A double-wing synchronous folding and unfolding system of underwater glider

Abstract

The present application belongs to underwater vehicle technical field, specifically to a kind of underwater glider double wing synchronous folding system. Including installation matrix, two wings, two wing root rotating components, a driving device and synchronous transmission component;Two wing root rotating components are rotatably supported in installation matrix respectively, and are connected with two wings respectively;Synchronous transmission component has a power input end and two movement output ends, power input end is drivingly connected with driving device, and two movement output ends are drivingly connected with two wing root rotating components respectively;Synchronous transmission component is used to convert the single power input of driving device into the synchronous rotation of two wing root rotating components in opposite directions with predetermined corresponding relationship of rotation angle, to drive two wings to be folded, unfolded or positioned at the set angle between folded state and unfolded state. Two wings are reliably driven in opposite synchronous rotation by a set of power source, solve the angle cumulative error and control out of sync problem caused by left and right independent driving.

Description

Technical Field

[0001] This invention belongs to the field of underwater vehicle technology, specifically relating to a synchronized wing extension and retraction system for an underwater glider. Background Technology

[0002] Underwater gliders typically achieve zigzag gliding by adjusting buoyancy and center of gravity. Some hybrid-drive underwater gliders can also use propellers to perform constant-depth propulsion, rapid maneuvering, or fixed-point operations. While the wings provide lift and convert vertical motion into horizontal motion during gliding, fully deployed wings increase frontal area, additional drag, and hydrodynamic torque during propulsion, deployment and recovery, or navigation in confined waters, and are also more prone to collisions, entanglement, or structural damage.

[0003] Fixed wings cannot change their hydrodynamic shape according to mission mode and environmental conditions. Existing retractable or variable-sweep wings typically employ independent left and right drives, single servo linkage transmission, or worm gear transmission. For cylindrical or near-cylindrical underwater gliders, the above solutions may still face the following engineering problems: left and right wing motion errors lead to hydrodynamic asymmetry; the drive source, drive shaft, and wing root pivot are difficult to arrange in the limited radial space; sealing and maintenance are difficult when transmission components cross pressure limits; the wing needs continuous power to maintain its position after being subjected to external hydrodynamic forces, or a separate locking mechanism is required; and the volume, piping, and leakage risks increase when hydraulic components are distributed.

[0004] Therefore, it is necessary to propose a dual-wing synchronous retraction and extension device suitable for the narrow fuselage arrangement of underwater gliders to solve the above problems. Summary of the Invention

[0005] The purpose of this invention is to provide a synchronized wing extension and retraction system for an underwater glider, which reliably drives the two wings to rotate synchronously in opposite directions through a single power source, thus solving the problems of cumulative angle error and asynchronous control caused by independent left and right drive.

[0006] To achieve the above objectives, the present invention provides a synchronized deployment and retraction system for an underwater glider, comprising: a mounting base, two wings, two wing root rotating assemblies, a drive device, and a synchronized transmission assembly; The two wing root rotating assemblies are rotatably supported on the mounting base and connected to the two wings respectively. The synchronous transmission assembly has one power input end and two motion output ends. The power input end is connected to the drive device, and the two motion output ends are connected to the two wing root rotating assemblies respectively. The synchronous transmission assembly is used to convert the single power input of the drive device into synchronous rotation of the two wing root rotating assemblies in opposite directions and with a predetermined corresponding rotation angle, so as to drive the two wings to synchronously fold, unfold, or be positioned at a set angle between the folded and unfolded states.

[0007] Furthermore, the synchronous transmission assembly includes a worm and two worm wheels. The two worm wheels are located on opposite sides of the worm and mesh with the same worm. The two worm wheels are respectively connected to the two wing root rotation assemblies so that the two worm wheels rotate synchronously in opposite directions under the drive of the worm. Each of the wing root rotating assemblies includes a first wing mounting plate, a worm gear shaft, and a rotating support member; the first wing mounting plate is connected to the corresponding wing and worm gear respectively, and the worm gear shaft is rotatably supported on the mounting base through the rotating support member.

