Underwater glider

Abstract

According to the underwater glider, in the extension direction of the central axis of a dry cabin, the dry cabin comprises a bow cabin section, a sensor cabin section and a stern cabin section, the sensor cabin section is connected between the bow cabin section and the stern cabin section, a front soaking cabin is connected with the bow cabin section, and a rear soaking cabin is connected with the stern cabin section; a fixed battery pack is arranged in the bow cabin section, a buoyancy adjusting assembly is arranged in the front soaking cabin, the fixed battery pack is electrically connected with the buoyancy adjusting assembly, a movable battery pack is arranged in the stern cabin section, the rear soaking cabin is provided with an altimeter and an antenna assembly, and the movable battery pack is heavier than the fixed battery pack. And the movable battery pack is movably mounted in the stern cabin section in the extension direction of the central axis of the dry cabin. According to the underwater glider, the pitching attitude of the underwater glider can be adjusted through the position change of the movable battery pack, so that an adjusting structure does not need to be independently arranged, and the miniaturization design of the underwater glider is conveniently achieved.

Description

Technical Field

[0001] The present application relates to the technical field of underwater gliders, and in particular to an underwater glider. Background Art

[0002] An underwater glider is a kind of equipment used in marine engineering. It is applied in marine observation and is specially used for data detection of the ocean subsurface. During the use of the underwater glider, the pitch attitude of the underwater glider needs to be adjusted. However, the pitch attitude adjustment structure of the existing underwater glider is relatively complicated, resulting in a larger size of the underwater glider. Summary of the invention

[0003] The present application aims to solve at least one of the technical problems existing in the prior art. To this end, the present application proposes an underwater glider, which can adjust the pitch attitude of the underwater glider by changing the position of the movable battery pack, so that there is no need to set up a separate adjustment structure, which is convenient for simplifying the structural setting, and further realizing the miniaturization design of the underwater glider.

[0004] An underwater glider according to an embodiment of the present application includes: a dry tank, in the extension direction of the central axis of the dry tank, the dry tank includes a bow tank section, a sensor tank section and a stern tank section, the sensor tank section is connected between the bow tank section and the stern tank section; a flooded tank, the flooded tank includes a front flooded tank and a rear flooded tank, the front flooded tank is connected to the bow tank section, and the rear flooded tank is connected to the stern tank section; a fixed battery pack is provided in the bow tank section, a buoyancy adjustment component is provided in the front flooded tank, the fixed battery pack is electrically connected to the buoyancy adjustment component, a movable battery pack is provided in the stern tank section, and an altimeter and an antenna component are provided in the rear flooded tank, the movable battery pack is electrically connected to the altimeter and the antenna component; wherein the weight of the movable battery pack is greater than the weight of the fixed battery pack, and the movable battery pack is movably installed in the stern tank section in the extension direction of the central axis of the dry tank.

[0005] According to the underwater glider of the embodiment of the present application, the weight of its movable battery pack is greater than the weight of the fixed battery pack, and the movable battery pack is movably installed in the stern compartment section in the extension direction of the central axis of the dry compartment, so that the position of the center of gravity of the underwater glider can be changed in the extension direction of the central axis of the dry compartment by adjusting the position of the movable battery pack, thereby realizing the adjustment of the pitch attitude of the underwater glider. In this way, the pitch attitude of the underwater glider can be adjusted by utilizing the position change of the movable battery pack, thereby eliminating the need to set up a separate adjustment structure, facilitating the simplification of the structural setting, and realizing the miniaturized design of the underwater glider.

[0006] According to some embodiments of the underwater glider of the present application, a guide rail extending along the axial direction of the stern compartment is provided in the stern compartment, and the movable battery pack is slidably mounted on the guide rail along the extension direction of the central axis of the dry compartment.

[0007] According to some embodiments of the underwater glider of the present application, a mounting frame and a rotatable threaded rod extending axially along the stern section are provided in the stern section, the active battery pack is mounted on the mounting frame, the mounting frame and the inner wall of the stern section are engaged in the circumferential upper limit position of the stern section, and a nut is provided on the mounting frame, and the nut is threadably engaged with the threaded rod.

[0008] According to some embodiments of the underwater glider of the present application, the active battery pack includes a plurality of battery cells, the plurality of battery cells are arranged around the axis of the stern compartment section, and the guide rail and the nut are located between any two adjacent battery cells.

