Compact folding type self-locking bearing underwater vehicle variant mechanism and underwater vehicle working method

Abstract

The invention relates to a compact folding type self-locking load-bearing underwater vehicle variant mechanism which comprises at least one columnar vehicle body forming an overall shell of an underwater vehicle. A variant mechanism used for symmetrically unfolding auxiliary propellers of the underwater vehicle on the two axial sides of an overall shell of the underwater vehicle in the radial direction of the cavity or folding the auxiliary propellers into a radial cavity of the overall shell of the underwater vehicle is arranged in the cavity of the columnar vehicle body, and the auxiliary propellers only occupy the radial section space of the columnar vehicle body in the overall shell of the underwater vehicle. The axial section space of the columnar machine body is not occupied, and the underwater space of the underwater vehicle is effectively saved; the invention further provides a working method of the underwater vehicle. The requirement for underwater suspension operation is met, the variant mechanism can enable the underwater vehicle to have precise operation and low-resistance cruising capacity at the same time, the structure is compact, and high modularization is achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of submersibles, in particular to an unmanned autonomous deformable submersible. Background Art

[0002] Submersibles or underwater vehicles are indispensable marine equipment for the development of the marine economy and are a research hotspot in the field of marine equipment. Submersibles are generally divided into two categories: autonomous underwater vehicles and remotely operated underwater vehicles. The former mostly adopts a body of revolution configuration with small flow resistance and is suitable for long-range and long-endurance detection tasks, but it cannot meet the requirements of fine operations; the latter adopts a distributed propulsion configuration, which can meet the requirements of fine operations but cannot meet the requirements of high-speed and long-distance navigation due to reasons such as large flow resistance. In order to combine the advantages of the former and the latter, some scholars have proposed the concept of a variable configuration submersible. The concept of a variable configuration submersible is to integrate two types of vehicles into one platform and realize the conversion of two working modes by changing the shape, so that it has both the capabilities of long-time and large-range cruising and fine operations. One of the key technologies in the design of variable configuration submersibles is the design of the variable mechanism.

[0003] Existing underwater deformation mechanisms mostly adopt an unfolding type with telescopic wings. However, when using this deformation method, a bending moment will be generated when the thruster works, and the magnitude of the bending moment will be affected by material properties, cross-sectional area, and extension length, and the generated moment increases with the extension distance. In contrast, a deformation mechanism with increased structural support has a stronger load-bearing capacity under the same cross-sectional area and mass. Summary of the Invention

[0004] The purpose of the present invention is to avoid the deficiencies of the prior art and provide a compact folding type self-locking load-bearing submersible variable mechanism and a submersible working method with a simple structure, which can effectively realize the free expansion and effective storage of the thruster in the submersible, is structurally compact and highly modular, and improves the accurate operation and low-drag cruising capabilities of the submersible.

[0005] To achieve the above purpose, the technical solution adopted by the present invention is: a compact folding type self-locking load-bearing submersible variable mechanism, including at least one columnar body forming the overall hull of the underwater submersible; a variable mechanism for symmetrically expanding the auxiliary thruster of the submersible on both axial sides of the overall hull of the submersible in the radial direction of the cavity of the columnar body or retracting it into the radial cavity of the overall hull of the submersible is provided in the cavity of the columnar body, so as to realize that in the overall hull of the submersible, the auxiliary thruster only occupies the radial cross-sectional space of the columnar body and does not occupy the axial cross-sectional space of the columnar body, effectively saving the underwater space of the submersible; The variable mechanism includes: a fixed plate radially installed in the cavity of the columnar body and a moving cam arranged radially parallel to the fixed plate, two sets of four-bar mechanisms for expanding and retracting the auxiliary thruster are symmetrically installed at both ends of the fixed plate, and a pair of second sliding holes are symmetrically arranged at both ends of the moving cam; Each four-bar mechanism includes a crank, a connecting rod, a rocker, and a fixed frame that are hinged to each other in sequence; the connecting hinge of the crank and the connecting rod is installed in the second sliding hole, and the auxiliary thruster is installed on the connecting hinge of the connecting rod and the rocker; An active crank is also installed on the fixed plate. One end of the active crank is connected in the first sliding hole on the moving cam, and the other end of the active crank is connected to the steering gear provided on the fixed plate; The steering gear drives the active crank to rotate, so that the active crank drives the moving cam to move up and down through the first sliding hole. The moving cam drives the connecting hinge of the crank and the connecting rod to slide in the second sliding hole. Thus, when the auxiliary thruster is deployed, the steering gear is stationary, and the connecting hinges of the crank and the connecting rod of the two four-bar mechanisms are collinear near the end of the second sliding hole to form a dead point position with the rocker as the active member and self-lock, forming a triangular support structure. When the auxiliary thruster is propelling, the force generated is borne by the triangular support structure and does not directly act on the steering gear. At the same time, the radial retraction of the auxiliary thruster is achieved.

