Rotation-body-shaped underwater vehicle capable of rapidly turning based on cross universal joint

Abstract

The invention discloses a revolved body appearance underwater vehicle capable of turning quickly based on a cross universal joint, the revolved body appearance underwater vehicle comprises a front section, a bent section and a rear section which are connected in sequence, the bent section comprises two universal joint seats and a telescopic unit, the two universal joint seats are respectively mounted at the centers of the end surfaces of the front section and the rear section, and the two universal joint seats are connected and combined to form the cross universal joint; the telescopic units are evenly distributed around the cross universal joint, and the two ends of each telescopic unit are connected with the end face of the front section and the end face of the rear section through spherical hinges correspondingly. During rapid turning, the bent section is bent, the action point of water resistance of the bent incident flow surface of the front section deviates from the underwater vehicle, deflection torque is generated, and the underwater vehicle is made to rapidly turn. According to the structure, deflection torque generated by water resistance is ingeniously utilized to achieve rapid turning, and the turning speed can be effectively increased.

Description

Technical Field

[0001] This invention relates to the field of underwater vehicle technology, and specifically to an underwater vehicle with a rotating body shape based on a universal joint that can turn quickly. Background Technology

[0002] In the field of marine engineering, different application scenarios require different maneuverability of underwater vehicles. In particular, scenarios where widely used gyropod-shaped underwater vehicles (UVVs) are used to pursue a target require the vehicle to have rapid turning capabilities. High-speed gyropod-shaped UVVs mainly achieve rapid turning by manipulating the tail rudder, while low-speed gyropod-shaped UVVs mainly achieve rapid turning capabilities by adding multiple vertical thrusters and side thrusters. These methods are relatively traditional, and it is difficult to further improve the rapid turning capability. At the same time, the overall configuration of the vehicle remains unchanged, which is not conducive to the diversified development of underwater vehicles.

[0003] CN 120793114 A discloses an underwater vehicle that can perform maneuvers in a double orthogonal plane. By adding a single-degree-of-freedom vector thruster to the stern of the underwater vehicle, the thruster is deflected around its hinge axis at the stern opening of the underwater vehicle hull by the extension and retraction of an electric cylinder, thereby changing the axial direction and thrust direction of the thruster.

[0004] CN 118928624 A discloses an AUV bow variant drag reduction structure based on a parallel mechanism with few degrees of freedom. The bow variant mechanism mimics the head swing of a fish to cut the streamline and changes its bow orientation according to the current flow field to reduce drag. It can also achieve rotation with two degrees of freedom: yaw and pitch.

[0005] Although the structures in the aforementioned existing technologies can all achieve turning, their ability to turn quickly is relatively weak. Summary of the Invention

[0006] To address the aforementioned problems, this invention provides a rotating underwater vehicle based on a universal joint that can turn quickly. During normal navigation, the vehicle has the same configuration as a traditional vehicle. When a rapid turn is required, the vehicle changes to a curved configuration, cleverly utilizing the deflection torque generated by water resistance to achieve a rapid turn.

[0007] Specifically, the present invention provides a rotating underwater vehicle with a universal joint-based design capable of rapid turning, comprising: a front section, a curved section, and a rear section connected in sequence, wherein the curved section includes:

[0008] There are two universal joint seats, which are respectively installed at the center of the front and rear end faces. The two universal joint seats are connected and combined to form a cross universal joint.

[0009] The telescopic unit is provided in several parts, which are evenly distributed around the universal joint. Its two ends are connected to the front and rear end faces respectively through ball hinges.

[0010] When making a rapid turn, the curved section bends, and the point of application of the water resistance on the front curved surface deviates from the underwater vehicle, generating a yaw moment that causes the underwater vehicle to turn rapidly.

[0011] Furthermore, the connection point of the two universal joint seats is a central block, and four rotating shafts are respectively inserted into the four holes on the central block. The rotating holes and rotating shafts of the two universal joint seats are connected to form a cross universal joint with two degrees of freedom.

[0012] Furthermore, the telescopic unit includes:

[0013] The electric cylinder base is located on the rear end face;

[0014] The electric cylinder push rod is located on the front end face.

[0015] An electric cylinder motor is connected to the electric cylinder base, and the electric cylinder base converts the rotation of the electric cylinder motor into the linear motion of the electric cylinder push rod through an internal screw and nut mechanism.

