An underwater glider with retractable winged canards

Abstract

The application relates to an underwater glider with retractable linkage wings, and relates to the technical field of underwater autonomous underwater vehicles. The glider comprises a main body structure, a buoyancy adjusting assembly, a four-bar linkage skin wing assembly and a double-screw rod linkage driving assembly. The main body structure serves as the installation base of the whole machine; the buoyancy adjusting assembly realizes counterweight adjustment by injecting and discharging seawater through a syringe; the four-bar linkage skin wing assembly adopts a six-bar linkage hinged mechanism matched with a pressure-resistant skin to realize reliable contraction and expansion of the wing; the double-screw rod linkage driving assembly adopts a double-head screw rod motor to synchronously drive double screw rods, and linkage controls the buoyancy adjustment and wing movement. The design solves the problems of the existing equipment, such as complex structure, high energy consumption and poor synchronism, and has the advantages of compact and stable wing contraction, efficient and energy-saving double-mechanism linkage, precise control, durable structure and the like, and can adapt to the operation requirements of various underwater environments.

Description

Technical Field

[0001] This invention relates to the field of underwater autonomous vehicle technology, specifically to a single-drive variable-form underwater vehicle. Background Technology

[0002] Underwater gliders are underwater equipment that rely on buoyancy adjustment and wing gliding propulsion. In existing technologies, the wings of gliders are mostly fixed or simple folding structures, and buoyancy adjustment and wing movement are independent of each other: buoyancy adjustment is mostly achieved through an independent ballast system, and wing folding / deployment requires an additional drive motor, resulting in complex equipment structure, high energy consumption, and the inability of the two to coordinate their movements, affecting the glider's maneuverability and operational efficiency; the existing linkage structures mostly use a single transmission path, resulting in insufficient synchronization and stability of wing retraction / deployment, making it difficult to adapt to the operational requirements of complex underwater environments. Summary of the Invention

[0003] To address the technical problems existing in the prior art, this invention provides an underwater glider with a retractable linked wing. The underwater vehicle provided by this invention can achieve compact and stable wing retraction, improving structural reliability; it can realize the coordinated linkage of "buoyancy adjustment - wing retraction / deployment" with two lead screws, simplifying the drive structure, reducing energy consumption, and improving the synchronization of actions; the transmission path is optimized, and the precise control of wing retraction / deployment is ensured through multi-link and lead screw transmission.

[0004] To achieve the above objectives, the technical solution of the present invention is as follows: A retractable linked wing underwater glider includes a main structure, a buoyancy adjustment assembly, a four-link skin wing assembly, and a twin-screw linkage drive assembly, wherein: The main structure includes an outer shell and a tail section on the outer shell. The outer shell has an internal mounting cavity for fixing various functional components. The buoyancy adjustment component includes a syringe, a rigid tube at the end of the syringe, and a piston disposed inside the syringe. One end of the rigid tube is sealed to the injection port of the syringe, and the other end passes through the outer shell and extends to the external water area. The piston, driven by the double screw linkage drive component, realizes the intake and discharge of seawater in the syringe. The four-bar linkage skin wing assembly consists of a four-bar linkage mechanism and a skin. The four-bar linkage mechanism includes a first link, a second link, a third link, a fourth link, a fifth link, and a sixth link, which are hinged together to form the four-bar linkage mechanism. The skin covers the outside of the four-bar linkage mechanism and forms a retractable and extendable wing with the four-bar linkage mechanism. Under the drive of the double screw linkage drive assembly, the airfoil retracts and extends. The aforementioned dual lead screw linkage drive assembly includes a first lead screw, a second lead screw, and a dual-headed lead screw motor. The dual-headed lead screw motor is fixed inside the housing mounting cavity, and its two output ends are coaxially fixedly connected to the first lead screw and the second lead screw, respectively, to realize the synchronous reverse or same-direction rotation of the two lead screws; at the same time, it realizes the drive of the piston and the four-bar linkage mechanism.

[0005] Furthermore, in the buoyancy adjustment assembly of the present invention, the syringe is fixed in the housing mounting cavity, and the syringe is also provided with a syringe plunger. One end of the syringe plunger is connected to the piston, and the end of the syringe plunger away from the piston is fixedly connected to the first nut. Through the cooperation of the first nut and the first lead screw, the syringe plunger and the piston are driven to move axially, thereby controlling the syringe's water intake and drainage.

[0006] Furthermore, in the four-link skin wing assembly of the present invention, one end of the third link is hinged to a fixed support on the outside of the outer shell, and the other end is hinged to the second link and the fourth link respectively. The other end of the second link is hinged to the first link, the fourth link is hinged to the fifth link, and the fifth link is hinged to the sixth link.