[0009] The underwater glider according to some embodiments of the present application further includes a drive motor, a mounting plate is provided at one end of the active battery pack facing away from the sensor compartment, the mounting plate is connected to the mounting frame, the drive motor is connected to the mounting plate, the threaded rod is passed through the mounting plate and is power-connected to the output end of the drive motor; and / or a flame retardant plate is provided at one end of the active battery pack facing the sensor compartment, the flame retardant plate is connected to the mounting frame.

[0010] The underwater glider according to some embodiments of the present application further includes: a front fairing and a rear fairing, the front fairing being connected to an end of the bow section facing away from the sensor section and the front fairing defines the front flooded compartment, the rear fairing being connected to an end of the stern section facing away from the sensor section and the rear fairing defines the rear flooded compartment.

[0011] The underwater glider according to some embodiments of the present application further includes: a cable throwing assembly, which is installed in the front submersible tank and includes a cable throwing base and a cable throwing block, the cable throwing base is connected to the front fairing, the cable throwing block is movably connected to the cable throwing base, and when the cable throwing block and the cable throwing base are abutted, the outer peripheral wall of the cable throwing block and the outer peripheral wall of the front fairing form a continuous guide surface.

[0012] The underwater glider according to some embodiments of the present application further includes: a steering adjustment component, wherein the steering adjustment system is installed in the rear submersible compartment and is electrically connected to the active battery pack.

[0013] In the underwater glider according to some embodiments of the present application, an extension direction of the altimeter intersects with an extension direction of the central axis of the dry cabin.

[0014] According to some embodiments of the underwater glider of the present application, the sensor compartment is detachably connected between the bow compartment and the stern compartment; and / or the sensor compartment and the bow compartment are sealed together in the radial direction of the dry compartment, and the sensor compartment and the stern compartment are sealed together in the radial direction of the dry compartment.

[0015] Additional aspects and advantages of the present application will be given in part in the description below, and in part will become apparent from the description below, or will be learned through the practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0017] Figure 1 is a schematic diagram of an underwater glider according to some embodiments of the present application;

[0018] Figure 2 is a schematic diagram of an active battery pack according to some embodiments of the present application;

[0019] Figure 3 is a schematic diagram of a cable throwing assembly according to some embodiments of the present application;

[0020] Figure 4 Schematic diagram of a buoyancy adjustment assembly according to some embodiments of the present application.

[0021] Reference numerals:

[0022] Underwater glider 100;

[0023] Dry cabin 10;

[0024] Bow compartment 11; sensor compartment 12; stern compartment 13;

[0025] Fixed battery pack 21; movable battery pack 22; battery cell 221;

[0026] Buoyancy adjustment assembly 23; driving member 231; bellows 232;

[0027] Altimeter 24; antenna assembly 25; guide rail 26; mounting bracket 27;

[0028] Threaded rod 28; nut 29; mounting plate 31; drive motor 32; flame retardant plate 33;

[0029] Front air deflector 34; rear air deflector 35;

[0030] Cable throwing assembly 40; cable throwing base 41; cable throwing block 42; insulating plate 43; steel wire 44; conductor 45;

[0031] Steering adjustment assembly 50;

[0032] Wing 60. DETAILED DESCRIPTION

[0033] In order to better understand the technical solutions provided by the embodiments of this specification, the technical solutions of the embodiments of this specification are described in detail below through the accompanying drawings and specific embodiments. It should be understood that the embodiments of this specification and the specific features in the embodiments are detailed descriptions of the technical solutions of the embodiments of this specification, rather than limitations on the technical solutions of this specification. In the absence of conflict, the embodiments of this specification and the technical features in the embodiments can be combined with each other.

[0034] In this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply that there is any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that the process, method, article or equipment including a series of elements includes not only those elements, but also includes other elements not explicitly listed, or also includes elements inherent to such process, method, article or equipment. In the absence of more restrictions, the elements limited by the statement "comprise one..." do not exclude the existence of other identical elements in the process, method, article or equipment including the elements. The term "more than two" includes two or more than two situations.

[0035] An underwater glider is a kind of equipment used in marine engineering. It is applied in marine observation and is specially used for data detection of the ocean subsurface. During the use of the underwater glider, the pitch attitude of the underwater glider needs to be adjusted. However, the pitch attitude adjustment structure of the existing underwater glider is relatively complicated, resulting in a larger size of the underwater glider.

