Underwater vehicle based on folding and unfolding structure

Abstract

The underwater vehicle based on the folding and unfolding structure comprises a head, a sealed cabin and a propelling device which are connected with one another, an electronic system, a power supply system and crank connecting rod mechanisms are arranged in the sealed cabin, wedge-shaped cavities are formed in the portions, corresponding to the crank connecting rod mechanisms, of the propelling device, the rear ends of connecting rods penetrate into the wedge-shaped cavities, and the rear ends of the connecting rods penetrate into the wedge-shaped cavities. The tail of the wedge-shaped cavity is of an open structure, the outer surface of the wedge-shaped cavity is provided with folding and unfolding plates rotationally connected with the front end of the propelling device, each folding and unfolding plate is provided with a folding and unfolding piece capable of being passively opened and closed, and the front end of each folding and unfolding plate is provided with a rocker rotationally connected with the rear end of the corresponding connecting rod. The folding and unfolding plates are pushed by the connecting rods to be circularly opened and closed. Through synchronous swinging and non-synchronous swinging of the folding and unfolding plates, water is continuously pushed to the rear part of the wedge-shaped cavity to form thrust and the aircraft is controlled to yaw or pitch, so that the propelling efficiency can be improved, the cavitation noise can be reduced, and high-speed swimming can be realized by simulating the swimming principle of aquatic organisms.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of underwater vehicles, and particularly relates to an underwater vehicle based on a folding structure. BACKGROUND

[0002] Underwater vehicles play an important role in the field of marine science and engineering, including marine resource exploration and development, seabed geological survey, marine environment monitoring, marine biology research, and marine disaster response. Underwater propulsion mechanism is the basis for underwater vehicles and ships to move in the ocean. Currently, propellers are widely used as the main propeller in various types of underwater vehicles or underwater robots. Due to the characteristics of rotational motion, propeller propulsion generates circumferential induced flow, resulting in energy waste and low propulsion efficiency. In addition, the high rotation frequency of the propeller causes cavitation effect, which not only causes corrosion of the propeller, but also brings significant noise. The ducted propeller and pump-jet propulsion evolved from propeller propulsion improve the propulsion efficiency, but still do not change the essential properties of the interaction between propeller and water. Another type of underwater glider uses a low-power method to adjust the difference between gravity and buoyancy to achieve floating and sinking, and adjusts the wing and center of mass to achieve steering. Through this extremely low-power underwater movement strategy, underwater gliders can achieve a cruising range of tens of thousands of kilometers, but the speed is relatively low, and they are mostly used in scenarios where speed is not required.

[0003] In nature, various aquatic organisms such as fish, jellyfish, and squid can move quickly in water with low noise, high maneuverability, and low energy consumption. In recent years, various bionic propellers have been developed based on the movement principles of various aquatic organisms. Bionic fish wave propulsion, combined with tail fins and pectoral fins, achieves high-speed swimming; bionic squid achieves low-frequency propulsion by ejecting water through a jet; and bionic jellyfish achieves intermittent propulsion by intermittently holding water. These clever underwater bionic robots inspired by the movement of underwater organisms simulate the swimming posture of animals, and even use the principle of inverse Karman vortex street, which is not close to the swimming posture of real fish. However, their complex structure and control make them less popular in engineering applications. In addition, the weight of the swinging part containing the driving motor and other components increases the kinetic energy loss of periodic swinging, which reduces the propulsion efficiency of bionic robotic fish in practice. Therefore, in order to overcome the shortcomings of the prior art, there is an urgent need for an underwater vehicle that can reduce energy consumption, improve propulsion efficiency, reduce cavitation noise, and simulate the swimming principle of aquatic organisms to achieve high-speed swimming. SUMMARY

[0004] The present application aims to overcome the shortcomings of the prior art and provide an underwater vehicle that can reduce energy consumption, improve propulsion efficiency, reduce cavitation noise, and simulate the swimming principle of aquatic organisms to achieve high-speed swimming.