[0006] Further, the first sliding hole is provided in the middle of the moving cam and is a horizontal sliding hole on the moving cam; The pair of second sliding holes are symmetrically arranged on the moving cam on both sides of the first sliding hole, and the second sliding hole is an inclined hole with one end close to both ends of the first sliding hole and the other end extending towards the columnar body. The included angle α between the inclined hole and the radial horizontal line of the columnar body is 35° to 45°, which is used to prevent the material friction self-locking between the connecting hinge of the crank and the connecting rod and the second sliding hole, resulting in the problem of inability to move.

[0007] Further, the active crank is installed in the first sliding hole of the moving cam (3) through a pin and is driven by the steering gear to slide in the first sliding hole.

[0008] Further, when the moving cam drives the four-bar mechanism to deploy, the cam first drives the crank, and then when the crank drives the rocker to rotate to the horizontal position, the crank and the connecting rod are collinear, and the four-bar mechanism forms a triangle, constituting a self-locking structure with load-bearing capacity with the rocker as the active member.

[0009] Further, the fixed plate is fixedly installed in the radial cavity of the columnar body through a mounting frame, and an opening for the deployment and retraction of the auxiliary thruster is also provided on the columnar body.

[0010] Further, the fixed plate is fixedly connected to the mounting frame through fixing holes and bolts.

[0011] Further, a vertical sliding hole is provided on the fixed plate, and a sliding rod is provided on the corresponding moving cam. The sliding rod is slidably arranged in the vertical sliding hole to ensure the stability of the up and down movement of the moving cam, and further ensure the stable deployment and retraction of the four-bar mechanism driving the auxiliary thruster.

[0012] Furthermore, the overall hull of the underwater vehicle is composed of multiple coaxial columnar bodies, and the auxiliary thrusters are arranged in the radial space of the columnar body between two adjacent columnar bodies through a variant mechanism.

[0013] Furthermore, the multiple coaxial columnar bodies form the middle cabin of the underwater vehicle.

[0014] The present invention also provides a working method of an underwater vehicle using the above-mentioned variant mechanism. After the auxiliary thrusters between the multiple coaxial columnar bodies are deployed through the variant mechanism, by adjusting the differential speed of the front and rear auxiliary thrusters, the pitching attitude of the underwater vehicle is achieved; At the same time, by adjusting the differential speed between the auxiliary thrusters on the left and right sides of the relative columnar body, the left and right tilting postures of the underwater vehicle are achieved.

[0015] The beneficial effects of the present invention are as follows: Through the servo motor for the deployment and retraction mechanism, it can be retracted into the interior of the underwater vehicle cabin during cruising, reducing resistance, saving energy, increasing the sailing distance, and achieving high-efficiency cruising; when operating, the auxiliary thrusters are deployed, and at the same time, the self-locking structure is used to maintain the stability of the mechanism, improving the controllability and accurate operation ability of the underwater vehicle during operation, and meeting the requirements of underwater suspension operation. The variant mechanism proposed by the present invention enables the underwater vehicle to have both accurate operation and low-resistance cruising capabilities, with a compact structure and high modularity, and can be directly transplanted into other underwater vehicles. Description of the Drawings

[0016] Figure 1 is a schematic diagram of the present invention; Figure 2 is a schematic diagram of the deployed state of the auxiliary thruster of the present invention; Figure 3 is a schematic diagram of the retracted state of the auxiliary thruster of the present invention; Figure 4 is a schematic diagram of the modular structure of the servo motor of the present invention; Figure 5 is a schematic diagram of the self-locking structure after the auxiliary thruster of the present invention is deployed; Figure 6 is a top view of the present invention applied to an underwater vehicle.