[0036] In this regard, the present application proposes an underwater glider 100 .

[0037] The following is combined with Figure 1-4 An underwater glider 100 according to an embodiment of the present application is described.

[0038] like Figure 1 As shown, the underwater glider 100 according to the embodiment of the present application includes: a dry cabin 10 and a submerged cabin.

[0039] It can be understood that the dry tank 10 refers to a cabin that is kept dry and does not allow seawater to enter. It is mainly used to accommodate electronic equipment, batteries, etc. It is usually made of pressure-resistant materials and can withstand seawater pressure. Its function is to provide a safe and dry environment to protect sensitive equipment. The flooded tank refers to a cabin that allows seawater to enter. It is mainly used to adjust buoyancy and posture. Its function is to adjust the buoyancy by changing the amount of seawater inside to achieve floating or diving.

[0040] like Figure 1 As shown, in the extension direction of the central axis of the dry cabin 10 (for example Figure 1 In the left and right direction of the ship, the dry tank 10 includes a bow tank section 11, a sensor tank section 12 and a stern tank section 13, and the sensor tank section 12 is connected between the bow tank section 11 and the stern tank section 13.

[0041] The flooding tank includes a front flooding tank and a rear flooding tank. The front flooding tank is connected to the bow tank section 11, and the rear flooding tank is connected to the stern tank section 13. Figure 1 As shown, a fixed battery pack 21 is provided in the bow compartment 11, a buoyancy adjustment assembly 23 is provided in the front flooding compartment, the fixed battery pack 21 is electrically connected to the buoyancy adjustment assembly 23, so as to power the buoyancy adjustment assembly 23 through the fixed battery pack 21, a movable battery pack 22 is provided in the stern compartment 13, an altimeter and an antenna assembly 25 are provided in the rear flooding compartment, and the movable battery pack 22 is electrically connected to the altimeter 24 and the antenna assembly 25, respectively. In this way, the altimeter 24 and the antenna assembly 25 can be powered by the movable battery pack 22.

[0042] It can be understood that the antenna assembly 25 is used for the underwater glider 100 to receive signals from the outside world or transmit signals toward external devices, thereby facilitating the transmission and exchange of information. The altimeter 24 is used to detect the distance between the underwater glider 100 and the bottom of the water, thereby reducing the risk of the underwater glider 100 hitting the bottom.

[0043] The weight of the movable battery pack 22 is greater than that of the fixed battery pack 21 , and the movable battery pack 22 is movably installed in the stern compartment 13 in the extension direction of the central axis of the dry compartment 10 .

[0044] It can be understood that since the weight of the active battery group 22 is greater than the weight of the fixed battery group 21, the change in the position of the active battery group 22 in the dry cabin 10 has a greater impact on the change in the position of the center of gravity of the underwater glider 100 than the change in the position of the fixed battery group 21 in the dry cabin 10.

[0045] In the present application, the movable battery pack 22 is movably installed in the stern compartment section 13 in the extension direction of the central axis of the dry compartment 10, so that the position of the movable battery pack 22 can be adjusted in the extension direction of the central axis of the dry compartment 10, thereby changing the position of the center of gravity of the underwater glider 100 in the extension direction of the central axis of the dry compartment 10, thereby realizing the adjustment of the pitch attitude of the underwater glider 100.

[0046] It is worth noting that since the pitch attitude adjustment of the underwater glider 100 of the present application is achieved by adjusting the position of the active battery group 22 in the extension direction of the central axis of the dry cabin 10, the adjustment range of the pitch attitude of the underwater glider 100 of the present application is relatively small, so that the underwater glider 100 can be used in shallow water areas, thereby expanding the application range of the underwater glider 100.