[0005] To achieve the above object, the present application is realized by the following technical scheme:

[0006] An underwater vehicle based on folding structure, comprising a head, a sealed cabin and a propulsion device connected with each other, the head is in open state which can be immersed in water, the head is provided with an ultrasonic detector and a water depth sensor, the sealed cabin is provided with an electronic system, a power supply system and a crank connecting rod mechanism, the crank connecting rod mechanism is provided with at least a pair of symmetrically arranged crank connecting rod mechanisms, the crank connecting rod mechanism comprises a motor, a connecting rod and an eccentric flange, each motor is electrically connected with the power supply system, the eccentric flange is connected with the output shaft of the motor, and the eccentric flange is connected with the front end of the connecting rod through a bearing; the propulsion device is provided with a wedge-shaped cavity corresponding to each crank connecting rod mechanism, the rear end of each connecting rod penetrates into the wedge-shaped cavity, and a flexible structure sleeved outside the connecting rod is sealingly connected between the propulsion device and the connecting rod, the tail of the wedge-shaped cavity is in open structure, the outer surface of the wedge-shaped cavity is provided with a folding plate rotatably connected with the front end of the propulsion device, each folding plate is provided with a folding piece which can be passively opened and closed, and the front end of the folding plate is provided with a rocker rotatably connected with the rear end of the connecting rod; when the motor drives the eccentric flange to rotate, the folding plate is pushed by the connecting rod and is cyclically opened and closed.

[0007] Further, the folding piece is rotatably arranged on the folding plate, the rotation range of the folding piece is 90°, the folding plate is provided with a vertical column perpendicular to the folding piece, and each folding piece is abutted with the vertical column in the closed state.

[0008] Further, the crank connecting rod mechanism is provided with two pairs, and the wedge-shaped cavity is provided with four wedge-shaped cavities which are symmetrically arranged in two groups.

[0009] Further, the rear end of the wedge-shaped cavity is fixedly provided with a support rod.

[0010] Further, the propulsion device is provided with a convex column at the port where the connecting rod penetrates into the wedge-shaped cavity, and the flexible structure is a flexible bellows which is inserted between the convex column and the convex column of the connecting rod.

[0011] Further, the ultrasonic detector is installed at the most front end of the head, the lead-out wire of the ultrasonic detector is introduced into the sealed cabin through a water-tight joint and then connected to the electronic system, four counterweight cabins are arranged around the head, small holes are arranged on the outer surface of the head corresponding to each counterweight cabin, and the water depth sensor is installed in the head and contacts with water.

[0012] Further, the power supply system comprises a motor rack, a battery rack and a battery, the motor rack and the battery rack are fixedly arranged in the interior of the sealed cabin, the battery is arranged in the battery rack in blocks, and the motor rack is fixedly connected with each motor.

[0013] Further, the sealing cabin is internally provided with a counterweight lead block, the counterweight lead block is a 240-degree annular lead block, and the counterweight lead block is arranged on the inner wall with the lower half of the sealing cabin as the center.

[0014] Compared with the prior art, the application has the following beneficial effects:

[0015] The folding and unfolding of the folding board is realized by the use of the crank connecting rod mechanism, the folding board is continuously pushed forward to push the watercraft, two groups of crank connecting rod mechanisms are used to control two groups of folding boards, low-frequency swing is used to realize high-speed propulsion, the generation of cavitation is effectively inhibited, cavitation noise can be reduced to a greater extent at high speed, energy waste is avoided, and the motion efficiency of the watercraft can be greatly improved. BRIEF DESCRIPTION OF DRAWINGS

[0016] Figure 1 It is an external structure diagram of the application;

[0017] Figure 2 It is an internal structure diagram of the application;

[0018] Figure 3 It is a structure diagram of the crank connecting rod mechanism in the application;

[0019] Figure 4 It is a structure diagram of the propulsion device in the application;

[0020] Figure 5 It is a rear structure diagram of the propulsion device in the application;

[0021] Figure 6 It is a connection diagram of the crank connecting rod mechanism and the folding board in the application;

[0022] Figure 7 It is a structure diagram of the folding board in the application;

[0023] Figure 8 It is a state diagram of the folding board when it is opened outward in the application;

[0024] Figure 9 It is a state diagram of the folding board when it is closed inward in the application.