[0008] Furthermore, the synchronous transmission assembly also includes a first bevel gear set connected to the worm gear, the first bevel gear set including a first bevel gear coaxially connected to the worm gear and a second bevel gear meshing perpendicularly with the first bevel gear; the second bevel gear is connected to a third bevel gear through an intermediate transmission shaft, the third bevel gear meshing perpendicularly with a fourth bevel gear; the fourth bevel gear is connected to the drive source; An angle sensor is connected to the intermediate drive shaft, and the angle sensor is used to detect the rotation angle of the intermediate drive shaft, worm, worm gear shaft or wing root rotating assembly.

[0009] Furthermore, the worm gear and the first bevel gear set are disposed on the outside of the mounting base; the intermediate transmission shaft passes through the mounting base, and the third bevel gear, the fourth bevel gear and the drive source are disposed on the inside of the mounting base; The worm gear is rotatably supported by two mounting brackets via bearings, and the two mounting brackets are fixed to the mounting base.

[0010] Furthermore, the synchronous transmission assembly includes a common drive component and two sets of linkage mechanisms symmetrically arranged about the longitudinal center plane of the fuselage; each set of linkage mechanisms includes a movable link and a wing root rocker arm, one end of the movable link is hinged to the common drive component, and the other end is hinged to the corresponding wing root rocker arm; the two wing root rocker arms are respectively connected to the two wing root rotating assemblies in a transmission connection, and when the common drive component moves linearly, it drives the two wing root rotating assemblies to rotate synchronously in opposite directions through the two sets of linkage mechanisms.

[0011] Furthermore, the common driving component includes a common slider and a push rod. The common slider is fixedly connected to the push rod and performs linear reciprocating motion along the longitudinal direction of the mounting base. The two movable connecting rods are respectively hinged to both sides of the common slider.

[0012] Furthermore, each of the wing root rotating assemblies includes a second wing mounting plate fixedly connected to the wing root, the end of the second wing mounting plate being provided with a fixed mounting ring, the fixed mounting ring being movably connected to the mounting base; the second wing mounting plate is fixedly connected to the wing root rocker arm.

[0013] Furthermore, the driving device includes a double-acting hydraulic cylinder and an integrated electro-hydraulic power unit. The piston rod of the double-acting hydraulic cylinder is connected to the push rod, and the integrated electro-hydraulic power unit is connected to the two working chambers of the double-acting hydraulic cylinder respectively.

[0014] Furthermore, the integrated electro-hydraulic power unit includes a motor assembly, a bidirectional pump, a valve block, a valve group, a flexible oil reservoir, a pre-tightening elastic element, an oil reservoir protective cover, and a coupling; the motor assembly drives the bidirectional pump through the coupling, the bidirectional pump and the valve group are mounted on the valve block and interconnected through the internal oil passage of the valve block, and the double-acting hydraulic cylinder is mounted on the valve block or connected to the valve block through a pipeline; The valve group includes a pair of hydraulically controlled check valves, overflow valves corresponding to two working oil circuits respectively, and a replenishing check valve; the two hydraulically controlled check valves form a bidirectional hydraulic lock, and the two replenishing check valves respectively allow the flexible oil reservoir to replenish hydraulic oil to the low-pressure working oil circuit; The flexible oil reservoir is connected to the oil replenishment circuit. The pre-tightening elastic element is disposed between the flexible oil reservoir and the oil reservoir protective cover and applies a pre-tightening force to the flexible oil reservoir. The oil reservoir protective cover is provided with a pressure equalization hole that communicates with the external water environment so that the outer side of the flexible oil reservoir can withstand the environmental water pressure.

[0015] Furthermore, it also includes a fairing that covers the synchronous transmission assembly and smoothly integrates with the shape of the underwater glider.

[0016] In summary, compared with the prior art, the above-described technical solutions conceived by this invention mainly possess the following technical advantages: 1) The underwater glider dual-wing synchronous expansion and retraction system provided by the present invention uses a single drive source to drive the two wings to rotate in opposite directions through a single-input dual-output synchronous transmission structure, which reduces the cumulative angle error, control asynchrony and number of parts caused by independent left and right drives, and helps to maintain the symmetry of the hydrodynamic shape.