[0016] The rotation of the electric cylinder motor (262) is converted into the linear motion of the electric cylinder push rod (261) through the internal lead screw and nut mechanism.

[0017] Furthermore, the curved section also includes a through-cabin cable for transmitting information and energy between the front section, the rear section (3), and the telescopic unit of the curved section.

[0018] Furthermore, the curved section is fitted with a flexible protective sleeve.

[0019] Furthermore, the flexible protective sleeve is connected to the front and rear sections at both ends, and is made of rubber, which serves to protect the internal components of the bending section and to accommodate bending deformation.

[0020] Compared with the prior art, the working principle and beneficial effects of the present invention are as follows:

[0021] This invention controls the bending action of the curved section, causing the orientation of the front section to change. The curved front area is larger than the conventional guide area, resulting in greater water resistance. The deflection torque generated by the point of action of the water resistance deviating from the axis of the vehicle enables the vehicle to turn quickly. Attached Figure Description

[0022] Figure 1 This is a schematic diagram of the structure of the rotating underwater vehicle with a universal joint shape that can turn quickly under normal navigation conditions, as shown in Example 1.

[0023] Figure 2This is a front view of the rotating underwater vehicle with a universal joint shape that can turn quickly under normal navigation conditions, as shown in Example 1.

[0024] Figure 3 This is a left view of the rotating underwater vehicle with a universal joint shape that can turn quickly under normal navigation conditions in Example 1.

[0025] Figure 4 This is a schematic diagram of the structure of the rotating underwater vehicle with a universal joint shape that can quickly turn in a bending and turning state, as shown in Example 1.

[0026] Figure 5 This is a front view of the rotating underwater vehicle with a universal joint shape that can quickly turn in a bending and turning state, as shown in Example 1.

[0027] Figure 6 This is a left view of the rotating underwater vehicle with a universal joint shape that can quickly turn in a bending and turning state, as shown in Example 1.

[0028] Figure 7 This is a schematic diagram of the internal structure of the curved section in Example 1;

[0029] Figure 8 This is a schematic diagram of the telescopic unit in Example 1;

[0030] Figure 9 This is a force analysis diagram of the bending and turning state in Example 1.

[0031] Figure label:

[0032] 1-Front section; 2-Bending section; 21-Flexible protective sleeve; 22-Swivel shaft; 23-Center block; 24-Universal joint seat; 25-Spherical hinge; 251-Spherical hinge seat; 252-Spherical hinge surface; 26-Telescopic unit; 261-Electric cylinder push rod; 262-Electric cylinder motor; 263-Electric cylinder seat; 27-Through-cabin cable; 3-Rear section; 41-Board travel direction; 42-Point of application of water resistance; 43-Water resistance; 44-Board axis. Detailed Implementation

[0033] The present invention will be further described in detail below through specific embodiments.

[0034] Example 1

[0035] like Figure 1-6 As shown, this embodiment discloses a rotary underwater vehicle with a rapid turning shape based on a universal joint, including: a front section 1, a curved section 2 and a rear section 3 connected in sequence. The front section 3 and the rear section 1 are consistent with conventional rotary vehicles. The front section 1 integrates head guidance sonar and integrated control equipment, while the rear section 3 integrates vehicle power and energy equipment.

[0036] like Figure 7 As shown, the bending section 2 includes: a flexible protective sleeve 21, a cross-shaped universal joint formed by two universal joint seats 24, and four telescopic units 26. The through-cabin cable 27 is located inside the bending section 2 and serves as a pathway for information and energy transmission between the front section 1, the rear section 3, and the telescopic units 26 of the bending section 2. The flexible protective sleeve 21 is connected to the front section 1 and the rear section 3 at both ends, and is made of rubber, serving to protect the internal components of the bending section 2 and to accommodate bending deformation.

[0037] The connection point of the two universal joint seats 24 is the center block 23. The four rotating shafts 22 are respectively inserted into the four holes on the center block 23. The rotating holes of the two universal joint seats 24 and the rotating shafts 22 are connected to form a cross universal joint with two degrees of freedom.