[0025] Reference signs:

[0026] 1-Head, 2-Sealed chamber, 3-Propulsion device, 4-Ultrasonic detector, 5-Counterweight chamber, 6-Depth sensor, 7-Electronic system, 8-Battery rack, 9-Battery, 10-Motor rack, 11-Counterweight lead block, 12-Motor, 13-Connecting rod, 14-Flexible structure, 15-Folding panel, 16-Folding piece, 17-Hinge, 18-Wedge cavity, 19-Support rod, 20-Rock arm, 21-Eccentric flange, 22-Retaining ring, 23-Bearing, 24-End cap, 25-Protruding column, 26-Column. Detailed Implementation

[0027] The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0028] like Figures 1 to 7 As shown, an underwater vehicle based on a folding structure includes a head 1, a sealed chamber 2, and a propulsion device 3 connected to each other. The head 1 is in an open state that allows water to enter, and is equipped with an ultrasonic detector 4 and a depth sensor 6. The sealed chamber 2 houses an electronic system 7, a power supply system, and a crank-connecting rod mechanism. The crank-connecting rod mechanism has at least one pair arranged symmetrically. The crank-connecting rod mechanism includes a motor 12, a connecting rod 13, and an eccentric flange 21. Each motor 12 is electrically connected to the power supply system. The eccentric flange 21 is connected to the output shaft of the motor 12, and the eccentric flange 21 is connected to the front end of the connecting rod 13 through a bearing 23. The propulsion device 3... The advancing device 3 is provided with a wedge-shaped cavity 18 corresponding to each crank connecting rod mechanism. The rear end of each connecting rod 13 passes into the wedge-shaped cavity 18. A flexible structure 14 is sealed between the advancing device 3 and the connecting rod 13 and is sleeved on the outside of the connecting rod 13. The tail of the wedge-shaped cavity 18 is an open structure. The outer surface of the wedge-shaped cavity 18 has a folding plate 15 that is rotatably connected to the front end of the advancing device 3. Each folding plate 15 is provided with a folding piece 16 that can be passively opened and closed. The front end of the folding plate 15 is provided with a rocker arm 20 that is rotatably connected to the rear end of the connecting rod 13. When the motor 12 drives the eccentric flange 21 to rotate, the folding plate 15 is pushed by the connecting rod 13 and opens and closes cyclically.

[0029] The folding flaps 16 are rotatably mounted on the folding plate 15, with a rotation range of 90°. The folding plate 15 has uprights 26 perpendicular to the folding flaps 16, and each folding flap 16 abuts against the uprights 26 when closed. When the folding flaps 16 located on the side of the folding plate 15 rotate, the frame of the folding plate 15 restricts their rotation. Other folding flaps 16 can be further fitted with corresponding frames on the folding plate 15, so that the maximum open state of each folding flap 16 is when it abuts against the frame of the folding plate 15, i.e., open by 90°. When closed, the folding flaps 16 cover the uprights 26, preventing excessive rotation and ensuring a proper closure.

[0030] The crank connecting rod mechanism is provided with two pairs, and the wedge-shaped cavity 18 is provided with four, which are symmetrically arranged in two groups. The four wedge-shaped cavities 18 are symmetrically arranged in the center of the shell of the propulsion device 3, and the two pairs of crank connecting rod mechanisms can alternately push the two groups of folding plates 15, when one group is opened outward, the other group is closed to push water backward, and the alternating propulsion force is generated. When the electronic system 7 controls the motor 12 to swing at low frequency, high-speed propulsion can be realized. The rear end of the wedge-shaped cavity 18 is fixedly provided with a support rod 19, which can increase the structural strength of the wedge-shaped cavity 18.

[0031] The propulsion device 3 is provided with a convex column 25 at the port where the connecting rod 13 penetrates into the wedge-shaped cavity 18, and the flexible structure 14 is a flexible bellows inserted between the convex column 25 and the convex column of the connecting rod 13. The flexible structure 14 can be connected to the rocker 20 in the propulsion device 3 under the premise that the connecting rod 13 extends out of the sealed cabin 2, and the propulsion device 3 in the sealed cabin 2 is isolated, so as to avoid water entering the sealed cabin 2. At the same time, because the flexible bellows is flexible, the movement of the connecting rod 13 is not affected.

