Underwater unmanned vehicle sensing and self-adaptive rudder integrated device based on pressure-torsion metamaterial

Abstract

The invention relates to the technical field of underwater unmanned vehicle sensors and yaw rudders, in particular to an underwater unmanned vehicle sensing and self-adaptive rudder integrated device based on pressure-torsion metamaterials, which comprises an underwater unmanned vehicle, a propeller capable of driving the underwater unmanned vehicle to move is arranged in one end of the underwater unmanned vehicle, and a pressure-torsion metamaterial is arranged in the other end of the underwater unmanned vehicle. A rudder is arranged at the position, close to a propeller, of the bottom end of the underwater unmanned vehicle, a water inlet is formed in the end, away from the propeller, of the underwater unmanned vehicle, a pressing and twisting unit capable of deforming and rotating when the underwater unmanned vehicle moves against ocean current is arranged in the water inlet, and the output end of the pressing and twisting unit is connected with a transmission unit. The pressing and twisting unit can control the angle of the rudder through the transmission unit, so that the underwater vehicle can steer when opposite to the ocean current, a pair of water outlets are formed in the radial position of the underwater unmanned vehicle, the pair of water outlets are symmetrically arranged, and the pair of water outlets are both communicated with the water inlet hole. And the steering is stopped until the device moves along the ocean current.

Description

Technical Field

[0001] The invention relates to the technical field of underwater unmanned vehicle sensors and yaw rudders, in particular to an underwater unmanned vehicle sensor and adaptive rudder integrated device based on compression-torsion metamaterials. Background Art

[0002] With the widespread application of underwater unmanned vehicles in the fields of ocean exploration, environmental monitoring, military reconnaissance, etc., their stability, maneuverability and intelligent adaptability in complex hydrodynamic environments have become research hotspots. As one of the underwater "weapons", underwater unmanned vehicles are good at deep-sea operations and an important main direction of marine science and technology innovation. They have both high cost performance and multi-field application functions. The traditional rudder control system relies on rigid structures and servo motors for attitude adjustment. However, under non-steady-state hydrodynamic conditions such as turbulence and eddy currents, the rigid control system has a lag in response and has large energy consumption and control errors. In addition, the pressure changes and multi-axis force conditions of the underwater environment put forward higher requirements on the adaptability of the sensor system. Traditional rigid sensors are easily disturbed by the flow field, affecting the measurement accuracy. When existing underwater unmanned vehicles take into account energy consumption, control, navigation and other issues, they are usually accompanied by an increase in the attached mass.

[0003] As an artificial structural material, metamaterials achieve physical properties that surpass traditional materials through precisely designed unit structures. In recent years, compression-torsion metamaterials have attracted widespread attention due to their unique mechanical properties. When the structure of traditional materials is subjected to axial compression, its torsional behavior is usually restricted, making it difficult to achieve compression-torsion coupled deformation1. However, compression-torsion metamaterials break through this traditional mechanical limitation. Through a carefully designed unit structure, they can produce controllable torsional deformation when compressed, providing a new solution for adaptive regulation in hydrodynamic environments. Summary of the invention

[0004] In view of the above situation, the present invention provides an integrated underwater unmanned vehicle sensor and adaptive rudder device based on compression-torsion metamaterials: it can control the rudder to cause the underwater unmanned vehicle to deflect when moving against the ocean current, thereby avoiding the opposite ocean current and moving downstream, which can effectively reduce navigation energy consumption and improve the endurance of the underwater unmanned vehicle.

[0005] The present invention provides an integrated underwater unmanned vehicle sensor and adaptive rudder device based on compression-torsion metamaterial, comprising an underwater unmanned vehicle, a propeller capable of driving the underwater unmanned vehicle to move is arranged in one end of the underwater unmanned vehicle, a rudder is arranged near the propeller at the bottom of the underwater unmanned vehicle, a water inlet is provided at the end of the underwater unmanned vehicle away from the propeller, a compression-torsion unit capable of deforming and rotating when the underwater unmanned vehicle moves against the ocean current is arranged in the water inlet, a transmission unit is connected to the output end of the compression-torsion unit, the compression-torsion unit can control the angle of the rudder through the transmission unit, so that the underwater vehicle can turn when going against the ocean current, and a pair of drainage outlets are arranged radially of the underwater unmanned vehicle, the pair of drainage outlets are symmetrically arranged, and the pair of drainage outlets are both connected to the water inlet.

