A wave glider system based on flip-wing steering

Abstract

The present invention discloses a wave glider system based on flipping wing panels for steering, comprising a sea surface float and a wave glider, wherein the wave glider comprises a wave glider body, a transmission mechanism, a limiting mechanism, and wing panels; 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 180-degree flipping, thereby achieving 180-degree flipping of the left wing panel and / or the right wing panel. The present invention achieves flipping and steering of the wing panel by flipping the limiting mechanism, so that the flipped wing panel generates a force on the wave glider in the opposite direction to the original direction, thereby achieving control of the direction of travel.

Description

Technical Field

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

[0002] A wave glider is a mobile observation platform powered by wave energy. It consists of a surface hull, an underwater glider, and a flexible rope connecting the two with negligible deformation. The surface hull rises and falls with the crests and troughs of the waves, and the underwater glider is pulled up and down by the flexible rope. The glider is equipped with wings that can rotate within a limited angle. As the glider rises and sinks, the wings provide a forward force component, which propels the glider forward horizontally, and in turn drives the surface hull forward via the flexible rope. The system is capable of long-term, large-scale cruises. Combined with onboard hydrographic and hydroacoustic sensors, it can monitor hydrographic and hydroacoustic information on the sea surface and in waters of a certain depth. It has broad application in defense hydroacoustic monitoring, physical ocean environment research, and other fields.

[0003] At present, foreign wave glider technology is mature and can realize the steering and U-turn function, but it basically adopts a dual-servo structure of the hull and the fish body, and forces 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 enabling wave gliders to achieve steering and U-turns. 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 travel direction of the driving mechanism and thus the navigation direction of the gliding mechanism.

[0005] Patent CN202111456354.3 also discloses a wave glider, whose steering control is also achieved by providing a steering member on the underwater drive mechanism to achieve steering control 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 the underwater tractor. As the steering system of the underwater tractor, it can realize steering 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 "turning around". 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 existing technology, the first purpose of the present invention is to provide a wave glider steering solution that achieves direction adjustment by flipping the wing panels; a technology that controls the glider to flip the wing panels by a prime mover such as an electric motor to achieve differential steering of the underwater glider, and then tow the sea surface hull to turn.

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

[0010] A wave glider system for steering based on flipping wing panels comprises a hull and a wave glider, wherein the wave glider comprises a wave glider body, a transmission mechanism, a limiting mechanism and wing panels; 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 180-degree flipping, thereby achieving 180-degree flipping of the left wing panel and / or the right wing panel.

[0011] That is, the aforementioned wave glider system, which uses flipping wing panels for steering, can achieve both differential steering with flipping all wing panels on one side, and overall steering with flipping all wing panels on both sides. The principle behind flipping all wing panels on one side is to flip only the wing panels on one side, so that the horizontal thrust provided by that wing panel differs from the force exerted on the wing panel on the other side, thereby achieving differential steering and enabling steering to any angle. When the desired direction of travel is reached, the flipped wing panel is reset, so that the forces provided by all wing panels are in the same direction, thereby resuming forward travel. Overall steering with flipping all wing panels on both sides works by flipping all wing panels on both sides, achieving an equal and opposite conversion of driving forces, thereby causing the wave glider to reverse and achieve a change in heading.

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

[0013] Specifically, the modes for flipping a single wing panel are divided into partial flipping and full flipping. When using partial flipping for steering, the driving force on the flipped side is less than that on the unflipped side, thus achieving on-the-go steering. Furthermore, the more flipped wing panels on one side, the greater the difference in driving force between that side and the other, and the smaller the steering radius. Therefore, the steering radius can be adjusted by controlling the number of flipped wing panels. When using full flipping for steering, the driving forces provided by both wing panels are almost equal and opposite, allowing for near-in-place steering.

[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 wave glider body and connected to one end of the rocker, and the other end of the rocker is connected to a long connecting rod. Several short connecting rods are hinged to the long connecting rod, each of which is connected to a corresponding limit mechanism. The limit mechanism is connected to the wave glider wing panel.