[0032] The ultrasonic detector 4 is installed at the front end of the head 1, which is used for detecting obstacles in front of the vehicle. The lead-out wire of the ultrasonic detector 4 is introduced into the sealed cabin 2 through a water-tight joint and then connected to the electronic system 7. Four counterweight cabins 5 are arranged around the head 1, and small holes are arranged on the outer surface of the head 1 corresponding to each counterweight cabin 5. The gravity and buoyancy ratio of the vehicle can be adjusted by adding lead powder, and the small holes are closed by rubber plugs after adjustment.

[0033] The power supply system includes a motor rack 10, a battery rack 8 and a battery 9. The motor rack 10 and the battery rack 8 are fixedly arranged in the sealed cabin 2, the battery 9 is arranged in the battery rack 8 in blocks, the motor rack 10 is fixedly connected with each motor 12, and the power supply for the whole vehicle is completed.

[0034] The sealed cabin 2 is provided with a counterweight lead block 11, which is a 240° circular lead block arranged on the inner wall with the lower half of the sealed cabin 2 as the center. The counterweight lead block 11 is used to adjust the ratio of gravity and buoyancy of the vehicle, and adjust the buoyancy center and the gravity center of the vehicle.

[0035] As Figure 3 And Figure 6As shown, the crank connecting rod mechanism is used to control the reciprocating motion of connecting rod 13, and then the rear end of connecting rod 13 drives rocker 20 to make folding and unfolding board 15 cyclically close and open. Eccentric flange 21 in the crank connecting rod mechanism plays a role of crank to drive connecting rod 13, outer ring of bearing 23 is tightly matched with inner ring of the front end of connecting rod 13, bearing 23 is fixed on the upper end of connecting rod 13 through retainer 22, inner ring of bearing 23 is tightly matched with the output shaft of eccentric flange 21, and bearing 23 is fixed on eccentric flange 21 through end cover 24.

[0036] When motor 12 is started, eccentric flange 21 is driven to rotate to drive connecting rod 13 to reciprocate, and since the front end of folding and unfolding board 15 is connected with the side wall of wedge-shaped cavity 18 through hinge 17, when connecting rod 13 is stretched backward, rocker 20 is pushed to make folding and unfolding board 15 open outward around the side wall of wedge-shaped cavity 18. As shown in Figure 8 As shown in the state diagram of folding and unfolding board 15 after opening, at this time, each folding sheet 16 is naturally turned outward by 90° under the action of water pressure to automatically open folding sheet 16, thereby reducing the resistance when folding and unfolding board 15 is opened.

[0037] When connecting rod 13 is contracted forward, rocker 20 is pulled to make folding and unfolding board 15 close inward around the side wall of wedge-shaped cavity 18. As shown in Figure 9 As shown in the state diagram of folding and unfolding board 15 after closing, at this time, folding and unfolding board 15 is limited to be turned only to close the outer surface of wedge-shaped cavity 18 by hinge 17, and each folding sheet 16 is naturally closed inward under the action of water pressure to automatically close folding sheet 16, thereby blocking the whole board surface of folding and unfolding board 15 over the horizontal plane, and the water pushing effect of the board surface of folding and unfolding board 15 is maximized. During the closing process, the water is pushed backward in a forward direction to imitate the swimming mode of frog using two feet to push water backward, and the pushed water flows out through the rear side of wedge-shaped cavity 18. When a symmetric group of folding and unfolding boards 15 swings synchronously, two groups work alternately to realize continuous pushing of the vehicle forward. When a symmetric group of folding and unfolding boards 15 swings asynchronously, the differential steering effect is formed to realize the yaw or pitch of the vehicle. During the whole process, the folding and unfolding board 15 pushes water backward in a forward direction to form a thrust force, which can realize low-frequency high-speed propulsion, and compared with the propeller propulsion mode, the cavitation is suppressed, the cavitation noise can be reduced to a greater extent at high speed, energy waste is avoided, and the motion efficiency of the vehicle can be greatly improved.