[0006] Preferably, the compression-torsion unit includes a compression-torsion material that can deform and rotate, and the compression-torsion material is composed of a plurality of special-shaped unit cells, each of which is composed of three vertical long beams and six transverse short beams, the three long beams are vertically arranged in an S-shape without curves, and each long beam has the same length and connection angle, and the six transverse short beams are symmetrically installed in a Z-shape in the middle of the long beam in a group of three, and the short beams in the plurality of special-shaped unit cells are connected end to end to form a circular compression-torsion material, and the two ends of the compression-torsion material are respectively fixedly connected with a rotating disk and a driving disk, a sealing disk is fixedly connected to the top of the driving disk, and a movable column is fixedly connected at the center of the bottom end of the sealing disk, the movable column is hexagonal, and a limit sleeve is provided on the surface of the movable column, the bottom end of the limit sleeve passes through the compression-torsion material and contacts with the rotating unit, and the rotating unit can transmit power to the transmission unit when the compression-torsion material is deformed and rotated.

[0007] Preferably, the rotating unit includes an active disk, the top of the active disk is fixedly connected to the bottom of the rotating disk, a rotating sleeve is fixedly connected at the center of the bottom end of the active disk, a bearing is provided below the rotating sleeve, the bottom end of the rotating sleeve is fixedly connected to the inner ring of the bearing, a protective shell is provided on the surface of the bearing, the inner wall of the protective shell is fixedly connected to the outer ring of the bearing, a hexagonal limiting column is fixedly connected at the center of the bottom end of the protective shell, the limiting column passes through the rotating sleeve and the active disk and is clamped in the limiting sleeve, thereby making the movable column and the limiting sleeve unable to rotate, a fixed disk is fixedly connected to the bottom end of the protective shell, the outer wall of the fixed disk is fixedly connected to the inner wall of the underwater unmanned vehicle, a pair of sliding grooves are opened in the circumferential direction of the fixed disk, the pair of sliding grooves are symmetrically arranged, a transmission column is opened at the bottom end of the active disk and the corresponding position of the pair of sliding grooves, and the transmission column passes through the sliding groove and is fixedly connected to a driven disk that can drive the transmission unit to rotate.

[0008] Preferably, the transmission unit includes a driven column, one end of which is fixedly connected to the center of the driven disk, and the other end is fixedly connected to a universal joint, the output end of the universal joint is fixedly connected to a driving gear, the driving gear is meshingly connected to the driven gear, the bottom end of the driven gear is fixedly connected to the center of the circle with a control column, and the bottom end of the control column passes through the underwater unmanned vehicle and is fixedly connected to a rudder.

[0009] Preferably, a frustum-shaped pressurized pipe is fixedly installed in the water inlet, and the narrow opening of the frustum-shaped pressurized pipe is aligned with the driving disk.

[0010] The above technical solution has the following beneficial effects:

[0011] (1) The present invention controls the forward direction of the underwater unmanned vehicle by providing a compression and twisting unit that can sense the direction of the ocean current. When going against the ocean current, the compression and twisting unit can control the angle of the rudder, so that the underwater unmanned vehicle can change its forward direction. When the underwater unmanned vehicle moves along the ocean current, the compression and twisting unit can reset the angle of the rudder, so that the underwater unmanned vehicle can move downstream, thereby reducing navigation energy consumption and improving the endurance of the underwater unmanned vehicle.

[0012] (2) The present invention can effectively increase the impact force of the water flow in the water inlet by arranging a cone-shaped pressure tube at the water inlet, thereby expanding the power acquisition, so that the underwater unmanned vehicle can also have excellent turning force when facing the adverse ocean current in a non-straight line;

[0013] (3) The present invention uses the controllable deformation characteristics of the compression-torsion metamaterial to enable the rudder surface to be adaptively adjusted according to the flow field, so that it can maintain downstream navigation;

[0014] (4) The present invention relies on the passive adaptive deformation capability of the compression-torsion metamaterial itself, which can reduce the reliance on the active servo system, significantly reduce energy consumption, and improve the endurance of underwater unmanned vehicles, and is particularly suitable for long-term, deep-sea missions.