[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 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, and the power of the prime mover is input to the driving wheel. 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, and the power of the prime mover is input to the driving wheel. 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 present invention has the following beneficial effects.

[0023] 1) The present invention implements a 180-degree flip of the limiting device of the wave glider wing panel. By means of the flipping of the limiting device, the wing panel in contact with the rotating limiting device is driven to flip, thereby realizing flipping and steering of the wing panel. As a result, the flipped wing panel generates a force opposite to the original direction on the wave glider, thereby achieving control of the travel direction. In other words, steering by flipping the wing panel can achieve 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 enhancing 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 of the present invention that realizes steering cruising based on wing panel flipping.

[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 in the form of a 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 Schematic diagram of the limiting mechanism in Example 1 of the present invention.

[0033] Figure 8 This is a schematic diagram of the worm gear self-locking structure in Example 1 of the present invention.

[0034] Figure 9 It is a structural schematic diagram 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. Limiting mechanism; 301. Servo; 302. Rocker; 303. Long connecting rod; 304. Short connecting rod; 305. Worm gear self-locking mechanism; 401. Driving wheel; 402. Chain; 403. Driven wheel; 404. Tensioning pulley; 501. Limiting sleeve; 502. Wing plate shaft; 503. Wing plate; 504. Limiting plate; 505. Limiting slot; 601. Worm gear; 602. Worm. DETAILED DESCRIPTION

[0037] It should be noted that the following detailed description is illustrative and is 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 meaning as 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 clearly indicated 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 "comprising" are used in this specification, they indicate the presence of features, steps, operations, devices, components and / or their combinations;

[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, and do not indicate or imply that the device or component referred to must have a specific orientation, be constructed and operate in a specific orientation. Therefore, they cannot be understood as limiting the present invention.

[0040] Explanation of terms: The terms "install", "connect", "connect", "fix" 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 integral whole; it can be a mechanical connection or an electrical connection, a direct connection, or an indirect connection through an intermediate medium, 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 described in the background, existing wave gliders suffer from high steering power requirements during turns, resulting in limited underwater glider and hull autonomy, inability to turn around in emergencies, and high steering energy consumption. To address these technical issues, the present invention proposes a bidirectional wave glider for underwater patrol and detection.

[0042] Example 1

[0043] In a typical embodiment of the present invention, Figure 1 As shown, this embodiment proposes a wave glider that realizes steering cruising based on flipping wing plates, 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 mainly consists of a limiting sleeve 501 and a wing plate shaft 502; a limiting slot 505 is provided inside the limiting sleeve 501, which cooperates with the limiting plate 504 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. Its moving principle is: 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 affected by the impact force generated 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 kinetic energy for the wave glider to move forward. 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 affected by the impact force generated 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 above-mentioned traveling principle of the wave glider, 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 steering 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 for 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] For differential steering with full wing panel flipping on one side, the principle is to flip only one wing panel on one side, so that the horizontal thrust provided by that wing panel differs from the force exerted on the other wing panel, thereby achieving differential steering and enabling steering to any angle. When the desired direction of travel is reached, the flipped wing panel is reset so that the forces provided by all wing panels are in the same direction, resuming forward travel.

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

[0048] The driving force is transformed in the opposite direction, so that the wave glider can go backward 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 an illustration of a unilateral flip structure design with reference to 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, thereby converting the impact force of the water flow into a driving force for forward movement. The limiting mechanism is used to flip the wing under the action of the driving device, thereby changing 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 driving mechanism can complete the flipping control of multiple wing panels, thereby reducing the number of driving mechanisms. In order to keep the wing limit mechanism in a fixed position when the wave glider is moving, a locking device is required.

[0051] This embodiment uses Figure 2 、 Figure 3 、 Figure 4 The unilateral flipping based on the connecting rod transmission is shown 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 is completely flipped (as shown) Figure 2 、 Figure 3 When partially flipping a single wing panel for steering, the driving force on the flipped side is less than that on the unflipped side, enabling on-the-go steering. Furthermore, the more wing panels flipped on one side, the greater the difference in driving force between that side and the other, and the smaller the steering radius. Therefore, the steering radius can be adjusted by controlling the number of flipped wing panels. When fully flipping a single wing panel, the driving forces provided by both panels are nearly equal and opposite, enabling near-in-place steering.

