Unmanned underwater vehicle

Abstract

The invention relates to an underwater vehicle technology, in particular to an unmanned underwater vehicle. The whole unmanned underwater vehicle is designed to be in a bionic fish shape and comprises a head mechanism, a skeleton structure, a tail mechanism, an equipment box, a marching system and a shell, the head mechanism, the shell and the tail mechanism are sequentially connected, the skeleton structure is arranged in the shell and comprises a plurality of spine bodies and rib assemblies, and the rib assemblies are arranged in the shell. Silica gel is arranged between the spine bodies; the rib assembly and the spine body are in one-to-one correspondence and are connected, the rib structure comprises a bearing and two rib frames connected to the bearing, the two rib frames are connected to the bearing to generate relative rotation, the rib frames are used for supporting and arranging an equipment box, and the equipment box is used for arranging instruments and equipment; the problems that in the prior art, when an underwater vehicle advances underwater, generated resistance is large, advancing is not flexible enough, the space utilization rate is low, the impact resistance and deformation resistance are poor, and tearing and damage are prone to occurring are solved.

Description

Technical Field

[0001] The present invention relates to submersible technology, in particular to an unmanned submersible. Background Art

[0002] An unmanned submersible is an unmanned device that navigates underwater via remote control or automatic control. In marine scientific research, it can be used for marine geological surveys, marine biological surveys, and marine environmental monitoring. In marine resource development, it can assist in the development of seabed minerals, oil, natural gas and other resources. In marine fisheries, it can monitor the dynamics of fish schools and provide scientific guidance for fishery production. It can also be used for underwater archaeology, searching for seabed shipwrecks, ancient ruins, etc., and unmanned submersibles can also be used in the military field.

[0003] The current problems with submersibles are that unmanned submersibles may be impacted by water flow, collide with underwater objects, etc., and the current protection effect of submersibles is not good; the shape design of existing submersibles has great resistance, which leads to high energy consumption during travel, and it is not easy to get out of trouble when trapped on the seabed, and the numerous functional components inside take up a large space, resulting in the overall shape taking up a large space, which further affects its resistance, and the escape and travel effects, making the overall design unreasonable. Summary of the invention

[0004] The present invention provides an unmanned submersible, and the technical problem to be solved is to solve the problems of the prior art submersibles, such as large resistance when traveling underwater, insufficient flexibility in travel, low space utilization, poor impact and deformation resistance, and easy tearing and breakage.

[0005] In order to achieve the above-mentioned invention object, the technical solution adopted by the present invention is as follows: an unmanned underwater vehicle, which is designed in a bionic fish shape as a whole, includes a head mechanism, a skeleton structure, a tail mechanism, an equipment box, a travel system and a shell, wherein the head mechanism, the shell and the tail mechanism are connected in sequence, the skeleton structure is arranged in the shell, the skeleton structure includes a vertebra and a rib assembly, a plurality of vertebrae are provided, and silica gel is arranged between each vertebra, so that when each vertebra swings, a buffer is generated to prevent collision and friction; the rib assembly corresponds to and is connected to the vertebra one by one, the rib structure includes a bearing and two rib frames connected to the bearing, the two rib frames are connected to the bearing to generate relative rotation, the rib frame is used to support and place the equipment box, and the equipment box is used to place instruments and equipment;

[0006] The travel system includes a turbine, a nickel-titanium alloy cable and a control line box. The turbine is arranged on the tail mechanism, connecting plates are arranged on both sides of the vertebrae, and the control line box is arranged on both sides of the tail mechanism. The nickel-titanium alloy cable is rolled up in the control line box, and after the nickel-titanium alloy cable passes through each vertebrae and the connecting plate in turn, it is fixedly connected to the connecting plate of the vertebrae close to the speculation mechanism. A reset spring is arranged between the vertebrae, and the spring sleeve is arranged on the outside of the nickel-titanium alloy cable. When the control line box on the left tightens the cable, the cable on the left becomes shorter, and then the entire vertebrae shifts to the left, thereby realizing the entire submersible turning to the left. Similarly, it can also turn to the right. When the control line device releases the cable, under the elastic force of the spring, each vertebra is reset, and then the submersible goes straight, and the overall left and right swing and steering are realized in the form of wire-guided wire drive, and the left and right swing direction of the unmanned submersible in the water is accurately controlled, so that it can flexibly avoid obstacles, track targets or perform detection tasks according to a predetermined path.