[0047] In some usage scenarios, after the underwater glider 100 is deployed in the target waters, it first performs a status self-check and transmits the self-check result back to the shore-based platform through the antenna assembly 25. After waiting for the operator to confirm and issue a diving command, the buoyancy adjustment assembly 23 adjusts the displacement volume and drives the active battery pack 22 in the extension direction of the central axis of the dry cabin 10 toward the direction close to the bow cabin section 11 to move the center of gravity of the underwater glider 100 forward. In this way, the underwater glider 100 can be adjusted to a diving posture (head-down posture), and then the underwater glider 100 is controlled to move toward the target waypoint to proceed. The altimeter 24 is used to detect the depth reached by the underwater glider 100 during diving. When the underwater glider 100 needs to surface, the buoyancy adjustment component 23 performs drainage action to drive the active battery pack 22 to move in the direction close to the stern compartment 13 in the extension direction of the central axis of the dry compartment 10, so as to move the center of the underwater glider 100 backward. In this way, the underwater glider 100 is adjusted to a "head-up" posture, and then the underwater glider 100 is controlled to surface. After the underwater glider 100 surfaces and reaches the water surface, the antenna component 25 is used for satellite communication to wait for further instructions.

[0048] According to the underwater glider 100 of the embodiment of the present application, the weight of its movable battery group 22 is greater than the weight of the fixed battery group 21, and the movable battery group 22 is movably installed in the stern compartment 13 in the extension direction of the central axis of the dry compartment 10, so that the position of the center of gravity of the underwater glider 100 can be changed in the extension direction of the central axis of the dry compartment 10 by adjusting the position of the movable battery group 22, thereby realizing the adjustment of the pitch attitude of the underwater glider 100. In this way, the pitch attitude of the underwater glider 100 can be adjusted by utilizing the position change of the movable battery group 22, so that there is no need to set up a separate adjustment structure, which is convenient for simplifying the structural setting, thereby realizing the miniaturized design of the underwater glider 100.

[0049] In some implementations, a guide rail 26 extending along the axial direction of the stern compartment 13 is provided in the stern compartment 13 , and the mobile battery pack 22 is slidably mounted on the guide rail 26 along the extension direction of the central axis of the dry compartment 10 .

[0050] As a result, the movable battery pack 22 can move along the guide rail 26 in the extension direction of the central axis of the dry cabin 10, thereby improving the movement stability of the movable battery pack 22. At the same time, the structural setting of the guide rail 26 is relatively simple, which is conducive to reducing the setting difficulty and production cost.

[0051] In some implementations, such as Figure 2 As shown, the stern compartment 13 (such as Figure 1 A mounting frame 27 and a rotatable threaded rod 28 extending axially along the stern section 13 are provided in the stern section 13, and the mobile battery pack 22 is mounted on the mounting frame 27. The mounting frame 27 and the inner wall of the stern section 13 are matched in the circumferential upper limit direction of the stern section 13, and a nut 29 is provided on the mounting frame 27, and the nut 29 is threadably matched with the threaded rod 28.

[0052] It can be understood that since the mounting frame 27 cooperates with the inner wall of the stern section 13 in the circumferential upper limit of the stern section 13, the nut 29 is fixedly arranged on the mounting frame 27, so that when the threaded rod 28 rotates, the nut 29 moves in the axial direction of the threaded rod 28. In this way, the rotation of the threaded rod 28 can drive the nut 29 to move in the axial direction of the threaded rod 28, and then the nut 29 can drive the active battery pack 22 to move in the axial direction of the threaded rod 28, because the axial direction of the threaded rod 28 is parallel to or coincides with the extension direction of the central axis of the dry cabin 10.

[0053] In this way, the movement of the movable battery pack 22 in the extension direction of the central axis of the dry cabin 10 can be achieved through the screw cooperation of the nut 29 and the threaded rod 28, and the movement mode of the above-mentioned screw cooperation is relatively simple, which is conducive to reducing the difficulty of setting and the movement of the screw cooperation is relatively stable, thereby facilitating the enhancement of the movement stability of the movable battery pack 22.

[0054] In some implementations, such as Figure 1 As shown, the dry cabin 10 is provided with wings 60 so that when the underwater glider 100 moves underwater, the wings 60 can be used to maintain balance, thereby enhancing the movement stability of the underwater glider 100.

[0055] In some implementations, such as Figure 2 As shown, the mobile battery pack 22 includes a plurality of battery cells 221 , and the plurality of battery cells 221 are arranged around the axis of the stern compartment 13 , and the guide rail 26 and the nut 29 are located between any two adjacent battery cells 221 .

[0056] Therefore, the arrangement of the guide rail 26 and the nut 29 can utilize the space between any two adjacent battery cells 221, thereby improving space utilization. At the same time, the guide rail 26 and the nut 29 are located between any two adjacent battery cells 221, making the structural arrangement more compact, which is conducive to realizing the miniaturized design of the underwater glider 100.