[0052] like Figure 2 、 Figure 3As shown, the connecting rod transmission mechanism in the flip wing system of 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 to 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. The worm gear 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, and the rocker 302 is the prime mover. The other end of the rocker 302 is connected to the long connecting rod 303. Several short connecting rods 304 are hinged to the long connecting rod 303, each of which is connected to a corresponding limit mechanism 201. The limit mechanism 201 is connected to the wave glider wing. 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 and achieve the purpose of flipping the wing plate.

[0053] When the wing panel is partially flipped on one side, 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 wing panel is fully flipped on one side, 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] This embodiment incorporates a one-way transmission device into the aforementioned connecting rod transmission mechanism. Specifically, this corresponds to the previously described worm gear self-locking structure 305, ensuring that the drive device can only drive the limiter device in a single direction, which in turn drives the wing plate 503. The wing plate 503 cannot reverse the limiter device. Furthermore, the worm gear structure also serves as a speed reducer, reducing the torque of the drive device. This allows the drive device's rotational speed to be used in exchange for the high torque of the limiter device, thus reducing the drive device's specifications. The presence of the worm gear also prevents the wing plate 503 from reacting against the servo 301.

[0055] refer to Figure 8 The following illustrates the working principle of the worm gear self-locking mechanism. Through appropriate design, a self-locking effect can be achieved between the worm wheel 601 and the worm 602. This means that only the worm 602 can drive the worm wheel 601 to rotate, while 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 via the parallel mechanism, preventing the worm wheel from rotating. Therefore, the angular position of the limit mechanism at the wing root can be locked.

[0056] In this embodiment, the limiting device of the wave glider wing panel 503 is rotated 180 degrees axially 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 2The working principle of the connecting rod transmission parallel mechanism is explained below. When the servo is in its initial position (i.e., 0°), the mechanism is in its first extreme position and the entire mechanism is stationary. The worm gear constrains the movement of the connecting rod mechanism, and the servo constrains the flap angle of the wing. When the wave glider needs to travel in the opposite direction, the servo rotates, driving the worm gear self-locking structure 305 to rotate. The worm gear 601 is fixedly connected to the rocker 302, which in turn rotates the rocker 302 180°, moving the long connecting rod 303. The long connecting rod 303 and the short connecting rod 304 drive the limiting mechanism to rotate 180°, thus achieving 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 on the wing panel on this side is opposite to the force on 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 the corresponding multiple 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 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 the driving force by flipping all the wing panels on both sides, so that the wave glider can reverse and achieve heading change.

[0060] To accommodate the bidirectional steering requirements of the aforementioned flip-up wing pattern, the float connecting the wave glider is designed to be bi-directionally symmetrical. Furthermore, to ensure directional stability in both directions, the float requires a deformable structure. For example, a rudder is added to the center of the float. During a turn, the rudder deflects 180°, changing the longitudinal position of the stabilizer relative to the point where the glider pulls on the float, allowing the self-stabilizing heading to change with the rudder. Furthermore, to reduce drag, the bi-directional float's nose is designed to be sharp.

[0061] The design of the aforementioned free-steering wave glider should consider its stability. To avoid roll and pitch issues, the glider should be as symmetrical as possible, with its center of gravity directly below the horizontal geometric centroid. Furthermore, the distance between the center of gravity and the center of buoyancy should be increased to enhance the wave glider's ability to return to its proper centering position. This can be achieved through, for example, the addition of appropriate counterweights.

[0062] In the aforementioned steering mode for the wave glider, when all wing panels on one side are flipped, the limited wing panels are connected by a connecting rod, enabling simultaneous torque transmission to each wing panel and simultaneous control of the wing panel on one side by the control mechanism. In this mode, the rotary drive device rotates the wing panel 180 degrees.

[0063] The above-mentioned limiting mechanism is as follows Figure 7 As shown, it consists 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. Each limiting sleeve 501 on this side is fixedly connected to the short connecting rod 304 mentioned above. The rocker 302 drives each wing plate shaft 502 through the long connecting rod 303 and the short connecting rod 304 to deflect 180 degrees.