[0007] Furthermore, in the dual lead screw linkage drive assembly of the present invention, the first lead screw is threadedly engaged with the first nut, and the first nut is simultaneously hinged to one end of the first connecting rod; The second lead screw is threaded into the second nut, and the second nut is hinged to one end of the sixth connecting rod. The piston is sleeved on the outside of the syringe plunger and the first lead screw, and is fixedly connected to the first nut, moving axially synchronously with the first nut. It also serves to assist in adjusting the glider's center of gravity.

[0008] Furthermore, the third link of the present invention is hinged to the second link at a four-eighths point closer to the hinge point of the fourth link.

[0009] Furthermore, the skin described in this invention is made of water-pressure resistant rubber composite material to ensure structural integrity during underwater operations.

[0010] Furthermore, the outer casing of the present invention is provided with a sixth connecting rod groove, through which the sixth connecting rod passes and is hinged to the fifth connecting rod; and a groove for the first connecting rod is provided, through which the first connecting rod passes and is hinged to the second connecting rod.

[0011] The beneficial effects of this invention are: (1) Compact and stable wing contraction: Through the coordinated cooperation of six links and skin structure, the wing volume is small after contraction and the structural stability is high during the folding process; (2) Dual-linkage synergy and high efficiency: Driven by a dual-head screw motor, the "syringe counterweight adjustment" and "wing retraction / deployment" are realized simultaneously, without the need for an additional drive mechanism, which simplifies the structure and reduces energy consumption; (3) Precise control and strong adaptability: The transmission ratio of the screw drive is fixed, which can precisely control the wing unfolding angle and the water intake of the syringe, adapting to different water depths and different water environments such as nearshore, fishing areas and deep sea, taking into account both gliding efficiency and stealth. (4) Reliable and durable structure: The connection between each connecting rod and the lead screw and nut adopts hinge and thread connection, which reduces wear. The skin is made of water pressure resistant composite material, which has strong corrosion resistance and tear resistance, thus extending the service life of the equipment. Attached Figure Description

[0012] Figure 1 This is a schematic diagram of the overall structure of the present invention; Figure 2 This is a schematic diagram of the internal transmission structure of the present invention; Figure 3 This is a schematic diagram of the outer casing of the present invention; In the diagram: 1. Rigid tube; 2. Syringe; 3. Outer shell; 4. Syringe plunger; 5. First lead screw; 6. First connecting rod; 7. Second connecting rod; 8. Third connecting rod; 9. Skin; 10. Fourth connecting rod; 11. Fifth connecting rod; 12. Sixth connecting rod; 13. Tail end; 14. Second lead screw; 15. Second nut; 16. Double-ended lead screw motor; 17. First nut; 18. Piston. 3-1. Sixth connecting rod groove; 3-2. First connecting rod groove; 3-3. Fixed support. Detailed Implementation

[0013] The preferred embodiments of the present invention are described below with reference to the accompanying drawings: Appendix Figure 1-3 As can be seen, the underwater glider with retractable linked wings provided by the present invention includes a main structure, a buoyancy adjustment component, a four-link skin wing component, and a dual-screw linkage drive component, the specific structure of which is as follows: See appendix Figure 1 The main structure of the present invention includes an outer shell 3 and a tail section 13. The outer shell 3 has an installation cavity inside for fixing various functional components such as the buoyancy adjustment assembly, the four-link skin wing assembly, and the twin screw linkage drive assembly. See appendix Figure 2 The buoyancy adjustment component of this invention includes a syringe 2, a rigid tube 1, and a piston 18. One end of the rigid tube 1 is sealed to the injection port of the syringe 2, and the other end passes through the outer shell 3 and extends to the external water area to realize the intake and discharge of seawater. The syringe 2 is fixed in the mounting cavity of the outer shell 3, and a syringe push rod 4 is also provided inside. The end of the syringe push rod 4 away from the piston 18 is fixedly connected to the first nut 17. Through the cooperation of the first nut 17 and the first lead screw 5, the syringe push rod 4 is driven to move axially, thereby controlling the intake and discharge of water by the syringe 2, so as to realize the glider's counterweight adjustment: the glider becomes heavier when it is filled with water and dives, and becomes lighter when it is discharged and floats. See appendix Figure 2The present invention relates to a four-bar linkage skin wing assembly: comprising a four-bar linkage mechanism and a skin 9. The four-bar linkage mechanism includes a first link 6, a second link 7, a third link 8, a fourth link 10, a fifth link 11, and a sixth link 12, which are hinged together to form the four-bar linkage mechanism; one end of the third link 8 is hinged to an attached... Figure 3 The fixed support 3-3 on the outer side of the outer shell 3 shown is hinged at the other end to the fifth link 11. The skin 9 covers the outer side of the four-bar linkage and achieves the contraction and extension of the airfoil as the link folds / unfolds. The skin 9 is made of water-resistant rubber composite material to ensure structural integrity during underwater operations; see appendix. Figure 2 The present invention relates to a dual-lead screw linkage drive assembly, comprising a first lead screw 5, a second lead screw 14, and a dual-headed lead screw motor 16. The dual-headed lead screw motor 16 is fixed inside the mounting cavity of the outer casing 3, and its two output ends are coaxially fixedly connected to the first lead screw 5 and the second lead screw 14, respectively, to achieve synchronous reverse or same-direction rotation of the two lead screws. The first lead screw 5 is threadedly engaged with a first nut 17, which is simultaneously hinged to one end of a first connecting rod 6. The other end of the first connecting rod 6 is hinged to a second connecting rod 7. A third connecting rod 8 is hinged to the second connecting rod 7 at a four-part point closer to the hinge point of the fourth connecting rod 10. The second lead screw 14 is threadedly engaged with a second nut 15, which is hinged to one end of a sixth connecting rod 12. The other end of the sixth connecting rod 12 is hinged to a fifth connecting rod 11. A piston 18 is sleeved on the outside of the first lead screw 5 and fixedly connected to the first nut 17, moving axially synchronously with the first nut 17, and also serving to assist in adjusting the center of gravity of the glider.

