Underwater glider

Abstract

The invention relates to the technical field of underwater vehicles, and provides an underwater glider which comprises a main body, a driving assembly, a first rotating assembly, a second transmission assembly and a pair of wings, and the driving assembly is arranged in the main body; the first transmission assembly is connected with the driving assembly, the second transmission assembly is in transmission connection with the first transmission assembly, the rotation direction of the second transmission assembly is opposite to that of the first transmission assembly, and parts of the first transmission assembly and the second transmission assembly extend out of the main body and are connected with the wings correspondingly; when the first transmission assembly and the second transmission assembly rotate, the pair of wings can be driven to be overlapped or unfolded. According to the underwater glider, by arranging the driving assembly and the transmission assembly, the pair of wings can be driven to be folded or unfolded, and when the underwater glider is stored or transported, the pair of wings are overlapped on the main body under the action of the transmission assembly, so that the size of the underwater glider is reduced, and the transportation volume of the underwater glider is increased; and simultaneous delivery of batch underwater gliders is realized.

Description

Technical Field

[0001] This invention relates to the field of underwater vehicle technology, and more particularly to an underwater glider. Background Technology

[0002] As a highly efficient and low-consumption marine observation platform, the core working principle of underwater gliders is based on the synergistic effect of buoyancy adjustment and attitude control: the buoyancy adjustment system changes the density of the underwater glider to achieve ascent or descent, while the attitude control system adjusts the pitch and yaw angles. The resistance and lift of the water flow are used to propel the glider along a "zigzag" trajectory underwater. This unique motion mode gives it significant advantages in low energy consumption and long range, and it is widely used in marine environmental monitoring, resource exploration and other fields.

[0003] Underwater gliders are mostly deployed on the water surface or from shore, requiring transport to a designated location before deployment. The existing shape of underwater gliders makes it difficult to store the equipment densely, which is insufficient to meet the space utilization requirements of large-scale operations. At the same time, the large size of underwater gliders makes long-distance transportation difficult. Summary of the Invention

[0004] This invention provides an underwater glider to address the shortcomings of existing underwater gliders, such as the inconvenience of dense storage and transportation.

[0005] This invention provides an underwater glider, comprising: a main body; a drive assembly disposed within the main body; a first transmission assembly connected to the drive assembly, a portion of the first transmission assembly extending outside the main body; a second transmission assembly drively connected to the first transmission assembly, the rotation direction of the second transmission assembly being opposite to the rotation direction of the first transmission assembly, a portion of the second transmission assembly extending outside the main body; and a pair of wings disposed outside the main body, wherein the portions of the first transmission assembly and the second transmission assembly extending outside the main body are respectively connected to one of the wings, and when the first transmission assembly and the second transmission assembly rotate, they can drive the pair of wings to overlap or unfold.

[0006] According to an underwater glider provided by the present invention, the first transmission assembly has a first rotating shaft, the second transmission assembly has a second rotating shaft, the first rotating shaft passes through the second rotating shaft and extends outside the second rotating shaft; the rotation direction of the second rotating shaft is opposite to the rotation direction of the first rotating shaft, and the first rotating shaft and the second rotating shaft are respectively connected to one of the wings.

[0007] According to an underwater glider provided by the present invention, the first transmission assembly includes: a first rotating disk, a first rotating shaft passing through the first rotating disk, and both ends of the first rotating shaft being connected to the drive assembly and a wing, respectively; a first transmission member being tractively connected to the first rotating disk, the rotation direction of the first transmission member being opposite to the rotation direction of the first rotating disk; the second transmission assembly includes: a second transmission member being tractively connected to the first transmission member, the rotation direction of the second transmission member being opposite to the rotation direction of the first transmission member; a second rotating disk being tractively connected to the second transmission member, the second rotating shaft being connected to the second rotating disk, the rotation direction of the second rotating disk being opposite to the rotation direction of the second transmission member.

[0008] According to the present invention, an underwater glider is provided in which the surfaces of the first rotating disk and the second rotating disk facing each other are respectively provided with circular grooves, and the first transmission member and the second transmission member are respectively connected to the groove wall of the circular groove through toothed transmission.

[0009] According to the present invention, an underwater glider is provided, wherein the drive assembly includes: a driver; a first worm gear, the first worm gear having a third rotating shaft, the third rotating shaft being connected to the driver, and the first worm gear being drively connected to a first transmission assembly and a second transmission assembly.

