working principle of the worm gear self-locking. Through proper design, a self-locking effect can be achieved between the worm wheel 601 and the worm 602, that is, the worm wheel 601 can only be driven by the worm 602 to rotate, and the worm 602 cannot reversely drive the worm wheel 601 to rotate. At this time, the reaction force of the wing plate on the limit mechanism is transmitted to the worm wheel through the parallel mechanism, and the worm wheel cannot rotate, so the angular position of the limit device at the wing root can be locked.

[0056] In this embodiment, the limiting device of the wave glider wing panel 503 is axially rotated 180 degrees by the transmission device. With the help of the rotation of the limiting device, the wing panel in contact with the rotating limiting device is driven to flip, thereby realizing the flipping direction of the wing panel.

[0057] refer to Figure 2To illustrate the working principle of the connecting rod transmission parallel mechanism. When the servo is in the initial position, i.e. 0°, the mechanism is in the first extreme position, and the entire mechanism is in a stationary state. The movement of the connecting rod mechanism is limited by the worm gear, and the flip angle of the wing is limited by the servo. When the wave glider needs to move in the reverse direction, the servo rotates, driving the worm gear self-locking structure 305 to rotate, and the worm wheel 601 is fixedly connected to the rocker 302, thereby rotating the rocker 302 180°, driving the moving long connecting rod 303 to move, and the long connecting rod 303 and the short connecting rod 304 drive the limit mechanism to rotate 180°, thereby realizing the overall direction change of the wave glider.

[0058] Furthermore, the wave glider proposed in this embodiment can flip all the wing panels on the same side. After flipping, the horizontal thrust received by the wing panel on this side is opposite to the force direction received by the wing panel on the other side, forming a steering torque, which drives the wave glider to turn as a whole, and can turn to any angle.

[0059] Furthermore, the wave glider proposed in this embodiment can also be designed to flip both side wing panels; Figure 5 , Figure 6 As shown, correspondingly, it is only necessary to connect the other side of the long connecting rod to a corresponding plurality of short connecting rods, and each short connecting rod is connected to the limiting device and the wing plate on the other side; Figure 5 This is the schematic diagram before flipping. Figure 6 It is a schematic diagram after flipping. For the overall steering with flipping of the wing panels on both sides, the principle is to achieve equal and opposite transformation of driving force by flipping all the wing panels on both sides, so that the wave glider can reverse and achieve heading change.

[0060] In order to meet the needs of bidirectional driving with the above-mentioned turning mode of the flipping wing panels on both sides, the shape of the floating body connected to the wave glider is designed to be a two-way symmetrical structure. At the same time, in order to make the floating body have a certain directional stability when moving forward in both directions, a deformation structure needs to be designed on the floating body, such as adding a rudder surface in the middle of the floating body, and the rudder surface deflects 180° when turning, changing the longitudinal position of the stabilizer relative to the pulling force point of the glider on the floating body, so that the self-stabilized heading direction changes with the rudder surface. In addition, in order to reduce resistance, the shape of the two-way floating body head is designed to be sharper.

[0061] The design of the wave glider with free steering function should take its stability into consideration. In order to avoid the problems of rolling and pitching of the wave glider, the glider should be as symmetrical as possible, and the center of gravity should be directly below the geometric centroid of the horizontal plane. It is also necessary to increase the distance between the center of gravity and the center of buoyancy of the wave glider to enhance the stability of the wave glider in returning to the center, which can be achieved by adding counterweights and other methods.

[0062] In the above-mentioned steering mode for the wave glider, when the wing panels on one side are turned over, the limit wing panels are connected by connecting rods to achieve the simultaneous transmission of torque to each wing panel and the simultaneous control of the wing panel on one side by the control mechanism. In this mode, the wing panel is rotated 180° by the rotary drive device.

[0063] The above-mentioned limiting mechanism is as follows Figure 7 As shown, it is composed of a limiting sleeve 501 and a wing plate shaft 502; the internal slot of the limiting sleeve 501 cooperates with the limiting plate on the wing plate shaft 502, and the wing plate shaft 502 is fixedly connected to the wing plate 503, thereby limiting the relative rotation angle between the wing plate 503 and the limiting sleeve 501. The limiting sleeve 501 on one side is fixedly connected to the glider body; the limiting sleeve 501 on the other side is supported by the glider body and can rotate axially, and each limiting sleeve 501 on this side is fixedly connected to the above-mentioned short connecting rod 304, and the rocker 302 drives each wing plate shaft 502 to deflect 180 degrees through the long connecting rod 303 and the short connecting rod 304.

[0064] refer to Figure 1 As shown, the hull 101, in order to cooperate with the steering mode of the single-side wing plate rotation, the floating body connected to the wave glider needs to ensure a certain heading stability, and its shape adopts a slender ship-shaped structure or a tadpole-like bionic structure, and in the direction of travel, the pulling force point of the glider on the floating body is set before the resistance center of the floating body, giving it a certain heading stability ability. At the same time, in order to reduce resistance, the shape of the two-way floating body head is designed to be sharper.

[0065] Furthermore, the hull in this embodiment is also equipped with a measurement operation system, an energy supply system, a communication system, etc. These systems can completely adopt existing technologies, so they will not be described in detail in this embodiment.