[0015] (5) The present invention can realize the function of ocean current monitoring based on the sensing characteristics of the compression-torsion metamaterial itself;

[0016] (6) The present invention realizes the integration of flow field sensing and rudder surface adjustment, reduces auxiliary structures, optimizes the overall structure, and reduces system weight and manufacturing costs;

[0017] (7) The present invention is not only applicable to autonomous underwater vehicles, but also has wide applicability. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a schematic structural diagram of an integrated device for sensing and adaptive rudder of an underwater unmanned vehicle based on compression-torsion metamaterials of the present invention;

[0019] Figure 2 It is a schematic diagram of the internal structure of the underwater unmanned vehicle sensor and adaptive rudder integrated device based on compression-torsion metamaterials of the present invention;

[0020] Figure 3 A top view of the internal structure of the underwater unmanned vehicle sensor and adaptive rudder integrated device based on compression-torsion metamaterials of the present invention;

[0021] Figure 4 It is a schematic diagram of the structure enlargement of the A position of the integrated device of underwater unmanned vehicle sensing and adaptive rudder based on compression-torsion metamaterials of the present invention;

[0022] Figure 5 It is a schematic diagram of the transmission structure of the underwater unmanned vehicle sensor and adaptive rudder integrated device based on compression-torsion metamaterials of the present invention;

[0023] Figure 6 It is a schematic diagram of the structure of the compression-torsion unit of the underwater unmanned vehicle sensor and adaptive rudder integrated device based on compression-torsion metamaterials of the present invention;

[0024] Figure 7 It is an exploded schematic diagram of the compression-torsion unit structure of the underwater unmanned vehicle sensor and adaptive rudder integrated device based on compression-torsion metamaterials of the present invention;

[0025] Figure 8 A schematic diagram of the compression-torsion material structure of the underwater unmanned vehicle sensor and adaptive rudder integrated device based on compression-torsion metamaterials of the present invention;

[0026] Fig. 9 It is an exploded schematic diagram of the rotating unit structure of the underwater unmanned vehicle sensor and adaptive rudder integrated device based on the compression-torsion metamaterial of the present invention;

[0027] Fig.10 The integrated sensor and adaptive rudder device for underwater unmanned vehicles based on compression-torsion metamaterials of the present invention (a) Top view of thin-walled circular tube compression-torsion metamaterial; (b) Loading condition; (c) Unit cell under loading condition; (d) Half of a unit cell;

[0028] Fig.11 This is an analysis diagram of the relationship between the finite element calculation angle θ1 and the torsion angle of the underwater unmanned vehicle sensor and adaptive rudder integrated device based on the compression-torsion metamaterial of the present invention;

[0029] Fig.12 It is a schematic diagram for verifying the load (strain)-torsion angle coupling relationship of the underwater unmanned vehicle sensor and adaptive rudder integrated device based on compression-torsion metamaterials of the present invention;

[0030] Fig.13 This is a test analysis diagram of the underwater unmanned vehicle sensor and adaptive rudder integrated device based on compression-torsion metamaterials of the present invention;

[0031] Fig.14 It is a schematic diagram of the structure of a thin-walled square tube compression-torsion metamaterial of an integrated device for underwater unmanned vehicle sensing and adaptive rudder based on compression-torsion metamaterials of the present invention;

[0032] Fig.15It is a schematic diagram of the cubic compression-torsion metamaterial structure of the underwater unmanned vehicle sensor and adaptive rudder integrated device based on the compression-torsion metamaterial of the present invention;

[0033] Fig.16 This is a schematic diagram of the thin-walled circular tube compression-torsion metamaterial structure of the underwater unmanned vehicle sensor and adaptive rudder integrated device based on the compression-torsion metamaterial of the present invention.

[0034] Explanation of the numbers in the figure: 1. underwater unmanned vehicle; 12. propeller; 13. rudder; 2. water inlet; 21. outlet; 22. pressurized pipe; 3. compression and torsion unit; 31. compression and torsion material; 32. rotating disk; 33. driving disk; 34. sealing disk; 35. movable column; 36. limiting sleeve; 37. active disk; 38. rotating sleeve; 39. bearing; 310. protective shell; 311. limiting column; 312. fixed disk; 313. slide groove; 314. transmission column; 315. driven disk; 4. transmission unit; 41. driven column; 42. universal joint; 43. driving gear; 44. driven gear. DETAILED DESCRIPTION

[0035] The above and other technical contents, features and effects of the present invention are described in detail below with reference to the attached Figures 1 to 9 It can be clearly presented in the detailed description of the embodiments that the structural contents mentioned in the following embodiments are all referenced to the drawings in the specification.