[0017] In the figure: 1 - fixing plate, 11 - fixing hole, 12 - vertical sliding hole, 2 - active crank, 3 - moving cam, 31 - first sliding hole (31), 32 - second sliding hole, 4 - four-bar mechanism, 41 - crank, 42 - connecting rod, 43 - rocker, 44 - fixing frame, 5 - servo motor, 6 - auxiliary thruster, 7 - mounting frame, 8 - columnar body. Detailed Embodiments

[0018] The principles and features of the present invention will be described below in conjunction with the accompanying drawings. The examples given are only for explaining the present invention and are not intended to limit the scope of the present invention.

[0019] To achieve the above object, the present invention provides the following specific embodiments: Embodiment 1: As Figures 1-6 shown, a compact folding self-locking load-bearing submersible variant mechanism includes at least one columnar body 8 that constitutes the overall hull of the underwater submersible; a variant mechanism for symmetrically deploying the auxiliary thruster 6 of the submersible on both axial sides of the overall hull of the submersible in the radial direction of the cavity of the columnar body 8 or retracting it into the radial cavity of the overall hull of the submersible is provided in the cavity of the columnar body 8, so as to realize that in the overall hull of the submersible, the auxiliary thruster 6 only occupies the radial cross-sectional space of the columnar body 8 and does not occupy the axial cross-sectional space of the columnar body 8, effectively saving the underwater space of the submersible; In this embodiment, the overall hull of the underwater submersible is composed of a plurality of coaxially arranged columnar bodies 8. The auxiliary thruster 6 is arranged in the radial space of the columnar body 8 between two adjacent columnar bodies 8 through a variant mechanism. The plurality of coaxially arranged columnar bodies 8 form the middle cabin of the submersible, and variant mechanisms are respectively installed at positions near the bow and stern at both ends of the middle of the submersible, as Figure 1 and Figure 2 shown.

[0020] As Figures 3-6 shown, the variant mechanism includes: as Figure 3 shown, a fixed plate 1 radially installed in the cavity of the columnar body 8 and a moving cam 3 arranged radially parallel to the fixed plate 1. Two sets of four-bar mechanisms 4 for deploying and retracting the auxiliary thruster 6 are symmetrically installed at both ends of the fixed plate 1, as Figure 5 shown. A pair of second sliding holes 32 are symmetrically arranged at both ends of the moving cam 3. The fixed plate 1 is connected to the mounting bracket 7 through fixing holes 11 and bolts and is fixedly installed in the radial cavity of the columnar body 8 through the mounting bracket 7. An opening for the auxiliary thruster 6 to deploy and retract is also provided on the columnar body 8.

[0021] As Figure 4 shown, a pair of second sliding holes 32 are symmetrically arranged on the moving cam 3 on both sides of the first sliding hole 31, and the second sliding hole 32 is an inclined hole with one end close to both ends of the first sliding hole 31 and the other end extending towards the columnar body 8. The included angle α between the inclined hole and the radial horizontal line of the columnar body 8 is 35° to 45°, which is used to prevent the material friction self-locking between the connecting hinge of the crank 41 and the connecting rod 42 and the second sliding hole 32, resulting in the problem of inability to move.

[0022] As Figure 6As shown, each four-bar mechanism 4 includes a crank 41, a connecting rod 42, a rocker 43, and a fixed bracket 44 that are successively hinged to each other in pairs; the connecting hinge of the crank 41 and the connecting rod 42 is installed in the second sliding hole 32, and the auxiliary thruster 6 is installed on the connecting hinge of the connecting rod 42 and the rocker 43; An active crank 2 is also installed on the fixed plate 1. One end of the active crank 2 is connected in the first sliding hole 31 on the moving cam 3, and the other end of the active crank 2 is connected to the servo 5 provided on the fixed plate 1; the first sliding hole 31 is provided in the middle of the moving cam 3 and is a horizontal sliding hole on the moving cam 3; the active crank 2 is installed in the first sliding hole 31 of the moving cam (3) through a pin and is driven by the servo 5 to slide in the first sliding hole 31; A vertical sliding hole 12 is provided on the fixed plate 1. A sliding rod is provided on the moving cam 3 corresponding to the vertical sliding hole 12. The sliding rod is slidably arranged in the vertical sliding hole 12 to ensure the stability of the up and down movement of the moving cam 3, and further ensure the stable deployment and retraction of the auxiliary thruster 6 driven by the four-bar mechanism 4.