[0066] Example 2

[0067] This embodiment also provides another wave glider system based on flip wing steering, which is different from the first embodiment in that this embodiment is a chain transmission mechanism; Fig. 9 As shown, the chain transmission mechanism in this embodiment is composed of six parts: a steering gear 301, a worm gear self-locking structure 305, a driving wheel 401, a chain 402, a driven wheel 403, and a tensioning wheel 404; the steering gear 301 is fixed to the wave glider 102, the worm in the worm gear self-locking structure 305 is coaxially connected to the output shaft of the steering gear 301, and the worm wheel 601 in the worm gear self-locking structure 305 is connected to the driving wheel 401, the steering gear provides power for the mechanism, and the driving wheel 401 is the prime mover. The driving wheel 401 provides power to the driven wheel 403 through the chain 402, and the driven wheel 403 is connected to the limiting mechanism, and the rotation of the driven wheel 403 drives the limiting mechanism to rotate coaxially. At the same time, the tensioning wheel 404 ensures that the synchronous belt or chain 402 is always tensioned to ensure the normal operation of the transmission mechanism.

[0068] refer to Figure 4 To illustrate the working principle of the chain transmission mechanism. When the servo is in the initial position, i.e. 0°, the mechanism is in the first extreme position, and the entire mechanism is in a stationary state. The movement of the mechanism is limited by the servo. When the wave glider needs to move in the reverse direction, the servo rotates to drive the worm gear self-locking structure 305 to rotate, and the driving wheel 401 is fixedly connected to the worm wheel 601 in the worm gear self-locking structure 305. The driving wheel 401 rotates, and the driven wheel 403 is driven by the synchronous belt or chain to rotate. The driven wheel 403 drives the limiting mechanism to rotate 180°, thereby realizing the overall direction change of the wave glider.

[0069] Example 3

[0070] This embodiment also provides another wave glider system based on flip wing steering. The difference from Embodiment 2 is that this embodiment replaces the chain drive in Embodiment 2 with a belt drive; replaces the chain 402 in Embodiment 2 with a synchronous belt; and replaces the driven wheel 403 and the tensioning wheel 404 in Embodiment 2 with pulleys.

[0071] The rest is the same as that of Example 1 and will not be described in detail here.

[0072] The wave glider system as a whole consists of two parts: a ship and a wave glider. The ship and the wave glider are connected by cables, which can transmit signals, detect data feedback and act as a towing force between the wave glider and the ship.

[0073] It is worth noting that during the journey, the ship only receives data and guides the small-angle steering, and does not provide power for the wave glider system. At the same time, the steering gear only provides power when changing the direction of travel, and does not provide forward power for the system. The forward power of the system comes from the wave glider converting wave energy into kinetic energy, thereby greatly reducing energy loss.

[0074] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A wave glider system based on flip wing steering, comprising a sea surface float and a wave glider, characterized in that: The wave glider comprises a wave glider body, a transmission mechanism, a limiting mechanism and a wing panel; the left side of the wave glider body is connected to the left wing panel via a left limiting mechanism, and the right side of the wave glider body is connected to the right wing panel via a right limiting mechanism, wherein the left limiting mechanism and / or the right limiting mechanism are connected to a transmission mechanism, and the transmission mechanism drives the left limiting mechanism and / or the right limiting mechanism to achieve a 180° flip, thereby achieving a 180° flip of the left wing panel and / or the right wing panel.

2. The wave glider system based on flip wing steering as claimed in claim 1, characterized in that: The transmission mechanism drives part of the left limiting mechanism and / or the right limiting mechanism to achieve 180° flipping; Alternatively, the transmission mechanism drives all left limiting mechanisms and / or right limiting mechanisms to achieve 180° flipping.

3. The wave glider system based on flip wing steering as claimed in claim 1, characterized in that: The transmission mechanism is a connecting rod transmission structure.

4. The wave glider system based on flip wing steering as claimed in claim 3, characterized in that: The connecting rod transmission structure comprises a prime mover, a rocker and a connecting rod; the prime mover is fixed to the body of the wave glider and connected to one end of the rocker, and the other end of the rocker is connected to the long connecting rod; a plurality of short connecting rods are hinged on the long connecting rod, and each short connecting rod is connected to a corresponding limiting mechanism; the limiting mechanism is connected to the wing plate of the wave glider.

5. The wave glider system based on flip wing steering as claimed in claim 4, characterized in that: It also includes a worm gear self-locking structure, in which the worm is coaxially connected to the output shaft of the prime mover, and the worm wheel in the worm gear self-locking structure is connected to the rocker.

6. The wave glider system based on flip wing steering as claimed in claim 1, characterized in that: The transmission mechanism is a chain transmission structure or a belt transmission structure.

7. The wave glider system based on flip wing steering as claimed in claim 6, characterized in that: The chain transmission structure is composed of a driving wheel, a chain, a driven wheel group and a prime mover; wherein the prime mover is fixed on the wave glider body, the power of the prime mover is input to the driving wheel, and the driving wheel drives the driven wheel connected to the limit mechanism through the chain, so that when the prime mover is running, the limit mechanism is driven to rotate to complete the flipping of the wing plate.

8. The wave glider system based on flip wing steering as claimed in claim 6, characterized in that: The chain transmission structure is composed of a driving wheel, a synchronous belt, a driven wheel group and a prime mover; wherein the prime mover is fixed on the wave glider body, the power of the prime mover is input to the driving wheel, and the driving wheel drives the driven wheel connected to the limit mechanism through the synchronous belt, so that when the prime mover is running, the limit mechanism is driven to rotate to complete the flipping of the wing plate.

9. The wave glider system based on flip wing steering as claimed in claim 6, characterized in that: It also includes a worm gear self-locking structure, in which the worm is coaxially connected to the output shaft of the prime mover, and the worm wheel in the worm gear self-locking structure is connected to the driving wheel.

10. The wave glider system based on flip wing steering as claimed in claim 1, characterized in that: The hull is a slender ship-shaped structure, which is convenient for changing direction.

Images