[0036] Figure 1 , 2 and Figure 3 The schematic diagram shows an integrated underwater unmanned vehicle sensor and adaptive rudder device based on compression-torsion metamaterial, including an underwater unmanned vehicle 1, a propeller 12 capable of driving the underwater unmanned vehicle 1 to move is provided at one end of the underwater unmanned vehicle 1, a rudder 13 is provided at the bottom of the underwater unmanned vehicle 1 near the propeller 12, a water inlet 2 is provided at the end of the underwater unmanned vehicle 1 away from the propeller 12, a compression-torsion unit 3 capable of deforming and rotating when the underwater unmanned vehicle 1 moves against the ocean current is provided in the water inlet 2, the output end of the compression-torsion unit 3 is connected to a transmission unit 4, the compression-torsion unit 3 can control the angle of the rudder 13 through the transmission unit 4, so that the underwater vehicle 1 can turn when going against the ocean current, and a pair of drainage outlets 22 are provided in the radial direction of the underwater unmanned vehicle 1, the pair of drainage outlets 22 are symmetrically arranged, and the pair of drainage outlets 22 are both connected to the water inlet 2.

[0037] In the specific implementation, it is only necessary to put the underwater unmanned vehicle 1 into the water along the ocean current. Under the push of the propeller 12, the underwater unmanned vehicle 1 can move along the ocean current to collect data. At this time, because it is downstream, the water flow entering the water inlet 2 is not much, and it can be easily discharged from the drain 22. The impact force on the compression and twisting unit 3 is not large, so no turning will occur. When the underwater unmanned vehicle 1 moves against the ocean current, the water flow entering the water inlet 2 will increase, thereby increasing the impact on the compression and twisting unit 3. At this time, the compression and twisting unit 3 will be compressed and rotated due to the impact of the water flow, and the rotation of the compression and twisting unit 3 can change the angle of the rudder 13 through the transmission unit 4, thereby enabling the underwater unmanned vehicle 1 to turn. When the direction of the underwater unmanned vehicle 1 is changed back to moving along the ocean current, the water flow entering the water inlet 2 will be reduced, thereby reducing the impact on the compression and twisting unit 3, thereby resetting the compression and twisting unit 3, and the resetting of the compression and twisting unit 3 will drive the rudder 13 to reset, thereby enabling the underwater unmanned vehicle 1 to move stably along the ocean current.

[0038] like Figure 6 , Figure 7 ,and Figure 8 The compression-torsion unit 3 shown includes a compression-torsion material 31 capable of deformation and rotation. The compression-torsion material 31 is composed of a plurality of special-shaped single cells, each of which is composed of three vertical long beams and six horizontal short beams. The three long beams are vertically arranged in an S-shape without curves, and the length and connection angle of each long beam are the same, while the six horizontal short beams are symmetrically installed in a Z-shape in the middle of the long beam in a group of three, and the short beams in the plurality of special-shaped single cells are connected end to end to form a circular compression-torsion material 31. The two ends of the compression-torsion material 31 are respectively fixedly connected with a rotating disk 32 and a driving disk 33, a sealing disk 34 is fixedly connected to the top of the driving disk 33, and a movable column 35 is fixedly connected at the center of the bottom end of the sealing disk 34. The movable column 35 is hexagonal, and a limiting sleeve 36 is sleeved on the surface of the movable column 35. The bottom end of the limiting sleeve 36 passes through the compression-torsion material 31 and contacts with the rotating unit. The rotating unit can transmit power to the transmission unit 4 when the compression-torsion material 31 is deformed and rotated.

[0039] In a specific implementation, when the water flow against the ocean current enters the interior of the underwater unmanned vehicle 1 through the water inlet 2, it will contact the sealing disk 34, thereby pushing the sealing disk 34 to slide in the underwater unmanned vehicle 1, and the sliding of the sealing disk 34 will drive the driving disk 33 and the movable column 35 to move, and the movement of the driving disk 33 will push the compression-torsion material 31 to compress, and when the compression-torsion material 31 is compressed, multiple heterogeneous unit cells inside will be coupled and twisted at the same time, thereby pushing the rotating disk 32 to rotate, and the rotation of the rotating disk 32 will drive the rotating unit to rotate, and the hexagonal structure of the movable column 35 and the limiting sleeve 36 can effectively limit the rotation of the driving disk 33 and the sealing disk 34, so that the movable column 35 and the limiting sleeve 36 can only move vertically and cannot rotate;