[0023] As Figure 5 、 Figure 6 shown, the servo 5 drives the active crank 2 to rotate, so that the active crank 2 drives the moving cam 3 to move up and down through the first sliding hole 31. The moving cam (3) drives the connecting hinge of the crank 41 and the connecting rod 42 to slide in the second sliding hole 32. Thus, when the auxiliary thruster 6 is deployed, the servo 5 is stationary, and the connecting hinges of the cranks 41 and the connecting rods 42 of the two four-bar mechanisms 4 are collinear near the end of the second sliding hole 32 to form a dead point position with the rocker 43 as the active part and self-lock, forming a triangular support structure. When the auxiliary thruster 6 is propelling, the force generated is borne by the triangular support structure and does not directly act on the servo 5. At the same time, the radial retraction of the auxiliary thruster 6 is realized; A further described action is: when the moving cam 3 drives the four-bar mechanism 4 to deploy, the cam 3 first drives the crank 41, and then when the crank 41 drives the rocker 43 to rotate to the horizontal position, the crank 41 and the connecting rod 42 are collinear, and the four-bar mechanism 4 forms a triangle, constituting a self-locking structure with load-bearing capacity with the rocker 43 as the active part.

[0024] In implementation, the present invention is that the servo 5 drives the active crank 2 to rotate from -30° in the contracted state to 90°, driving the moving cam 3 to move upward. The moving cam 3 drives the crank 41 of the four-bar mechanism 4 to rotate counterclockwise, from -56° to -18°, forming a collinear state of the crank 41 and the connecting rod 42. At the same time, when the rocker 43 is used as the active part, the four-bar mechanism 4 composed of the crank 41, the connecting rod 42, the rocker 43, and the fixed bracket 44 is in a self-locking state, as Figure 5 、 6 shown.

[0025] After the variant mechanism is deployed, the submersible 8 switches to the working state. At this time, the force generated when the attitude is adjusted by the control system of the auxiliary thruster 6 is borne by the four-bar mechanism 4. There is no dead point position when the four-bar mechanism 4 is driven by the driving crank 2.

[0026] Embodiment 2: The present invention also provides a working method of a submersible using the variant mechanism of Embodiment 1. After the auxiliary thrusters 6 between multiple coaxially arranged columnar bodies 8 are deployed through the variant mechanism, the pitching attitude of the submersible is achieved by adjusting the differential speed of the front and rear auxiliary thrusters 6; At the same time, the left and right tilt attitudes of the submersible are achieved by adjusting the differential speed between the auxiliary thrusters 6 on the left and right sides of the relative columnar body 8.

[0027] The above are only the preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A compact folding self-locking load-bearing submersible vehicle variant mechanism, characterized in that, It includes at least one columnar body (8) that constitutes the overall hull of the underwater submersible; a variant mechanism is provided in the cavity of the columnar body (8) for symmetrically deploying the auxiliary thruster (6) of the submersible on both axial sides of the overall hull of the submersible in the radial direction of the cavity or retracting it into the radial cavity of the overall hull of the submersible, so as to realize that within the overall hull of the submersible, the auxiliary thruster (6) only occupies the radial cross-sectional space of the columnar body (8) and does not occupy the axial cross-sectional space of the columnar body (8), effectively saving the underwater space of the submersible; The variant mechanism described above includes: a fixed plate (1) radially installed in the cavity of the columnar body (8) and a moving cam (3) arranged radially parallel to the fixed plate (1). Two sets of four-bar mechanisms (4) for deploying and retracting the auxiliary thruster (6) are symmetrically installed at both ends of the fixed plate (1), and a pair of second sliding holes (32) are symmetrically arranged at both ends of the moving cam (3); Each set of four-bar mechanism (4) includes a crank (41), a connecting rod (42), a rocker (43) and a fixed bracket (44) that are successively hinged to each other in pairs; the connecting hinge of the crank (41) and the connecting rod (42) is installed in the second sliding hole (32), and the auxiliary thruster (6) is installed at the connecting hinge of the connecting rod (42) and the rocker (43); An active crank (2) is also installed on the fixed plate (1). One end of the active crank (2) is connected in the first sliding hole (31) on the moving cam (3), and the other end of the active crank (2) is connected to a steering gear (5) provided on the fixed plate (1); The steering gear (5) drives the active crank (2) to rotate, so that the active crank (2) drives the moving cam (3) to move up and down through the first sliding hole (31). The moving cam (3) drives the connecting hinge of the crank (41) and the connecting rod (42) to slide in the second sliding hole (32). Thus, when the auxiliary thruster (6) is deployed, the steering gear (5) is stationary, and the connecting hinge of the crank (41) and the connecting rod (42) of the two sets of four-bar mechanisms (4) forms a dead point position with the rocker (43) as the active member and self-locks at the end near the second sliding hole (32), forming a triangular support structure. When the auxiliary thruster (6) is propelling, the force generated is borne by the triangular support structure and does not directly act on the steering gear (5). At the same time, the auxiliary thruster (6) is retracted in the radial direction.