[0010] According to an underwater glider provided by the present invention, the first transmission assembly includes a second worm gear, a first rotating shaft passing through the second worm gear, and the second worm gear being motive-connected to the first worm gear; the second transmission assembly includes a third worm gear, the second rotating shaft being connected to the third worm gear, the third worm gear being motive-connected to the first worm gear, and the rotation direction of the third worm gear being opposite to the rotation direction of the second worm gear.

[0011] According to an underwater glider provided by the present invention, the drive assembly further includes a support frame, the support frame including a first plate and a pair of second plates, the pair of second plates being arranged parallel to both ends of the first plate and perpendicular to the first plate; a third rotating shaft passing through the first plate and capable of rotating relative to the first plate, the first rotating shaft and the second rotating shaft respectively passing through the pair of second plates and capable of rotating relative to the second plates.

[0012] According to an underwater glider provided by the present invention, the first transmission assembly includes: a third transmission member connected to the drive assembly; a fourth transmission member drivenly connected to the third transmission member, the rotation direction of the fourth transmission member being opposite to the rotation direction of the third transmission member; and a first rotating shaft connected to the fourth transmission member. The second rotation assembly includes: a fifth transmission member drivenly connected to the third transmission member, the rotation direction of the fifth transmission member being opposite to the rotation direction of the third transmission member; a sixth transmission member drivenly connected to the fifth transmission member, the rotation direction of the sixth transmission member being opposite to the rotation direction of the fifth transmission member; and a second rotating shaft connected to the sixth transmission member.

[0013] According to an underwater glider provided by the present invention, the fifth transmission component includes: a pair of gears, the pair of gears being arranged in parallel, and the pair of gears being respectively connected to the third transmission component and the sixth transmission component; and a connecting shaft, the two ends of which are respectively connected to the pair of gears.

[0014] According to the present invention, an underwater glider further includes a controller connected to the drive assembly, the controller being used to control the rotation angle of a pair of wings.

[0015] The underwater glider provided by this invention, by setting up a drive component and a transmission component, can drive a pair of wings to fold or unfold. When storing or transporting the underwater glider, under the action of the transmission component, the pair of wings overlap on the main body, reducing the volume of the underwater glider, increasing the transport capacity of the underwater glider, and realizing the simultaneous delivery of batches of underwater gliders. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in this invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0017] Figure 1 This is a top view of the underwater glider provided by the present invention.

[0018] Figure 2 This is one of the structural schematic diagrams of the drive assembly, the first transmission assembly, and the second transmission assembly.

[0019] Figure 3 This is the second structural schematic diagram of the drive assembly, the first transmission assembly, and the second transmission assembly.

[0020] Figure 4 This is the third structural schematic diagram of the drive assembly, the first transmission assembly, and the second transmission assembly.

[0021] Figure label: 10. Wing; 20. Drive unit; 31. First rotating shaft; 32. First rotating disk; 33. First transmission component; 34. Second worm gear; 35. Third transmission component; 36. Fourth transmission component; 41. Second rotating shaft; 42. Second rotating disk; 43. Second transmission component; 44. Third worm gear; 45. Fifth transmission component; 46. Sixth transmission component; 50. First worm gear; 51. Third rotating shaft; 60. Support; 61. First plate; 62. Second plate; 101. Load section; 102. Main body section; 103. Stern section; 451. Gear; 452. Connecting shaft. Detailed Implementation

[0022] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0023] The following is combined Figures 1-4 The underwater glider of the present invention is described.

[0024] like Figure 1 , Figure 2 , Figure 3 and Figure 4 As shown, in an embodiment of the present invention, the underwater glider includes: a main body, a drive assembly, a first transmission assembly, a second transmission assembly, and a pair of wings 10. The drive assembly is disposed within the main body, and the first transmission assembly is connected to the drive assembly, with a portion of the first transmission assembly extending outside the main body. The second transmission assembly is drively connected to the first transmission assembly; when the drive assembly rotates, it can drive the first transmission assembly to rotate, and the first transmission assembly drives the second transmission assembly to rotate. In this embodiment, the rotation direction of the first transmission assembly is opposite to the rotation direction of the second transmission assembly, and a portion of the second transmission assembly also extends outside the main body.

[0025] A pair of wings 10 are disposed outside the main body. The first end of each wing 10 is connected to the portion of the first transmission component or the second transmission component that extends outside the main body. The second end of the pair of wings 10 is a free end. Driven by the first transmission component and the second transmission component, the pair of wings 10 can move towards each other or away from each other so that the pair of wings 10 overlap or unfold.