[0040] The present invention proposes three types of fold line three-dimensional compression-torsion metamaterials, such as Fig.14 , 15 As shown in 16, three-dimensional compression-torsion metamaterials of thin-walled square tube, cube and thin-walled circular tube can undergo compression-torsion coupling deformation under load. The present invention takes the thin-walled circular tube configuration as an example to explain the theoretical analysis method of compression-torsion coupling deformation, and quantify the relationship between the load (strain) and the torsion angle of the multi-fold line three-dimensional compression-torsion metamaterial structure.

[0041] like Fig.10 , Fig.11 , Fig.12 and Fig.13 As shown in the figure, all six degrees of freedom at the lower end are constrained, and the rotation and displacement degrees of freedom at the upper end are restricted only in the x-axis and y-axis directions, while the freedom in the z-axis direction is released. The load Fz( Fig.10 a, b) When acting on the upper end of the thin-walled circular tube along the z axis, the structure generates a torsional load concentration (τ z ), torsional load concentration couple (F τ , F' τ ) is tangent to the circular boundary ( Fig.10 a, c), according to the symmetry principle of the structure, we can Fig.10 c) Study on chiral unit cells of thin-walled circular tubes to explain their deformation behavior. Based on the equilibrium equation, the unit cell of thin-walled circular tube compression-torsion metamaterial under load F is established. i and bending moment M i Basic force relationship under joint action:

[0042] ∑F i =0,∑M i =0 (1)

[0043] It can be given according to the equilibrium principle and geometric deduction:

[0044]

[0045] Among them, g and f are Fig.10 d, indicating (F z ,F' z ) and (F τ ,F' τ ), the chiral unit cell of the thin-walled circular tube compression-torsion metamaterial can be regarded as a connection of several beams (AB, BC, CD, GF, EF, CE), such as Fig.10 As shown in c and d, the principle of structural symmetry is used again to Fig.10 The half model of the chiral unit cell in d can be analyzed by applying the classical section method. The bending moment equations of the six slender beams (AB, BC, CD, GF, EF, CE) are:

[0046] M 1 (x) = -F z xsinθ 1 +F τ xcosθ 1 x∈(0,a) (3)

[0047] M 2 (x) = -F z asinθ 1 +F τ acosθ 1 +F z xsinθ 2 +F τ xcosθ 2 x∈(0,b) (4)

[0048]

[0049] M 4 (x) = F n xsinθ 4 +M 0 x∈(0,e)

[0050] M 5 (x) = F n esinθ 4 -F n xsinθ 3 +M 0 x∈(0,d) (7)

[0051] M 6 (x) = F n esinθ 4 -F n dsinθ 3 -F n xsinθ 3 +M 0 x∈(0,d)

[0052] In the above formula, AB=a, BC=b, CD=c, DE=d, GF=e respectively refer to the statically indeterminate analysis. The deformation coordination condition is that the angular displacement of points D and G is 0. According to the canonical equation of the force method:

[0053]

[0054] Among them, δ refers to the angular displacement, and the unknown bending moment M can be derived 0 and unknown load F n :

[0055]

[0056] The strain energy of the structure mainly comes from bending deformation, torsional deformation and the work done by the accompanying torque. Then, based on the energy principle, when the mechanical system is subjected to static load, the strain energy V stored in the mechanical system T is equal to the work done by the external generalized force W:

[0057] W=V T (11)

[0058] The total strain energy stored in the structure (V T ):

[0059]

[0060] In formula (12), V Fz for:

[0061]

[0062] V Fτ for:

[0063]

[0064] V F n is:

[0065]

[0066] for:

[0067]

[0068] W Fτ for:

[0069]

[0070] Among them, EI refers to the bending stiffness, E is Young's modulus, and I is the section inertia moment. According to the principle of virtual work, for small deformation, the small virtual displacement δ ui and the small imaginary rotation angle δ θi It is expressed as:

[0071] ∑F i δ ui +∑M i δ θi =0 (18)

[0072] The introduction of Castigliano's second theorem can establish a relationship between the partial derivative of a certain external force (or torque) and the displacement (or angle) corresponding to the direction of the force or torque, where refer to:

[0073]

[0074] Finally, the displacement (Δ z ) and the torsion angle The functional relationship between them is:

[0075]

[0076] The present invention introduces the helix theory into the constructed linear elastic deformation mechanism, and the helix theory formula is listed in formula (21).