[0014] The above-mentioned underwater glider with retractable linked wings operates as follows during ascent and descent: (a) Wings deployed (ascending) When the underwater glider needs gliding propulsion, the dual-screw motor 16 starts, driving the first screw 5 and the second screw 14 to rotate synchronously in opposite directions: The first lead screw 5 rotates clockwise, causing the first nut 17 to move to the right, which in turn pushes the syringe plunger 4 into the syringe 2, discharging the seawater in the syringe 2 into the external waters through the rigid tube 1. The glider's counterweight is reduced, and it gradually floats upward. As the first nut 17 moves to the right, it drives the first connecting rod 6 to move to the right simultaneously. The first connecting rod 6 pushes the second connecting rod 7 to rotate around the hinge point, which in turn drives the third connecting rod 8 to rotate clockwise. The second lead screw 14 rotates counterclockwise, causing the second nut 15 to move backward, which in turn pulls the fifth link 11 to rotate clockwise around the fixed support 3-3 via the sixth link 12; the third link 8 and the fifth link 11 rotate clockwise together, causing the fourth link 10 to unfold synchronously, and the skin 9 is supported by the four-bar linkage into a streamlined airfoil. The wing is fully unfolded, and gliding propulsion is achieved in conjunction with the glider's upward trend.

[0015] (ii) Wing retraction state (diving) When the underwater glider needs to dive or avoid underwater debris, the dual-screw motor 16 starts in reverse, driving the first screw 5 and the second screw 14 to rotate synchronously in opposite directions: The first lead screw 5 rotates counterclockwise, causing the first nut 17 to move to the left, pulling the syringe plunger 4 away from the rigid tube 1. Seawater from the external waters is sucked into the syringe 2 through the rigid tube 1, increasing the glider's counterweight and causing it to begin its descent. As the first nut 17 moves to the left, it drives the first connecting rod 6 to move to the left simultaneously. The first connecting rod 6 pulls the second connecting rod 7 to rotate around the hinge point, which in turn drives the third connecting rod 8 to rotate counterclockwise. The second lead screw 14 rotates clockwise, causing the second nut 15 to move forward, which in turn pushes the fifth link 11 to rotate counterclockwise around the fixed support 3-3 via the sixth link 12. The third link 8 and the fifth link 11 rotate counterclockwise in coordination, causing the fourth link 10 to fold and retract. The skin 9 folds along with the link and fits tightly against both sides of the outer shell 3. The wings are fully retracted, the volume is greatly reduced, and debris is effectively avoided from getting tangled. At the same time, the piston 18 moves to the left with the first nut 17, further adjusting the center of gravity and ensuring diving stability.

[0016] To allow the first link 6 and the sixth link 12 to slide normally, slots are made in the outer casing 3. For example... Figure 3 3-1 is the slot for the sixth link 12, through which it passes and hinges to the fifth link 11; 3-2 is the slot for the first link 6, through which it hinges to the second link 7; 3-3 is the fixed support for the third link 8, hinged to the outside of the outer casing 3.