2. The compact folding self-locking load-bearing submersible vehicle variant mechanism according to claim 1, characterized in that, The first sliding hole (31) is provided in the middle of the moving cam (3) and is a horizontal sliding hole on the moving cam (3); The pair of second sliding holes (32) are symmetrically arranged on the moving cam (3) on both sides of the first sliding hole (31), and the second sliding hole (32) is an inclined hole with one end close to both ends of the first sliding hole (31) and the other end extending towards the columnar body (8). The angle α between the inclined hole and the radial horizontal line of the columnar body (8) is 35° to 45°, which is used to prevent the problem of material friction self-locking between the connecting hinge of the crank (41) and the connecting rod (42) and the second sliding hole (32), resulting in inability to move.

3. The compact folding self-locking load-bearing submersible vehicle variant mechanism according to claim 1, characterized in that, The active crank (2) is installed in the first sliding hole (31) of the moving cam (3) through a pin and is driven by a steering gear (5) to slide in the first sliding hole (31).

4. The compact folding self-locking load-bearing submersible vehicle variant mechanism according to claim 1, characterized in that, When the moving cam (3) drives the four-bar mechanism (4) to unfold, the cam (3) first drives the crank (41), and then when the crank (41) drives the rocker (43) to rotate to the horizontal position, the crank (41) and the connecting rod (42) are collinear, and the four-bar mechanism (4) forms a triangle, constituting a self-locking structure with load-bearing capacity with the rocker (43) as the active member.

5. The compact folding self-locking load-bearing submersible vehicle variant mechanism according to claim 1, characterized in that, The fixed plate (1) is fixedly installed in the radial cavity of the columnar body (8) through the mounting bracket (7), and an opening for the auxiliary thruster (6) to unfold and fold is also provided on the columnar body (8).

6. The variant mechanism of the compact folding self-locking load-bearing submersible vehicle according to claim 1, characterized in that The fixed plate (1) is fixedly connected to the mounting bracket (7) through the fixing holes (11) and bolts.

7. The variant mechanism of the compact folding self-locking load-bearing submersible vehicle according to claim 1, characterized in that, A vertical sliding hole (12) is provided on the fixed plate (1), and a sliding rod is provided on the corresponding moving cam (3) of the vertical sliding hole (12). The sliding rod is slidably arranged in the vertical sliding hole (12) to ensure the stability of the up and down movement of the moving cam (3), and further ensure the stable unfolding and folding of the auxiliary thruster (6) driven by the four-bar mechanism (4).

8. The compact folding self-locking load-bearing submersible vehicle variant mechanism according to any one of claims 1-7, characterized in that, The overall hull of the underwater submersible is composed of a plurality of coaxially arranged columnar bodies (8), and the auxiliary thruster (6) is arranged in the radial space of the columnar body (8) between two columnar bodies (8) through a variant mechanism.

9. The compact folding self-locking load-bearing submersible vehicle variant mechanism according to claim 8, wherein, The plurality of coaxially arranged columnar bodies (8) form the middle cabin of the submersible.

10. A method for operating a submersible vehicle using the variant mechanism as described in claim 8, characterized in that, After the auxiliary thrusters (6) between the plurality of coaxially arranged columnar bodies (8) are unfolded through the variant mechanism, the pitching attitude of the submersible is realized by adjusting the differential speed of the front and rear auxiliary thrusters (6); At the same time, the left and right tilting attitudes of the submersible are realized by adjusting the differential speed between the auxiliary thrusters (6) on the left and right sides of the relative columnar body (8).

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