[0077]

[0078] in is the twist angle, Δ z It represents the deformation of the structure in the compression direction, R refers to the radius of the helix, and ε refers to the equivalent pitch parameter. The relationship between the torsion angle and the external load is characterized by introducing the helix theory.

[0079] like Figure 6 , Figure 7 and 9 The rotating unit shown includes an active disk 37, the top of the active disk 37 is fixedly connected to the bottom of the rotating disk 32, a rotating sleeve 38 is fixedly connected at the center of the bottom end of the active disk 37, a bearing 39 is provided below the rotating sleeve 38, the bottom end of the rotating sleeve 38 is fixedly connected to the inner ring of the bearing 39, a protective shell 310 is provided on the surface of the bearing 39, the inner wall of the protective shell 310 is fixedly connected to the outer ring of the bearing 39, a hexagonal limiting column 311 is fixedly connected at the center of the bottom end of the protective shell 310, and the limiting column 311 passes through the rotating sleeve 38 and the active disk 37. The protective shell 310 is inserted into the limiting sleeve 36, so that the movable column 35 and the limiting sleeve 36 cannot rotate. The bottom end of the protective shell 310 is fixedly connected to a fixed plate 312, the outer wall of the fixed plate 312 is fixedly connected to the inner wall of the underwater unmanned vehicle 1, and a pair of slide grooves 313 are opened in the circumferential direction of the fixed plate 312, and the pair of slide grooves 313 are symmetrically arranged. A transmission column 314 is opened at the bottom end of the active plate 37 corresponding to the pair of slide grooves 313, and the transmission column 314 passes through the slide groove 313 and is fixedly connected to a driven plate 315 that can drive the transmission unit 4 to rotate.

[0080] In a specific implementation, when the rotating disk 32 rotates, the active disk 37 is driven to rotate, and the rotation of the active disk 37 is driven to rotate the transmission column 314, and the rotation of the transmission column 314 is driven to rotate the driven disk 315, thereby converting the impact force of the water flow into a rotational force to drive the driven disk 315 to rotate;

[0081] In addition, the bearing 39 arranged on the top of the fixed plate 312 can assist the active plate 37 to rotate when the active plate 37 rotates, thereby reducing friction, thereby reducing energy loss and improving energy utilization. The limiting column 311 fixedly connected to the top of the fixed plate 312 can be inserted into the limiting sleeve 36, thereby limiting the rotation of the limiting sleeve 36. The limiting sleeve 36 can limit the rotation of the driving plate 33 and the sealing plate 34, so that the driving plate 33 and the sealing plate 34 can only move in a straight line and cannot rotate.

[0082] like Figure 2 , Figure 3 , Figure 4 and Figure 5 The transmission unit 4 shown includes a driven column 41, one end of which is fixedly connected to the center of the driven disk 315, and the other end is fixedly connected to a universal joint 42, the output end of the universal joint 42 is fixedly connected to a driving gear 43, the driving gear 43 is meshingly connected to a driven gear 44, the bottom end of the driven gear 44 is fixedly connected to a control column 45 at the center, and the bottom end of the control column 45 passes through the underwater unmanned vehicle 1 and is fixedly connected to a rudder 13.

[0083] In a specific implementation, when the driven disc 315 rotates, the driven column 41 is driven to rotate, and the rotation of the driven column 41 drives the universal joint 42 to rotate, and the universal wheel 42 can change the axial power angle of the driven column 41, and transmit the power of the driven column 41 to the driving gear 43, and the rotation of the driving gear 43 drives the driven gear 44 to rotate, and the rotation of the driven gear 44 drives the control column 45 to rotate, and the rotation of the control column 45 drives the rudder 13 to rotate, thereby changing the angle of the rudder 13, and then the underwater unmanned vehicle 1 is turned;

[0084] The present invention adopts a connecting rod mechanism to connect the three-dimensional compression-torsion metamaterial with the auxiliary yaw rudder, so that the compression-torsion structure can drive the yaw rudder to automatically adjust the steering angle after sensing the effect of the ocean current. It is assumed that the geometric parameters of the connecting rod mechanism are set as follows:

[0085] L 1 is the length from the compression-torsion metamaterial to the connecting rod connection point;

[0086] L 2 is the connecting rod length;

[0087] L 3 is the connection length from the connecting rod to the yaw rudder;

[0088] θ p is the rudder angle of the yaw rudder;

[0089] θ t is the torsion angle of the compression-twist metamaterial.