[0026] In existing technologies, the wings 10 of underwater gliders are all fixed wings. When storing or transporting underwater gliders, the large space occupied by the wings 10 limits the number of gliders that can be stored or transported, increasing transportation costs. To reduce transportation costs, the industry often disassembles the wings 10 of underwater gliders and reassembles them at the delivery location. However, wing 10 assembly is cumbersome and affects delivery efficiency.

[0027] In this embodiment, when the underwater glider is in storage or transportation mode, the drive component drives a pair of wings 10 to rotate parallel to the main body to reduce the size of the underwater glider, thereby facilitating the storage and transportation of a large number of underwater gliders in a certain space, so as to achieve batch delivery.

[0028] Optionally, in embodiments of the present invention, the drive assembly may include a motor, or a combination of a motor and a transmission component. The first transmission assembly and the second transmission assembly are toothed together, such that their rotation directions are opposite, thereby allowing the pair of wings 10 to move closer to or further away from each other. During storage, the pair of wings 10 can rotate to overlap the main body to reduce the size of the underwater glider; upon arrival at the delivery location, the pair of wings 10 move away from each other to create an angle between them.

[0029] The underwater glider provided in this embodiment of the invention, by setting up a drive component and a transmission component, can drive a pair of wings to fold or unfold. When storing or transporting the underwater glider, under the action of the transmission component, the pair of wings overlap on the main body, reducing the volume of the underwater glider, increasing the transport capacity of the underwater glider, and realizing the simultaneous delivery of batches of underwater gliders.

[0030] like Figure 2 , Figure 3 and Figure 4 As shown, in an embodiment of the present invention, the first transmission assembly has a first rotating shaft 31, and the second transmission assembly has a second rotating shaft 41. The first rotating shaft 31 passes through the second rotating shaft 41 and extends beyond the second rotating shaft 41. That is, in this embodiment, the first rotating shaft 31 and the second rotating shaft 41 are coaxially arranged. The first ends of a pair of wings 10 are respectively connected to the portions of the first rotating shaft 31 and the second rotating shaft 41 extending beyond the main body. The rotation directions of the first rotating shaft 31 and the second rotating shaft 41 are opposite to those of the wings, so as to drive the pair of wings 10 to overlap or unfold.

[0031] like Figure 2As shown, in one embodiment of the present invention, the drive assembly includes a driver 20, which can be a servo motor. The first transmission assembly includes a first rotating disk 32 and a first transmission member 33. A first rotating shaft 31 passes through the first rotating disk 32, and both ends of the first rotating shaft 31 are respectively connected to the driver 20 and a wing 10. When the driver 20 rotates, it drives the first rotating shaft 31 to rotate, thereby driving the first rotating disk 32 and the wing 10 to rotate.

[0032] The second transmission assembly includes a second rotating disk 42 and a second transmission member 43. The second transmission member 43 is connected to the first transmission member 33. When the first transmission member 33 rotates, it can drive the second transmission member 43 to rotate, which in turn drives the second rotating disk 42 to rotate. The second rotating shaft 41 is connected to the second rotating disk 42, which in turn drives the second rotating shaft 41 to rotate.

[0033] For example, suppose the driver 20 rotates clockwise, causing the first rotating shaft 31 and the first rotating disk 32 to rotate clockwise. The first rotating disk 32 has teeth that mesh with the teeth on the circumferential surface of the first transmission member 33, causing the first transmission member 33 to rotate counterclockwise. The circumferential surface of the second transmission member 43 also has teeth that mesh with the teeth on the circumferential surface of the first transmission member 33, causing the second transmission member 43 to rotate clockwise. The second rotating disk 42 has teeth that mesh with the teeth on the circumferential surface of the second transmission member 43, causing the second rotating disk 42 to rotate counterclockwise, which in turn causes the second rotating shaft 41 to rotate counterclockwise, thus achieving opposite rotation directions for the first rotating shaft 31 and the second rotating shaft 41.

[0034] Optionally, in embodiments of the present invention, the first rotating disk 32 and the second rotating disk 42 may have teeth on their outer circumferential surfaces or on their inner circumferential surfaces. When the first rotating disk 32 and the second rotating shaft 41 have teeth on their inner circumferential surfaces, the surfaces of the first rotating disk 32 and the second rotating disk 42 facing each other are respectively provided with circular grooves, and the groove walls of the circular grooves are all provided with teeth. The first transmission member 33 and the second transmission member 43 respectively mesh with the teeth of the groove walls.

[0035] like Figure 3 As shown, in an embodiment of the present invention, the driving component includes a driver 20 and a first worm gear 50. The first worm gear 50 is provided with a third rotating shaft 51, which is connected to the driver 20. The first worm gear 50 is connected to a first transmission component and a second transmission component to drive the first transmission component and the second transmission component to rotate.