[0057] In some embodiments, the underwater glider 100 also includes a driving motor 32, a mounting plate 31 is provided at the end of the active battery pack 22 facing away from the sensor compartment 12, the mounting plate 31 is connected to the mounting frame 27, the driving motor 32 is connected to the mounting plate 31, and the threaded rod 28 is passed through the mounting plate 31 and connected to the output end of the driving motor 32 for power connection.

[0058] Therefore, a mounting plate 31 is provided to provide an installation space for the arrangement of the drive motor 32 and the threaded rod 28, and the threaded rod 28 is passed through the mounting plate 31 and is power-connected with the output end of the drive motor 32, so as to reduce the difficulty of connecting the threaded rod 28 with the output end of the drive motor 32. In particular, the threaded rod 28 is passed through the mounting plate 31, so that the mounting plate 31 can play a certain supporting role on the threaded rod 28, thereby enhancing the structural stability of the threaded rod 28.

[0059] And / or a flame retardant plate 33 is provided at one end of the mobile battery group 22 facing the sensor compartment 12, and the flame retardant plate 33 is connected to the mounting bracket 27. In this way, when the mobile battery group 22 moves toward the sensor compartment 12, the flame retardant plate 33 can be utilized to provide a certain degree of protection for the front end of the mobile battery group 22, so as to avoid interference of other structures with the movement of the mobile battery group 22, thereby reducing the risk of fire of the mobile battery group 22 due to impact.

[0060] In particular, the flame retardant plate 33 is made of flame retardant material, so that even when a fire occurs in the mobile battery pack 22, the flame retardant plate 33 can play a certain role in blocking the spread of the fire, thereby reducing the risk of fire.

[0061] In some embodiments, the underwater glider 100 further includes: a front fairing 34 and a rear fairing 35, wherein the front fairing 34 is connected to an end of the bow section 11 facing away from the sensor section 12 and defines a front flooded compartment, and the rear fairing 35 is connected to an end of the stern section 13 facing away from the sensor section 12 and defines a rear flooded compartment.

[0062] Therefore, by providing the front fairing 34, when the underwater glider 100 moves forward underwater, the front fairing 34 can be used to reduce the resistance of the water, thereby ensuring the forward movement of the underwater glider 100; and by providing the rear fairing 35, when the underwater glider 100 moves backward underwater, the rear fairing 35 can be used to reduce the resistance of the water, thereby ensuring the backward movement of the underwater glider 100.

[0063] In some implementations, such as Figure 1 As shown, the underwater glider 100 further includes: a cable throwing assembly 40, which is installed in the front immersion compartment. Figure 3 As shown, the cable throwing assembly 40 includes a cable throwing base 41 and a cable throwing block 42. The cable throwing base 41 is connected to the front air guide cover 34, and the cable throwing block 42 is movably connected to the cable throwing base 41. Figure 1 As shown, when the cable throwing block 42 abuts against the cable throwing base 41 , the outer peripheral wall of the cable throwing block 42 and the outer peripheral wall of the front air guide cover 34 form a continuous air guide surface.

[0064] It is understandable that when the underwater glider 100 needs to be temporarily docked or connected to other underwater equipment, the cable throwing block 42 can be thrown out to make the cable throwing block 42 sink to the bottom of the water or connect to other underwater equipment, thereby achieving temporary fixation of the underwater glider 100 and connection with other equipment.

[0065] Furthermore, when the cable throwing block 42 abuts against the cable throwing base 41, the outer peripheral wall of the cable throwing block 42 and the outer peripheral wall of the front fairing 34 form a continuous guide surface, so that the guide effect at the front fairing 34 will not be affected, so that when the underwater glider 100 moves forward underwater, the guide surface can be used to reduce the water resistance, thereby ensuring the forward movement of the underwater glider 100.

[0066] In some embodiments, the cable throwing assembly 40 includes a cable throwing base 41, a cable throwing block 42, a steel wire 44, a conductive wire 45 and an insulating plate 43. The cable throwing base 41 is connected to the front air deflector 34, the conductive wire 45 is installed on the cable throwing base 41, the insulating plate 43 is installed on the cable throwing block 42, the steel wire 44 is connected between the insulating plate 43 and the conductive wire 45, and the conductive wire 45 is electrically connected to the fixed battery pack 21, and a flow channel that is the same as the outside world is provided between the cable throwing block 42 and the cable throwing base 41.