[0007] Furthermore, the wire control box includes a wire take-up wheel and a motor for controlling the retraction and extension of the wire take-up wheel.

[0008] In an embodiment, a battery, a motor, a sonar, and a GPS system are installed in the equipment box.

[0009] In the embodiment, the position of the equipment box is replaced by a water tank, and two water tanks are provided. They are the first water tank and the second water tank, and the two water tanks are arranged at the front and rear ends of the whole to maintain balance; the water tank is provided with a water inlet and a drain, and the water inlet and the drain are provided with solenoid valves, and the water tank is connected to a water pump to control water inlet or water outlet; a posture sensor is provided on the submersible, which can measure the posture information of the submersible in real time, and a microprocessor is provided in the equipment box to receive the data transmitted by the posture sensor, and perform processing and analysis, and according to the preset control algorithm, the opening degree of the valve and the operation degree of the water pump are obtained to achieve precise control of the water inlet and outlet of the water tank. When the head mechanism of the submersible tilts downward, the solenoid valves and water pumps of the first water tank and the second water tank are controlled to increase the water volume of the first water tank and reduce the water volume of the second water tank, change the center of gravity of the submersible, and then adjust the angle.

[0010] Furthermore, pectoral fin bodies are provided on both sides of the shell, which can swing up and down 120 degrees to maintain balance, and the pectoral fin bodies are driven by a motor assembly.

[0011] Furthermore, the head portion is conical in shape, and is provided with a camera, radar, camera light source, and sensor for detecting underwater targets, terrain, environment and other information, providing a basis for navigation, operation and decision-making of the unmanned underwater vehicle.

[0012] Furthermore, the turbines are respectively located on both sides of the tail mechanism to provide power drive.

[0013] Furthermore, a dorsal fin is provided on the top of the shell, a GPS antenna is provided inside the dorsal fin, and the dorsal fin is foldable. In an embodiment, the dorsal fin is driven to rotate and fold by a hydraulic cylinder or a motor.

[0014] Furthermore, the shell is made of twill carbon fiber cloth. When the twill carbon fiber cloth is woven, each carbon fiber yarn is cross-woven to form a diagonal line, and each yarn is cross-connected in the up and down directions, but each intersection has a certain offset. This weaving method makes the connection between the fibers relatively flexible. When subjected to external force, the fibers can slide and bend better with each other, thereby showing good flexibility and plasticity, and can well adapt to the deformation of the shell when the unmanned underwater vehicle swings as a whole.

[0015] Compared with plain weave fabrics, twill fabrics have higher compliance. In the fields of aerospace, automobiles, ships, etc., twill carbon fiber cloth is often used to manufacture parts that need to maintain stable performance under complex working conditions. It is very suitable for unmanned submersibles, which need to swing and other actions underwater.

[0016] Unmanned submersibles may be impacted by water flow or collide with underwater objects underwater. Twill carbon fiber cloth fibers are vertically interwoven, which is more resistant to impact and deformation than unidirectional fibers. Moreover, twill weaves usually have higher strength and shear resistance than plain weaves, which can ensure that the outer shell membrane will not be easily torn or damaged during the swing of the unmanned submersible. The twill weave makes the arrangement between fibers relatively tight, forming a certain physical barrier that can hinder the passage of water molecules. Compared with some loose fabric structures, twill carbon fiber cloth has smaller gaps, and it is more difficult for water to pass through the pores of the fabric.

[0017] Furthermore, a hydraulic connection frame is rotatably arranged between the equipment box and the rib frame for supporting and shock absorbing.

[0018] Furthermore, floating blocks are provided on both sides of the vertebral body.

[0019] Preferably, the equipment box is coated with carbon fiber.

[0020] Preferably, the surface of the head mechanism is frosted.