[0036] Furthermore, the first transmission assembly includes a second worm gear 34, and the second transmission assembly includes a third worm gear 44. A first rotating shaft 31 passes through the second worm gear 34, and the second worm gear 34 is driveably connected to the first worm gear 50. The second rotating shaft 41 is connected to the third worm gear 44, and the third worm gear 44 is drively connected to the first worm gear 50. When the driver 20 drives the first worm gear 50 to rotate clockwise, the first worm gear 50 drives the second worm gear 34 to rotate counterclockwise, thereby driving the first rotating shaft 31 to rotate counterclockwise; simultaneously, it drives the third worm gear 44 to rotate clockwise, thereby driving the second rotating shaft 41 to rotate clockwise.

[0037] like Figure 3 As shown, in an embodiment of the present invention, the drive assembly further includes a bracket 60, which includes a first plate 61 and a pair of second plates 62. The pair of second plates 62 are arranged parallel to both ends of the first plate 61 and perpendicular to the first plate 61. A third rotating shaft 51 passes through the first plate 61 and is rotatable relative to the first plate 61. A first rotating shaft 31 and a second rotating shaft 41 respectively pass through the pair of second plates 62 and are rotatable relative to the second plates 62. In this embodiment, by providing the bracket 60, the first transmission assembly and the second transmission assembly can be fixed to improve the stability of the first transmission assembly and the second transmission assembly during rotation.

[0038] As shown in Figure 4, in an embodiment of the present invention, the driving assembly includes a driver 20, and the first transmission assembly includes a third transmission member 35 and a fourth transmission member 36. The third transmission member 35 is connected to the driver 20, and the driver 20 can drive the third transmission member 35 to rotate when it rotates. Both the third transmission member 35 and the fourth transmission member 36 have teeth on their circumferential surfaces. When the third transmission member 35 rotates, it drives the fourth transmission member 36 to rotate. The fourth transmission member 36 is connected to the first rotating shaft 31, thereby driving the first rotating shaft 31 to rotate.

[0039] The second transmission assembly includes a fifth transmission member 45 and a sixth transmission member 46. The fifth transmission member 45 has teeth at both ends, and the sixth transmission member 46 also has teeth on its circumferential surface. The two ends of the fifth transmission member 45 mesh with the third transmission member 35 and the sixth transmission member 46 respectively, thereby driving the sixth transmission member 46 to rotate. The sixth transmission member 46 is connected to the second rotating shaft 41, thus driving the second rotating shaft 41 to rotate.

[0040] Furthermore, such as Figure 4 As shown, in an embodiment of the present invention, the fifth transmission member 45 includes a pair of gears 451 and a connecting shaft 452. The pair of gears 451 are arranged in parallel and are respectively connected to the third transmission member 35 and the sixth transmission member 46. The two ends of the connecting shaft 452 are respectively connected to the pair of gears 451.

[0041] Specifically, assuming the driver 20 rotates clockwise, it drives the third transmission component 35 to rotate clockwise, and the third transmission component 35 drives the fourth transmission component 36 and the first rotating shaft 31 to rotate counterclockwise. The third transmission component 35 simultaneously drives the two gears 451 of the fifth transmission component 45 to rotate counterclockwise, and the gears 451 drive the sixth transmission component 46 and the second rotating shaft 41 to rotate clockwise.

[0042] In an embodiment of the invention, the underwater glider further includes a controller connected to a drive 20. The controller controls the rotation of the drive 20 according to the usage scenario to cause a pair of wings 10 to overlap or unfold. Furthermore, the controller can also control the rotational speed of the drive 20 to adjust the angle between the pair of wings 10, thereby enabling the underwater glider to have a more precise gliding path.

[0043] like Figure 1 As shown, in an embodiment of the present invention, the main body includes a load section 101, a main body section 102, and a stern section 103. The load section 101 is equipped with a marine sensor. The load section 101 and the stern section 103 are respectively connected to both ends of the main body section 102, and the load section 101 and the main body section 102 are detachably connected. A drive assembly is disposed within the main body section 102. The first rotating shaft 31 of the first transmission assembly and the second rotating shaft 41 of the second transmission assembly extend outside the main body section 102 and are respectively connected to a pair of wings 10.

[0044] Specifically, when the underwater glider is gliding in the water, the payload section 101 is connected to the main body section 102. After the underwater glider carries the ocean sensor to the target water area, the payload section 101 separates from the main body section 102. The payload section 101 floats to the water surface by buoyancy and establishes communication with land-based or satellite systems, thereby transmitting the real-time collected ocean data back.