[0064] refer to Figure 1 As shown, the hull 101, to accommodate the aforementioned single-wing steering mode, requires the floating body connected to the wave glider to ensure a certain level of directional stability. Its shape adopts a slender boat-like structure or a tadpole-like biomimetic structure. In the direction of travel, the glider's pulling force on the floating body is located in front of the floating body's center of resistance, giving it a certain level of directional stability. Furthermore, to reduce resistance, the bidirectional floating body's head is designed to be sharp.

[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 embodiment 1 in that this embodiment uses a chain transmission mechanism; Figure 9 As shown, the chain drive mechanism in this embodiment consists of six parts: a steering gear 301, a worm gear self-locking structure 305, a driving pulley 401, a chain 402, a driven pulley 403, and a tensioning pulley 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. The worm wheel 601 in the worm gear self-locking structure 305 is connected to the driving pulley 401. The steering gear provides power to the mechanism, and the driving pulley 401 serves as the prime mover. The driving pulley 401 provides power to the driven pulley 403 via the chain 402. The driven pulley 403 is connected to a limiting mechanism, and its rotation drives the limiting mechanism coaxially. Simultaneously, the tensioning pulley 404 ensures that the synchronous belt or chain 402 is always tensioned, ensuring the normal operation of the transmission mechanism.

[0068] refer to Figure 4 The working principle of the chain transmission mechanism is explained below. When the servo is in its initial position, i.e., 0°, the mechanism is in its first extreme position. At this point, the entire mechanism is stationary, with its movement limited by the servo. When the wave glider needs to travel in the reverse direction, the servo rotates, driving the worm gear self-locking structure 305 to rotate. 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, driving the driven wheel 403 through the transmission of the synchronous belt or chain. The driven wheel 403 then drives the limiting mechanism to rotate 180°, thereby achieving 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 Example 2 is that this embodiment replaces the chain drive in Example 2 with a belt drive; replaces the chain 402 in Example 2 with a synchronous belt; and replaces the driven wheel 403 and the tensioning wheel 404 in Example 2 with pulleys.

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

[0072] The wave glider system consists of two parts: a ship and a wave glider. The ship and the wave glider are connected by a cable, which can transmit signals, detect data feedback and provide traction between the wave glider and the ship.

[0073] It's worth noting that the ship only receives data and provides small-angle steering guidance during travel, and does not provide power to the wave glider system. The servo only provides power for turning the system, not for forward propulsion. The system's forward propulsion comes from the wave glider converting wave energy into kinetic energy, significantly reducing energy loss.

[0074] The foregoing description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Those skilled in the art will readily appreciate that various modifications and variations of the present invention are possible. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present invention are intended to be within the scope of protection 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 includes 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; The transmission mechanism is a connecting rod transmission structure; the connecting rod transmission structure includes a prime mover, a rocker, and a connecting rod; the prime mover is fixed to the wave glider body 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, each short connecting rod is connected to a corresponding limiting mechanism; the limiting mechanism is connected to the wave glider wing panel; 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 is connected to the rocker.

2. A wave glider system based on flip-wing steering, comprising a sea surface float and a wave glider, characterized in that: The wave glider includes 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; The transmission mechanism is a chain transmission structure; 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 to 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, completing the flipping of the wing plate; 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 is connected to the driving wheel.

3. A wave glider system based on flip-wing steering, comprising a sea surface float and a wave glider, characterized in that: The wave glider includes 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; The transmission mechanism is a belt drive structure, which is composed of a driving wheel, a synchronous belt, a driven wheel group and a prime mover. The prime mover is fixed to the wave glider body, and the power of the prime mover is input to the driving wheel. 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, completing the flipping of the wing plate. 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 is connected to the driving wheel.

4. The wave glider system based on flip wing steering according to any one of claims 1 to 3, characterized in that: The transmission mechanism drives 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.

5. The wave glider system based on flip wing steering according to any one of claims 1 to 3, characterized in that: The hull is a slender ship-shaped structure, which is convenient for reversing travel.

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