[0090] According to the kinematic relationship of the linkage mechanism, the following constraint equation can be established:

[0091]

[0092] Among them, θ l is the rotation angle of the connecting rod, and θ can be solved from the geometric relationship t , that is, the torsion angle of the compression-twist metamaterial.

[0093] Since the compression-torsion metamaterial undergoes axial compression and torsional deformation simultaneously, the compressive strain ε c It can be expressed as:

[0094]

[0095] Where ΔL is the compression displacement, which can be obtained from the compression stiffness k c , and hydrodynamic load F calculation:

[0096]

[0097] At the same time, the load F is determined by the incoming flow pressure P and the flow area A:

[0098]

[0099] Among them, ρ refers to the fluid density, ν refers to the flow velocity, C d is the resistance coefficient in the compression direction.

[0100] Combining the above formula, we get:

[0101]

[0102] In order to realize the adaptive steering control integration of compression-torsion metamaterials, it is necessary to establish a matching relationship between compression strain, torsion angle and ocean current velocity.

[0103]

[0104] Define the matching factor:

[0105]

[0106] This matching factor characterizes the response coordination of the compression-torsion metamaterial at different flow velocities. By optimizing the material structural parameters (such as stiffness ratio, geometric dimensions, etc.), it can maintain efficient rudder adjustment capability within a specific flow velocity range.

[0107] like Figure 2 and Figure 3 As shown, a frustoconical pressure tube 22 is fixedly installed in the water inlet 21 , and the narrow opening of the frustoconical pressure tube 22 is aligned with the sealing disk 34 .

[0108] In a specific implementation, water flows from the water inlet 21 to the sealing disk 34 through the pressurized pipe 22, impacting the compression and torsion unit 3, so that the underwater unmanned vehicle 1 can stably turn even in a non-linear reverse current.

[0109] In actual use, it is only necessary to put the underwater unmanned vehicle 1 into the water along the ocean current. Under the push of the propeller 12, the underwater unmanned vehicle 1 can move along the ocean current to collect data. When the underwater unmanned vehicle 1 moves against the ocean current, the water flow velocity at the water inlet 2 will increase, and the water flow will rush to the sealing disk 34 through the pressurized pipe 22, thereby pushing the sealing disk 34 to drive the driving disk 33 to move, and the movement of the driving disk 33 will compress the compression-twist material 31, so that the heteromorphic cells in the compression-twist material 31 are compressed and twisted, and the rotation of the compression-twist material 31 will drive the active disk 37 to rotate, and the rotation of the active disk 37 will drive the transmission column 314 to rotate, and the rotation of the transmission column 314 will drive the driven disk 315 to rotate, and the rotation of the driven disk 315 will drive the driven column 41 to rotate, and the driven column 41 The rotation will drive the driving gear 43 to rotate through the universal joint 42, and the rotation of the driving gear 43 will drive the driven gear 44 to rotate, and the rotation of the driven gear 44 will drive the control column 45 to rotate, and the rotation of the control column 45 will change the angle of the rudder 13, thereby turning the underwater unmanned vehicle 1 until the underwater unmanned vehicle 1 moves along the ocean current, and the flow rate of the water entering the water inlet 2 will decrease. At this time, the compression-torsion material 31 will be reset under the push of the special-shaped unit cell, thereby driving the driving disk 33 and the active disk 37 to reset, and the reset of the active disk 37 will drive the reset of the driven disk 315, and the reset of the driven disk 315 will drive the reset of the transmission unit 4, thereby resetting the rudder 13, and then the underwater unmanned vehicle 1 can stop turning and move along the ocean current.