[0045] Furthermore, in an embodiment of the present invention, the load section 101 is made of buoyancy material. After the load section 101 is separated from the main body section 102, the load section 101 floats to the water surface using buoyancy.

[0046] Furthermore, in an embodiment of the present invention, the load section 101 and the main body section 102 are connected by explosive bolts. After the underwater glider reaches the target water area, the explosive bolts are detonated, thereby separating the load section 101 from the main body section 102.

[0047] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. An underwater glider, characterized in that, include: main body; The driving component is disposed within the main body; A first transmission assembly is connected to the drive assembly, and a portion of the first transmission assembly extends outside the main body; The second transmission component is connected to the first transmission component in a transmission manner, the rotation direction of the second transmission component is opposite to that of the first transmission component, and a portion of the second transmission component extends outside the main body; A pair of wings are disposed outside the main body. The portions of the first transmission component and the second transmission component extending outside the main body are respectively connected to one of the wings. When the first transmission component and the second transmission component rotate, they can drive the pair of wings to overlap or unfold.

2. The underwater glider according to claim 1, characterized in that, The first transmission assembly has a first rotating shaft, and the second transmission assembly has a second rotating shaft. The first rotating shaft passes through the second rotating shaft and extends beyond the second rotating shaft. The rotation direction of the second rotating shaft is opposite to that of the first rotating shaft, and the first rotating shaft and the second rotating shaft are respectively connected to one of the wings.

3. The underwater glider according to claim 2, characterized in that, The first transmission assembly includes: A first rotating disk, a first rotating shaft passing through the first rotating disk, and the two ends of the first rotating shaft being connected to the drive assembly and one of the wings, respectively; A first transmission component is connected to the first rotating disk in a transmission manner, and the rotation direction of the first transmission component is opposite to the rotation direction of the first rotating disk. The second transmission assembly includes: The second transmission component is connected to the first transmission component in a transmission manner, and the rotation direction of the second transmission component is opposite to that of the first transmission component. The second rotating disk is connected to the second transmission component, the second rotating shaft is connected to the second rotating disk, and the rotation direction of the second rotating disk is opposite to the rotation direction of the second transmission component.

4. The underwater glider according to claim 3, characterized in that, The first rotating disk and the second rotating disk have circular grooves on their opposing surfaces, and the first transmission component and the second transmission component are respectively connected to the groove wall of the circular groove through toothed transmission.

5. The underwater glider according to claim 2, characterized in that, The driving component includes: drive; A first worm gear, the first worm gear having a third rotating shaft, the third rotating shaft being connected to the driver, the first worm gear being connected to the first transmission assembly and the second transmission assembly in a transmission connection.

6. The underwater glider according to claim 5, characterized in that, The first transmission assembly includes a second worm gear, the first rotating shaft passes through the second worm gear, and the second worm gear is connected to the first worm gear in a transmission connection. The second transmission assembly includes a third worm gear, the second rotating shaft is connected to the third worm gear, the third worm gear is driven by the first worm gear, and the rotation direction of the third worm gear is opposite to the rotation direction of the second worm gear.

7. The underwater glider according to claim 6, characterized in that, The drive assembly further includes a bracket, which includes a first plate and a pair of second plates. The pair of second plates are arranged parallel to both ends of the first plate and perpendicular to the first plate. The third rotating shaft passes through the first plate and is capable of rotating relative to the first plate. The first rotating shaft and the second rotating shaft respectively pass through a pair of second plates and are capable of rotating relative to the second plates.

8. The underwater glider according to claim 2, characterized in that, The first transmission assembly includes: The third transmission component is connected to the drive assembly; A fourth transmission component is connected to the third transmission component, and the rotation direction of the fourth transmission component is opposite to that of the third transmission component. The first rotation shaft is connected to the fourth transmission component. The second rotating assembly includes: The fifth transmission component is connected to the third transmission component, and the rotation direction of the fifth transmission component is opposite to that of the third transmission component. The sixth transmission component is connected to the fifth transmission component, and the rotation direction of the sixth transmission component is opposite to that of the fifth transmission component. The second rotation shaft is connected to the sixth transmission component.

9. The underwater glider according to claim 8, characterized in that, The fifth transmission component includes: A pair of gears, the pair of gears are arranged in parallel, and the pair of gears are respectively connected to the third transmission member and the sixth transmission member; A connecting shaft, the two ends of which are respectively connected to a pair of gears.

10. The underwater glider according to claim 1, characterized in that, It also includes a controller connected to the drive assembly, the controller being used to control the rotation angle of the pair of wings.

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