[0017] It should be further noted that the above embodiments are merely for understanding the technical solution of the present invention and are not intended to limit the scope of protection of the present invention. Wherein the embodiments of the present invention are not specifically described, such as the materials used and the connection methods, choices can be made within the scope of understanding of those skilled in the art, and the present invention does not impose any limitations. The terms "front and back," "top and bottom," "inside and outside," and "front and back" in the description are merely for ease of expression and are not intended to impose any special limitations. Any obvious adjustments and modifications made to the technical solution of the present invention that pertain to the inventive concept should fall within the scope of protection of the present invention.

Claims

1. An underwater glider with retractable linked wings, characterized in that: This includes the main structure, buoyancy adjustment assembly, four-link skin wing assembly, and twin-screw linkage drive assembly, among which: The main structure includes a shell (3) and a tail (13) provided on the shell (3). The shell (3) has an installation cavity inside for fixing various functional components. The buoyancy adjustment component includes a syringe (2), a rigid tube (1) at the end of the syringe (2), and a piston (18) disposed inside the syringe (2). One end of the rigid tube (1) is sealed to the injection port of the syringe (2), and the other end passes through the outer shell (3) and extends to the external water area. The piston (18) is driven by the double screw linkage drive component to realize the intake and discharge of seawater in the syringe (2). The four-bar linkage skin wing assembly consists of a four-bar linkage mechanism and a skin (9). The four-bar linkage mechanism includes a first link (6), a second link (7), a third link (8), a fourth link (10), a fifth link (11), and a sixth link (12), which are hinged together to form the four-bar linkage mechanism. The skin (9) covers the outside of the four-bar linkage mechanism and forms a retractable and extendable wing with the four-bar linkage mechanism. Under the drive of the double screw linkage drive assembly, the airfoil retracts and extends. The aforementioned dual lead screw linkage drive assembly includes a first lead screw (5), a second lead screw (14), and a dual-head lead screw motor (16). The dual-head lead screw motor (16) is fixed in the mounting cavity of the outer shell (3), and its two output ends are coaxially fixedly connected to the first lead screw (5) and the second lead screw (14) respectively, so as to realize the synchronous reverse or same-direction rotation of the two lead screws; at the same time, it realizes the drive of the piston (18) and the four-bar linkage mechanism.

2. The underwater glider with retractable linked wings according to claim 1, characterized in that: In the buoyancy adjustment assembly, the syringe (2) is fixed in the mounting cavity of the outer shell (3). The syringe (2) is also provided with a syringe push rod (4). One end of the syringe push rod (4) is connected to the piston (18), and the other end of the syringe push rod (4) away from the piston (18) is fixedly connected to the first nut (17). Through the cooperation of the first nut (17) and the first lead screw (5), the syringe push rod (4) and the piston (18) are driven to move axially, thereby controlling the water intake and drainage of the syringe (2).

3. The underwater glider with retractable linked wings according to claim 1, characterized in that: In the four-link skin wing assembly, one end of the third link (8) is hinged to the fixed support (3-3) on the outside of the shell (3), and the other end is hinged to the second link (7) and the fourth link (10) respectively. The other end of the second link (7) is hinged to the first link (6), the fourth link (10) is hinged to the fifth link (11), and the fifth link (11) is hinged to the sixth link (12).

4. The underwater glider with retractable linked wings according to claim 1, characterized in that: In the dual lead screw linkage drive assembly, the first lead screw (5) is threadedly engaged with the first nut (17), and the first nut (17) is simultaneously hinged to one end of the first connecting rod (6); The second lead screw (14) is threadedly engaged with the second nut (15), and the second nut (15) is hinged to one end of the sixth connecting rod (12); The piston (18) is sleeved on the outside of the syringe plunger (4) and the first lead screw (5) and is fixedly connected to the first nut (17), and moves axially synchronously with the first nut (17).

5. An underwater glider with retractable linked wings according to claim 1, characterized in that: The third link (8) is hinged to the second link (7) at a point that is close to the hinge point of the fourth link (10).

6. The underwater glider with retractable linked wings according to claim 1, characterized in that: The skin (9) is made of water-pressure resistant rubber composite material to ensure structural integrity during underwater operations.

7. An underwater glider with retractable linked wings according to claim 1, characterized in that: The outer casing (3) is provided with a sixth connecting rod groove (3-1) for the sixth connecting rod (12) to pass through the groove and be hinged to the fifth connecting rod (11); and a first connecting rod groove (3-2) is provided for the first connecting rod (6) to pass through the groove and be hinged to the second connecting rod (7).

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