[0038] The above only describes the preferred embodiments of the present application and is not used to limit the present application, and any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. An underwater vehicle based on a folding structure, comprising a head (1), a sealed compartment (2), and a propulsion device (3) connected to each other, wherein the head (1) is in an open state that allows water to enter, and an ultrasonic detector (4) and a depth sensor (6) are provided on the head (1), characterized in that: The sealed chamber (2) is equipped with an electronic system (7), a power supply system, and a crank-connecting rod mechanism. The crank-connecting rod mechanism is provided in at least one pair symmetrically. The crank-connecting rod mechanism includes a motor (12), a connecting rod (13), and an eccentric flange (21). Each motor (12) is electrically connected to the power supply system. The eccentric flange (21) is connected to the output shaft of the motor (12). The eccentric flange (21) is connected to the front end of the connecting rod (13) through a bearing (23). The propulsion device (3) is provided with a wedge-shaped cavity (18) corresponding to each crank-connecting rod mechanism. The rear end of each connecting rod (13) passes into the wedge-shaped cavity (18). A flexible structure (14) is sealed between the propulsion device (3) and the connecting rod (13) and is sleeved on the outside of the connecting rod (13). The tail of the wedge-shaped cavity (18) is an open structure. The outer surface of the wedge-shaped cavity (18) has a folding plate (15) that is rotatably connected to the front end of the propulsion device (3). Each folding plate (15) is provided with a folding piece (16) that can be passively opened and closed. The front end of the folding plate (15) is provided with a rocker arm (20) that is rotatably connected to the rear end of the connecting rod (13). When the motor (12) drives the eccentric flange (21) to rotate, the folding plate (15) is pushed by the connecting rod (13) and opens and closes cyclically.

2. The underwater vehicle based on a folding structure according to claim 1, characterized in that: The folding sheet (16) is rotatably mounted on the folding plate (15). The folding sheet (16) has a rotation range of 90°. The folding plate (15) is provided with a column (26) perpendicular to the folding sheet (16). Each folding sheet (16) abuts against the column (26) when it is closed.

3. An underwater vehicle based on a folding structure according to claim 1, characterized in that: The crank-connecting rod mechanism is provided in two pairs, and the wedge-shaped cavity (18) is provided in four pairs, which are arranged symmetrically in two groups.

4. An underwater vehicle based on a folding structure according to claim 3, characterized in that: A support rod (19) is fixedly installed at the rear end of the wedge-shaped cavity (18).

5. An underwater vehicle based on a folding structure according to claim 1, characterized in that: The propulsion device (3) has a protruding post (25) at the port where the connecting rod (13) enters the wedge-shaped cavity (18). The flexible structure (14) is a flexible bellows, which is inserted between the protruding post (25) and the boss of the connecting rod (13).

6. An underwater vehicle based on a folding structure according to claim 1, characterized in that: The ultrasonic detector (4) is installed at the front end of the head (1). The lead wire of the ultrasonic detector (4) is introduced into the sealed chamber (2) through a watertight connector and then connected to the electronic system (7). Four counterweight chambers (5) are arranged around the head (1). Small holes are provided on the outer surface of the head (1) corresponding to each counterweight chamber (5). The water depth sensor (6) is installed inside the head (1) and is in contact with the water.

7. An underwater vehicle based on a folding structure according to claim 1, characterized in that: The power supply system includes a motor frame (10), a battery frame (8), and a battery (9). The motor frame (10) and the battery frame (8) are fixedly installed inside the sealed chamber (2). The battery (9) is installed in sections in the battery frame (8). The motor frame (10) is fixedly connected to each motor (12).

8. An underwater vehicle based on a folding structure according to claim 1, characterized in that: The sealed chamber (2) is equipped with a counterweight lead block (11), which is a 240° circular lead block. The counterweight lead block (11) is arranged on the inner wall with the lower half of the sealed chamber (2) as the center.

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