Claims

1. An integrated underwater unmanned vehicle sensor and adaptive rudder device based on compression-torsion metamaterials, comprising an underwater unmanned vehicle (1), wherein one end of the underwater unmanned vehicle (1) is provided with a propeller (12) capable of driving the underwater unmanned vehicle (1) to move, and the bottom end of the underwater unmanned vehicle (1) is provided with a rudder (13) near the propeller (12), characterized in that: An underwater unmanned vehicle (1) is provided with a water inlet (2) at one end away from the propeller (12), and a compression and twisting unit (3) is provided in the water inlet (2) and is capable of deforming and rotating when the underwater unmanned vehicle (1) moves against an ocean current. The output end of the compression and twisting unit (3) is connected to a transmission unit (4), and the compression and twisting unit (3) is capable of controlling the angle of a rudder (13) through the transmission unit (4), thereby enabling the underwater vehicle (1) to turn when moving against an ocean current. A pair of drainage ports (22) are provided at radial locations of the underwater unmanned vehicle (1), the pair of drainage ports (22) are symmetrically arranged, and both of the pair of drainage ports (22) are in communication with the water inlet (2).

2. The integrated underwater unmanned vehicle sensor and adaptive rudder device based on compression-torsion metamaterial according to claim 1 is characterized in that: The compression-torsion unit (3) comprises a compression-torsion material (31) capable of deformation and rotation. The compression-torsion material (31) is composed of a plurality of special-shaped unit cells, each of which is composed of three vertical long beams and six horizontal short beams. The three long beams are arranged vertically in an S-shape without curves, and each long beam has the same length and connection angle. The six horizontal short beams are symmetrically installed in a Z-shape in the middle of the long beams in a group of three. The short beams in the plurality of special-shaped unit cells are connected end to end to form a circular compression-torsion material (31). The compression-torsion material (31) ) are respectively fixedly connected to a rotating disk (32) and a driving disk (33) at both ends, a sealing disk (34) is fixedly connected to the top of the driving disk (33), a movable column (35) is fixedly connected to the center of the bottom end of the sealing disk (34), the movable column (35) is hexagonal, and a limiting sleeve (36) is sleeved on the surface of the movable column (35), the bottom end of the limiting sleeve (36) passes through the compression-torsion material (31) and contacts with a rotating unit, and the rotating unit can transmit power to the transmission unit (4) when the compression-torsion material (31) is deformed and rotated.

3. The underwater unmanned vehicle sensor and adaptive rudder integrated device based on compression-torsion metamaterial according to claim 2, characterized in that: The rotating unit comprises an active disk (37), the top of the active disk (37) is fixedly connected to the bottom of the rotating disk (32), a rotating sleeve (38) is fixedly connected at the center of the bottom end of the active disk (37), a bearing (39) is provided below the rotating sleeve (38), the bottom end of the rotating sleeve (38) is fixedly connected to the inner ring of the bearing (39), a protective shell (310) is provided on the surface of the bearing (39), the inner wall of the protective shell (310) is fixedly connected to the outer ring of the bearing (39), a hexagonal limiting column (311) is fixedly connected to the center of the bottom end of the protective shell (310), and the limiting column (311) passes through the rotating sleeve (38) and the active disk (37) card The protective shell (310) is inserted into the limiting sleeve (36), thereby preventing the movable column (35) and the limiting sleeve (36) from rotating. The bottom end of the protective shell (310) is fixedly connected to a fixed disk (312). The outer wall of the fixed disk (312) is fixedly connected to the inner wall of the underwater unmanned vehicle (1). A pair of slide grooves (313) are circumferentially provided in the fixed disk (312). The pair of slide grooves (313) are symmetrically arranged. A transmission column (314) is provided at the bottom end of the active disk (37) corresponding to the pair of slide grooves (313). The transmission column (314) passes through the slide groove (313) and is fixedly connected to a driven disk (315) capable of driving the transmission unit (4) to rotate.

4. The integrated sensor and adaptive rudder device for underwater unmanned vehicles based on compression-torsion metamaterials according to claim 1, 2 or 3, characterized in that: The transmission unit (4) comprises a driven column (41), one end of the driven column (41) is fixedly connected to the center of a driven disk (315), the other end of the driven column (41) is fixedly connected to a universal joint (42), the output end of the universal joint (42) is fixedly connected to a driving gear (43), the driving gear (43) is meshingly connected to a driven gear (44), the bottom end of the driven gear (44) is fixedly connected to a control column (45) at the center of a circle, and the bottom end of the control column (45) passes through the underwater unmanned vehicle (1) and is fixedly connected to a rudder (13).

5. The integrated underwater unmanned vehicle sensor and adaptive rudder device based on compression-torsion metamaterial according to claim 3 is characterized by: A frustum-shaped pressurizing pipe (22) is fixedly installed in the water inlet (21), and the narrow opening of the frustum-shaped pressurizing pipe (22) is aligned with the driving disk (33).

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