[0067] In actual use, the fixed battery pack 21 can be used to energize the steel wire 44 through the wire 45 to cause an electrochemical reaction between the steel wire 44 and water, thereby causing the steel wire 44 to melt. In this way, the cable throwing block 42 can be thrown relative to the cable throwing base 41, thereby achieving temporary fixation of the underwater glider 100 and connection with other equipment.

[0068] In some implementations, such as Figure 1 As shown, the underwater glider 100 further includes a steering adjustment assembly 50 . The steering adjustment system is installed in the rear submersible compartment and is electrically connected to the active battery pack 22 .

[0069] Therefore, the underwater glider 100 can be steered by the steering adjustment assembly 50 , thereby facilitating the adjustment of the movement direction of the underwater glider 100 .

[0070] In some embodiments, the steering adjustment assembly 50 is located at the stern of the underwater glider 100 and is a metal bellows structure. The steering adjustment assembly 50 includes: an outer shell, a first transmission assembly and a second transmission assembly. The first transmission assembly includes a first bellows, a second bellows and a first intermediate connector. The second transmission assembly includes a third bellows, a fourth bellows and a second intermediate connector. The first bellows, the second bellows, the third bellows and the fourth bellows all have hydraulic oil. An end of the first bellows away from the first intermediate connector and an end of the third bellows away from the second intermediate connector are connected through a first connecting channel in the end cover. An end of the second bellows away from the first intermediate connector and an end of the fourth bellows away from the second intermediate connector are connected through a second connecting channel in the end cover. The second intermediate connector is used to be connected to the steering rod of the rudder blade assembly to change the navigation direction of the underwater glider 100 by adjusting the rudder blade.

[0071] It can be understood that its driving structure drives the first intermediate connecting piece to move axially along the first bellows, so that the first bellows is folded or unfolded axially, and correspondingly the second bellows is unfolded or folded axially, thereby changing the volume of the first bellows and the volume of the second bellows, and then changing the ratio of the hydraulic oil content in the first bellows and the second bellows. Since the end of the first bellows away from the first intermediate connecting piece and the end of the third bellows away from the second intermediate connecting piece are connected through the first connecting channel in the end cover, the end of the second bellows away from the first intermediate connecting piece and the end of the fourth bellows away from the second intermediate connecting piece are connected through the second connecting channel in the end cover.

[0072] In this way, the ratio of the hydraulic oil content in the third bellows and the fourth bellows can be changed by the flow of hydraulic oil, thereby realizing the driving of the second intermediate connecting member, and then the second intermediate connecting member drives the steering rod to rotate to realize the rotation of the rudder blade. In this way, the angle of the rudder blade can be adjusted, and then the steering of the underwater glider 100 can be realized. The simple structure is conducive to reducing costs. In particular, the arrangement of the first bellows, the second bellows, the third bellows and the fourth bellows makes the power transmission process between the driving structure and the steering rod more stable, and makes the first transmission assembly and the second transmission assembly and the end cover statically sealed, thereby facilitating the enhancement of the sealing of the first transmission assembly and the second transmission assembly, thereby improving the stability of the steering device.

[0073] In some implementations, such as Figure 1As shown, the extension direction of the altimeter 24 intersects with the extension direction of the central axis of the dry tank 10. In other words, the extension direction of the altimeter 24 is not the same as the extension direction of the central axis of the dry tank 10, so that the space occupied by the altimeter 24 in the extension direction of the central axis of the dry tank 10 can be reduced. For example, the extension direction of the altimeter 24 forms an acute angle with the extension direction of the central axis of the dry tank 10, so that the space occupied by the altimeter 24 in the direction perpendicular to the extension direction of the central axis of the dry tank 10 can also be reduced.

[0074] In some implementations, the sensor compartment 12 is detachably connected between the bow compartment 11 and the stern compartment 13. In this way, it is convenient to flexibly select different sensor compartments 12 according to actual use requirements, and it is convenient to replace and repair the sensor compartment 12, thereby reducing the difficulty of replacement and repair.

[0075] In some implementations, the sensor compartment section 12 is sealed and matched with the bow compartment section 11 in the radial direction of the dry compartment 10 , and the sensor compartment section 12 is sealed and matched with the stern compartment section 13 in the radial direction of the dry compartment 10 .