[0021] The beneficial effects of the present invention are as follows: through the design of the bionic fish-shaped appearance, it has better streamline, and the resistance generated when traveling underwater is smaller, and by setting the drive of the wire-controlled wire drive, it can achieve precise control and adjustment in the left and right directions, and then cooperate with the power of the turbine to make the overall submersible move more flexible and have higher escape ability; by setting the rib assembly, the internal space of the overall device is more efficiently utilized for placing various instruments and equipment, and at the same time has a protective function, providing support and buffering protection for the internal equipment box, and by setting the outer shell of twill carbon fiber cloth, it can better resist impact and deformation, forming a certain physical barrier, which can hinder the passage of water molecules and will not easily cause tearing, damage, etc., which is more suitable for the swinging requirements in this solution. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a three-dimensional diagram of the overall structure of the present invention;

[0023] Figure 2 It is a schematic diagram of the internal mechanism of the present invention;

[0024] Figure 3 It is an internal top view of the present invention;

[0025] Figure 4 It is a structural schematic diagram of the tail mechanism;

[0026] Figure 5 It is a three-dimensional image of the vertebral body;

[0027] Figure 6 This is a cross-sectional view of the vertebral body;

[0028] Figure 7 is a schematic diagram of the structure of the rib assembly;

[0029] Figure 8 It is a water storage tank layout diagram of the present invention.

[0030] Reference table of reference numerals: 1. head mechanism; 2. skeleton structure; 3. tail mechanism; 4. equipment box; 5. travel system; 6. shell; 7. vertebral body; 8. rib assembly; 9. silicone; 10. turbine; 11. connecting plate; 12. nickel-titanium alloy cable; 13. control box; 14. return spring; 15. first water tank; 16. second water tank; 17. bearing; 18. rib frame; 19. floating block; 20. pectoral fin body; 21. camera; 22. camera light source; 23. dorsal fin; 24. hydraulic connecting frame DETAILED DESCRIPTION

[0031] The specific implementation of the present invention is further described below in conjunction with the accompanying drawings, wherein the same components are represented by the same reference numerals.

[0032] It should be noted that the words "front", "rear", "left", "right", "up" and "down" used in the following description refer to directions in the accompanying drawings, and the words "inside" and "outside" refer to directions toward or away from the geometric center of a specific component, respectively.

[0033] In order to make the contents of the present invention more clearly understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention.

[0034] In the present application, the unmanned underwater vehicle is designed in a bionic fish shape as a whole, including a head mechanism 1, a skeleton structure 2, a tail mechanism 3, an equipment box 4, a travel system 5 and a shell 6. The head mechanism 1, the shell 6 and the tail mechanism 3 are connected in sequence, and the skeleton structure 2 is arranged in the shell 6. The skeleton structure 2 includes a vertebra 7 and a rib assembly 8. In this solution, eight vertebrae 7 are arranged, and the vertebrae 7 close to the tail mechanism 3 are smaller than the vertebrae 7 at the center position, and the vertebrae 7 close to the head mechanism 1 are larger than the vertebrae 7 at the center position.

[0035] The travel system 5 includes a turbine 10, a nickel-titanium alloy cable 12 and a control box 13. The turbine 10 is arranged on the tail mechanism 3. Connecting plates 11 are arranged on both sides of the vertebrae 7. The control box is arranged on both sides of the tail mechanism 3. The nickel-titanium alloy cable 12 is rolled up in the control box. The nickel-titanium alloy cable 12 passes through each vertebrae 7 and the connecting plate 11 in turn, and is fixedly connected to the connecting plate 11 of the vertebrae 7 close to the speculation mechanism. A return spring 14 is arranged between the vertebrae 7. The spring sleeve is arranged on the outside of the nickel-titanium alloy cable 12. When the left When the wire control box on the side tightens the cable, the cable on the left becomes shorter, and then the whole vertebra 7 shifts to the left, so that the whole submersible turns left. Similarly, it can also turn right. When the wire controller releases the cable, under the elastic force of the spring, each vertebra 7 is reset, and then the submersible goes straight. In the form of wire-guided drive, the overall left and right swing and turning are achieved, and the left and right swing direction of the unmanned submersible in the water is accurately controlled, so that it can flexibly avoid obstacles, track targets or perform detection tasks according to a predetermined path.

[0036] The rib assembly 8 corresponds to and is connected to the vertebral body 7 one by one. The rib structure includes a bearing 17 and two rib frames 18 connected to the bearing 17. The two rib frames 18 are connected to the bearing 17 to generate relative rotation. The rib frames 18 are used to support and place the equipment box 4. The equipment box 4 is used to place instruments and equipment.

[0037] The wire control box 13 includes a wire take-up wheel and a motor for controlling the take-up wheel to be retracted and extended.

[0038] In the embodiment, the equipment box 4 is installed with batteries, motors, sonar, and a GPS system.