[0038] The telescopic unit 26 is connected at both ends to the end faces of the front section 1 and the rear section 3 respectively via ball hinges 25, as shown below. Figure 8 As shown, each telescopic unit 26 includes: an electric cylinder base 263, an electric cylinder push rod 261, and an electric cylinder motor 262. The electric cylinder base 263 converts the rotation of the electric cylinder motor 262 into the linear motion of the electric cylinder push rod 261 through an internal screw and nut mechanism. There are eight spherical hinges 25, each consisting of a spherical hinge seat 251 and a spherical hinge surface 252. The eight spherical hinge seats 25 are evenly distributed in a ring and fixed on the end faces of the front section 1 and the rear section 3. The mating spherical hinge surface 251 of the spherical hinge seat 25 is spherical. The mating spherical hinge surface 251 of the spherical hinge seat 25 on the end face of the rear section 3 mates with the spherical surface of the electric cylinder base 261. The ball joint surface 251 of the ball joint seat 25 on the end face of the front section 1 is engaged with the ball joint surface 251 of the electric cylinder push rod 261; when the aircraft does not need to turn quickly, the four telescopic units 26 cooperate to make the universal joint seat 24 rotate around the rotation axis 22 of the cross shaft, the curved section 2 rotates, the orientation of the front section 1 changes, the universal joint has 2 degrees of freedom, two of the four telescopic units 26 are active telescopic units, and the other two are passive telescopic units. The four telescopic units 26 help to enhance the rigidity of the curved section 2.

[0039] like Figure 4-6 and Figure 9 As shown, when a rapid turn is required, two telescopic units actively move, causing the bending section 2 to bend, which changes the orientation of the front section 1. At this time, the navigation direction 41 of the vehicle remains unchanged, and the frontal area of ​​the front section 1 is larger than that in the normal navigation state, resulting in greater water resistance 43. At the same time, due to the change in the orientation of the front section 1, the point of application 42 of the water resistance 43 deviates from the vehicle's axis 44 by a distance of D. At this time, the deflection torque generated by the water resistance 43 is F*D in magnitude and inward toward the paper. This deflection torque enables the vehicle to turn quickly.

[0040] The above examples illustrate the present invention only to aid in understanding it and are not intended to limit the scope of the invention. Those skilled in the art can make various simple deductions, modifications, or substitutions based on the principles of this invention.

Claims

1. A rotating underwater vehicle with a universal joint-based design capable of rapid turning, comprising: The front segment (1), the curved segment (2), and the rear segment (3) are connected in sequence, characterized in that the curved segment (2) comprises: There are two universal joint seats (24), which are respectively installed at the center of the end face of the front section (1) and the rear section (3). The two universal joint seats (24) are connected and combined to form a cross universal joint. Telescopic units (26) are provided in several units. The telescopic units (26) are evenly distributed around the universal joint. Their two ends are connected to the end faces of the front section (1) and the rear section (3) respectively through ball hinges (25). When the underwater vehicle turns, the bending section (2) bends, causing the point of action of the water resistance on the front section (1) to deviate from the axis of the underwater vehicle. The resulting deflection torque causes the underwater vehicle to turn quickly.

2. The underwater vehicle with a rotating body shape based on a universal joint capable of rapid turning, as described in claim 1, is characterized in that... The connection point of the two universal joint seats (24) is the center block (23). The four rotating shafts (22) are respectively inserted into the four holes on the center block (23). The rotating holes of the two universal joint seats (24) and the rotating shafts (22) are connected to form a cross universal joint with two degrees of freedom.

3. The underwater vehicle with a rotating body shape based on a universal joint capable of rapid turning, as described in claim 1, is characterized in that... The telescopic unit (26) includes: The electric cylinder base (263) is located on the end face of the rear section (3); The electric cylinder push rod (261) is located on the end face of the front section (1). The electric cylinder motor (262) is connected to the electric cylinder base (263), and the electric cylinder base (263) converts the rotation of the electric cylinder motor (262) into the linear motion of the electric cylinder push rod (261) through the internal screw and nut mechanism.

4. The underwater vehicle with a rotating body shape based on a universal joint capable of rapid turning, as described in claim 1, is characterized in that... The curved section (2) also includes a through-cabin cable (27) for transmitting information and energy between the telescopic units (26) of the front section (1), the rear section (3) and the curved section (2).

5. The underwater vehicle with a rotating body shape based on a universal joint capable of rapid turning, as described in claim 1, is characterized in that... The curved section (2) is fitted with a flexible protective sleeve (21).

6. The underwater vehicle with a rapidly turning, rotating body shape as described in claim 5, characterized in that, The flexible protective sleeve (21) is connected to the front section (1) and the rear section (3) at both ends. It is made of rubber and serves to protect the internal components of the bending section (2) and to prevent bending deformation.

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