[0076] Thereby, the sealing performance of the connection between the sensor compartment section 12 and the bow compartment section 11 can be enhanced in the radial direction of the dry compartment 10, thereby avoiding the risk of water ingress at the connection between the sensor compartment section 12 and the bow compartment section 11; at the same time, the sealing performance of the connection between the sensor compartment section 12 and the stern compartment section 13 can be enhanced in the radial direction of the dry compartment 10, thereby avoiding the risk of water ingress at the connection between the sensor compartment section 12 and the stern compartment section 13.

[0077] In some implementations, sealing can be achieved by providing a sealing ring or a sealant at the connection, which is not limited here.

[0078] In some embodiments, Figure 4 As shown, the buoyancy adjustment assembly 23 includes a driving member 231 and a bellows 232. Both axial ends of the bellows 232 are closed. The output end of the driving member 231 is penetrated through one axial end of the bellows 232 through a transmission rod and is connected to the other axial end of the bellows 232. The driving member 231 is used to drive the transmission rod to drive the other axial end of the bellows 232 to move closer to or away from one axial end of the bellows 232 in the axial direction of the bellows 232, thereby changing the volume of the bellows 232, and then changing the displacement volume of the bellows 232, thereby realizing the adjustment of the buoyancy of the underwater glider 100.

[0079] It can be understood that the working principle of the buoyancy adjustment assembly 23 of the present application is as follows: in the axial direction of the bellows 21, the driving member 231 drives the transmission rod to drive the other axial end of the bellows 232 to move closer to or farther away from the axial end of the bellows 232 in the axial direction of the bellows 232, that is, to change the axial dimension of the bellows 232, and then change the volume of the drainage space to achieve the buoyancy or diving movement of the underwater glider 100. This arrangement makes the buoyancy adjustment assembly 23 simple in structure, easy to maintain and repair, and low in cost. In particular, the bellows 232 is used as a deformable telescopic shell, and the way the buoyancy adjustment assembly 23 changes the drainage volume is changed to a static seal, thereby increasing the safety of the buoyancy adjustment assembly 23.

[0080] In some embodiments, the antenna assembly 25 includes: a mounting seat, a rotating rod and a plate-shaped box body, the mounting seat is used to be sealed and connected to the stern compartment 13; one end of the rotating rod is rotatably mounted on the mounting seat and the other end is connected to the plate-shaped box body, a radiator is provided in the plate-shaped box body, a first wiring space is formed in the rotating rod, and a cable electrically connected to the radiator is provided in the first wiring space, the antenna assembly 25 has a first state and a second state, in the first state, the orthographic projection of the other end of the rotating rod falls on the outside of the mounting seat, and in the second state, the orthographic projection of the other end of the rotating rod on the mounting seat falls inside the mounting seat; wherein, the connection between the rotating rod and the mounting seat is offset from the geometric center of the mounting seat, and the plane where the plate-shaped box body is located is parallel to the extension direction of the rotation axis of the rotating rod.

[0081] It can be understood that the rotating rod can drive the plate-shaped box body to rotate relative to the mounting seat so that the antenna assembly 25 can switch between the first state and the second state, thereby facilitating the attitude adjustment of the antenna assembly 25 to meet communication requirements, thereby reducing the attitude adjustment requirements of the underwater glider 100 when meeting satellite communication requirements. In particular, when the antenna assembly 25 is in the second state, the positive projection of the other end of the rotating rod on the mounting seat falls within the mounting seat. In this way, the projection of the antenna assembly 25 in the direction from the rotating rod to the mounting seat is smaller, so as to reduce the difficulty of transportation.

[0082] It should be noted that in the above embodiments, the description of each embodiment has its own emphasis, and for parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0083] The above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application.

[0084] Although the preferred embodiments of this specification have been described, those skilled in the art may make additional changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of this specification.

[0085] Obviously, those skilled in the art can make various changes and modifications to this specification without departing from the spirit and scope of this specification. Thus, if these modifications and variations of this specification fall within the scope of the claims of this specification and their equivalents, this specification is also intended to include these modifications and variations.