[0039] In the embodiment, the position of the equipment box 4 is replaced by a water tank, and two water tanks are provided. They are the first water tank 15 and the second water tank 16, and the two water tanks are arranged at the front and rear ends of the whole to maintain balance; the water tank is provided with a water inlet and a drain, and the water inlet and the drain are provided with solenoid valves, and the water tank is connected to a water pump to control water inlet or water outlet; a posture sensor is provided on the submersible, which can measure the posture information of the submersible in real time, and a microprocessor is provided in the equipment box 4 to receive the data transmitted by the posture sensor, and perform processing and analysis, and according to the preset control algorithm, the opening degree of the valve and the running degree of the water pump are obtained to achieve precise control of the water inlet and outlet of the water tank. When the head mechanism 1 of the submersible tilts downward, the solenoid valves and water pumps of the first water tank 15 and the second water tank 16 are controlled to increase the water volume of the first water tank 15 and reduce the water volume of the second water tank 16, change the center of gravity of the submersible, and then adjust the angle.

[0040] The shell 6 is provided with pectoral fin bodies 20 on both sides, which can swing up and down 120 degrees to maintain balance. The pectoral fin bodies 20 are driven by a motor assembly.

[0041] The head part is conical in shape, and is provided with a camera 21, a radar, a camera light source 22, and sensors for detecting underwater targets, terrain, environment and other information, providing a basis for the navigation, operation and decision-making of the unmanned underwater vehicle.

[0042] The turbines 10 are respectively located on both sides of the tail mechanism 3 to provide power drive.

[0043] A dorsal fin portion 23 is disposed on the top of the housing 6 , and a GPS antenna 19 is disposed inside the dorsal fin portion 23 . The dorsal fin portion 23 can be folded. In an embodiment, the dorsal fin portion 23 is driven to rotate and fold by a hydraulic cylinder or a motor.

[0044] The shell 6 is made of twill carbon fiber cloth. When the twill carbon fiber cloth is woven, each carbon fiber yarn is cross-woven to form a diagonal line, and each yarn is cross-connected in the up and down directions, but each intersection has a certain offset. This weaving method makes the connection between the fibers relatively flexible. When subjected to external force, the fibers can slide and bend with each other better, thereby showing good flexibility and plasticity, and can well adapt to the deformation of the shell 6 when the unmanned underwater vehicle swings as a whole.

[0045] Compared with plain weave fabrics, twill fabrics have higher compliance. In the fields of aerospace, automobiles, ships, etc., twill carbon fiber cloth is often used to manufacture parts that need to maintain stable performance under complex working conditions. It is very suitable for unmanned submersibles, which need to swing underwater.

[0046] Unmanned submersibles may be impacted by water flow or collide with underwater objects underwater. Twill carbon fiber cloth fibers are vertically interwoven, which is more resistant to impact and deformation than unidirectional fibers. Moreover, twill weaving usually has higher strength and shear resistance than plain weaving, which can ensure that the outer shell membrane will not be easily torn or damaged during the swing of the unmanned submersible. The twill weaving method makes the arrangement between fibers relatively tight, forming a certain physical barrier that can hinder the passage of water molecules. Compared with some loose fabric structures, the gaps in twill carbon fiber cloth are smaller, and it is more difficult for moisture to pass through the pores of the fabric.

[0047] A hydraulic connection frame 24 is provided between the equipment box 4 and the rib frame 18 for supporting and shock absorbing.

[0048] Floating blocks 19 are provided on both sides of the vertebral body 7 .

[0049] The equipment box 4 is coated with carbon fiber.

[0050] The surface of the head mechanism 1 is frosted.

[0051] During the use of the device, the turbine 10 provides power. When the left wire control box tightens the cable, the left cable becomes shorter, and then the whole vertebra 7 shifts to the left, and then the whole submersible turns to the left. Similarly, it can also turn to the right. When the wire control device releases the cable, under the elastic force of the spring, each vertebra 7 resets, and then the submersible goes straight. In the form of wire-driven drive, the whole swings and turns in the left and right directions, and accurately controls the left and right swing direction of the unmanned submersible in the water, so that it can flexibly avoid obstacles, track targets, or detect tasks according to a predetermined path. The motors on both sides accurately control the retraction and release of the cables, as well as the timing of the coordination, and accurately control the left and right swing direction of the unmanned submersible in the water, so that it can flexibly avoid obstacles, track targets, or detect tasks according to a predetermined path; when the attitude sensor detects that the attitude of the submersible is tilted, it sends a signal to the microprocessor, and then processes and analyzes it. According to the preset control algorithm, the degree of opening of the valve and the degree of operation of the water pump are obtained, and the water inlet and outlet of the water tank are accurately controlled. When the submersible head mechanism 1 tilts downward, the solenoid valves and water pumps of the first water tank 15 and the second water tank 16 are controlled to increase the water volume of the first water tank 15 and reduce the water volume of the second water tank 16, thereby changing the center of gravity of the submersible and adjusting the angle.