Claims

1. An underwater glider (100), characterized in that: include: A dry tank (10), wherein in the extension direction of the central axis of the dry tank (10), the dry tank (10) comprises a bow tank section (11), a sensor tank section (12) and a stern tank section (13), and the sensor tank section (12) is connected between the bow tank section (11) and the stern tank section (13); A flooding tank, the flooding tank comprising a front flooding tank and a rear flooding tank, the front flooding tank being connected to the bow tank section (11), and the rear flooding tank being connected to the stern tank section (13); The bow compartment (11) is provided with a fixed battery pack (21), the front flood compartment is provided with a buoyancy adjustment assembly (23), the fixed battery pack (21) is electrically connected to the buoyancy adjustment assembly (23), the stern compartment (13) is provided with a movable battery pack (22), the rear flood compartment is provided with an altimeter and an antenna assembly (25), the movable battery pack (22) is electrically connected to the altimeter (24) and the antenna assembly (25); The weight of the movable battery group (22) is greater than the weight of the fixed battery group (21), and the movable battery group (22) is movably installed in the stern compartment (13) in the extension direction of the central axis of the dry compartment (10).

2. The underwater glider (100) according to claim 1, characterized in that: A guide rail (26) extending axially of the stern compartment (13) is provided in the stern compartment (13), and the movable battery pack (22) is slidably mounted on the guide rail (26) along the extension direction of the central axis of the dry compartment (10).

3. The underwater glider (100) according to claim 2, characterized in that: The stern compartment (13) is provided with a mounting frame (27) and a rotatable threaded rod (28) extending axially along the stern compartment (13); the mobile battery pack (22) is mounted on the mounting frame (27); the mounting frame (27) and the inner wall of the stern compartment (13) are engaged with the circumferential upper limit of the stern compartment (13); and a nut (29) is provided on the mounting frame (27); the nut (29) is threadably engaged with the threaded rod (28).

4. The underwater glider (100) according to claim 3, characterized in that: The mobile battery pack (22) comprises a plurality of battery cells (221), the plurality of battery cells (221) being arranged around the axis of the stern compartment (13), and the guide rail (26) and the nut (29) being located between any two adjacent battery cells (221).

5. The underwater glider (100) according to claim 3, characterized in that: It also includes a driving motor (32), a mounting plate (31) is provided at one end of the movable battery pack (22) away from the sensor compartment (12), the mounting plate (31) is connected to the mounting frame (27), the driving motor (32) is connected to the mounting plate (31), and the threaded rod (28) is passed through the mounting plate (31) and is connected to the output end of the driving motor (32) for power connection; And / or a flame retardant plate (33) is provided at one end of the active battery pack (22) facing the sensor compartment (12), and the flame retardant plate (33) is connected to the mounting frame (27).

6. The underwater glider (100) according to claim 1, characterized in that: Also includes: A front fairing (34) and a rear fairing (35), wherein the front fairing (34) is connected to an end of the bow section (11) facing away from the sensor section (12), and the front fairing (34) defines the front flooding compartment, and the rear fairing (35) is connected to an end of the stern section (13) facing away from the sensor section (12), and the rear fairing (35) defines the rear flooding compartment.

7. The underwater glider (100) according to claim 6, characterized in that: Also includes: A cable throwing assembly (40) is installed in the front flooded compartment and comprises a cable throwing base (41) and a cable throwing block (42). The cable throwing base (41) is connected to the front air guide cover (34). The cable throwing block (42) is movably connected to the cable throwing base (41). When the cable throwing block (42) and the cable throwing base (41) are in contact with each other, the outer peripheral wall of the cable throwing block (42) and the outer peripheral wall of the front air guide cover (34) form a continuous air guide surface.

8. The underwater glider (100) according to claim 1, characterized in that: Also includes: A steering adjustment assembly (50), wherein the steering adjustment system is installed in the rear submersible compartment and is electrically connected to the active battery pack (22).

9. The underwater glider (100) according to claim 1, characterized in that: The extension direction of the altimeter (24) intersects with the extension direction of the central axis of the dry cabin (10).

10. The underwater glider (100) according to any one of claims 1 to 9, characterized in that: The sensor compartment (12) is detachably connected between the bow compartment (11) and the stern compartment (13); And / or the sensor compartment section (12) and the bow compartment section (11) are sealed in a radial direction of the dry compartment (10), and the sensor compartment section (12) and the stern compartment section (13) are sealed in a radial direction of the dry compartment (10).

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