[0052] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention shall be included in the protection scope of the present invention.

Claims

1. An unmanned underwater vehicle, characterized in that: The overall design is a bionic fish shape, comprising a head mechanism (1), a skeleton structure, a tail mechanism (3), an equipment box (4), a travel system (5) and a shell. The head mechanism (1), the shell and the tail mechanism (3) are connected in sequence. The skeleton structure is arranged in the shell. The skeleton structure comprises a vertebra (7) and a rib assembly (8). A plurality of vertebra (7) are provided. Silica gel is arranged between each vertebra (7). When each vertebra (7) swings, a buffer is generated to prevent collision and friction. Floating blocks (25) are arranged on both sides of the vertebra (7). The rib assembly (8) and the vertebra (7) correspond to each other and are connected one by one. The rib structure comprises a bearing (17) and two rib frames (18) connected to the bearing (17). The two rib frames (18) are connected to the bearing. (17) produces relative rotation, the rib frame (18) is used to support and place the equipment box (4), and the equipment box (4) is used to place instruments and equipment; the travel system (5) includes a turbine (10), a nickel-titanium alloy cable (12) and a control box (13), the turbine (10) is arranged on the tail mechanism (3), connecting plates (11) are arranged on both sides of the vertebrae (7), the control box is arranged on both sides of the tail mechanism (3), the nickel-titanium alloy cable (12) is rolled up in the control box, and the nickel-titanium alloy cable (12) passes through each vertebrae (7) and the connecting plate (11) in turn, and is fixedly connected to the connecting plate (11) of the vertebrae (7) close to the speculation mechanism, and a reset spring (14) is arranged between the vertebrae (7), and the spring sleeve is arranged on the outside of the nickel-titanium alloy cable (12).

2. The unmanned underwater vehicle according to claim 1, characterized in that: The wire control box includes a wire take-up wheel and a motor for controlling the take-up wheel to be retracted and extended.

3. The unmanned underwater vehicle according to claim 1, characterized in that: The device box (4) is replaced by a water tank. Two water tanks are provided, namely a first water tank (15) and a second water tank (16). The two water tanks are arranged at the front and rear ends of the whole. The water tank is provided with a water inlet and a drain. Solenoid valves are provided on the water inlet and the drain. The water tank is connected to a water pump to control water inlet or water discharge. A posture sensor is provided on the submersible. A microprocessor is provided in the device box (4) to receive data transmitted by the posture sensor, process and analyze the data, and obtain the opening degree of the valve and the operation degree of the water pump according to a preset control algorithm.

4. The unmanned underwater vehicle according to claim 1, characterized in that: Pectoral fin bodies are arranged on both sides of the shell, with an up and down swing range of 120 degrees for maintaining balance, and the pectoral fin bodies are driven by a motor assembly.

5. The unmanned underwater vehicle according to claim 1, characterized in that: The head part is conical in shape, and is provided with a camera, a radar, a camera light source, and a sensor for detecting underwater targets, terrain, environment, and other information, so as to provide a basis for the navigation, operation, and decision-making of the unmanned underwater vehicle. The surface of the head mechanism (1) is frosted.

6. The unmanned underwater vehicle according to claim 1, characterized in that: The turbines (10) are respectively located on both sides of the tail mechanism (3).

7. The unmanned underwater vehicle according to claim 4, characterized in that: A dorsal fin is provided on the top of the shell, a GPS antenna is arranged inside the dorsal fin, and the dorsal fin can be folded.

8. The unmanned underwater vehicle according to claim 7, characterized in that: The shell is made of twill carbon fiber cloth.

9. The unmanned underwater vehicle according to claim 1, characterized in that: A hydraulic connection frame is rotatably arranged between the equipment box (4) and the rib frame (18) for supporting and shock absorbing. The equipment box (4) is coated with carbon fiber.

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