[0017] 2) The worm gear type twin-wing synchronous retraction and extension mechanism uses a two-stage bevel gear set to change the direction of power transmission, so that the motor and worm can be arranged in a staggered and off-axis manner, which is more suitable for the limited space of cylindrical underwater gliders; the intermediate drive shaft also provides a convenient angle detection position.

[0018] 3) This invention constructs an independent wing root rotation and load-bearing structure through a wing mounting plate, wing root shaft, rotating support sleeve or bearing, and mounting base. This allows the main external hydrodynamic loads on the wing to be transmitted to the mounting base via the wing root shaft and support structure, while the worm gear or linkage synchronization mechanism primarily undertakes the wing's driving, retraction, and synchronous movement functions. This rational division of the load-bearing path and power transmission path reduces the direct impact of external hydrodynamic loads on the synchronization transmission components, minimizing synchronization errors caused by load deformation of the transmission components. It also reduces the risk of abnormal loads on the worm, worm wheel, linkage, and drive components, enabling the synchronization mechanism to maintain a relatively stable motion relationship even when the wing is subjected to hydrodynamic loads of different directions and magnitudes. This improves the reliability and synchronization stability during long-term, repetitive wing retraction and extension processes.

[0019] 4) When the self-locking condition is met, the single worm gear-double worm wheel drive can maintain the wing position after the machine stops; the planar linkage type wing synchronous retraction and extension mechanism uses paired hydraulically controlled check valves to form a two-way hydraulic lock, and an overflow valve is installed in the corresponding two-way working oil circuit. When the hydraulic cylinder operates normally, the pilot pressure generated by the pump opens the corresponding hydraulically controlled check valve, allowing hydraulic oil to enter and exit the hydraulic cylinder normally; when the wing reaches the target angle and stops driving, the pilot pressure disappears, the two hydraulically controlled check valves close, sealing the oil in the two working chambers of the hydraulic cylinder, thereby locking the piston rod position and maintaining the current wing angle without the need for continuous operation of the hydraulic pump. Both routes can reduce the energy consumption caused by continuous power supply.

[0020] 5) The common slider and two symmetrical movable connecting rods convert the one-dimensional linear motion of the hydraulic cylinder into synchronous reverse rotation of the two wings. The structural relationship is clear, the stroke limit is easy to set, and the hydraulic cylinder is arranged in parallel with the longitudinal direction of the machine body.

[0021] 6) Connect the flexible oil reservoir to the hydraulic circuit and install a pre-compression structure such as a tower-shaped spring on the outside of the flexible oil reservoir. This allows the flexible oil reservoir to deform accordingly when the hydraulic oil volume changes and maintain a tendency to replenish oil to the hydraulic circuit under pre-compression. When the hydraulic oil expands due to increased temperature, the flexible oil reservoir absorbs excess oil; when the temperature decreases, the hydraulic cylinder generates differential volume, or there is a slight leakage in the system, the flexible oil reservoir can replenish oil to the low-pressure side, thereby improving the hydraulic circuit's adaptability to changes in oil volume.

[0022] 7) The integrated design of motor, bidirectional pump, valve block, lock-up valve, overload protection valve and flexible oil reservoir can shorten the external pipeline, reduce the volume of hydraulic system and potential leakage points; the flexible oil reservoir and pre-pressurization structure are beneficial for oil replenishment and volume compensation.

[0023] 8) When the wings are folded, the overall dimensions, hydrodynamic interference, and collision risks during the propulsion or deployment and recovery phases can be reduced; when the wing angle is adjustable in the middle, it can provide different hydrodynamic shapes for different mission conditions.

[0024] 9) The fairing covers the transmission components and connects with the body shape, which can reduce the direct exposure of the transmission components to seawater, foreign objects and collision environment, while facilitating the installation and maintenance of the retraction mechanism as an independent module. Attached Figure Description

[0025] Figure 1 This is a schematic diagram of the underwater glider's biplane synchronous retraction and deployment system in both the retracted and deployed states.

[0026] Figure 2 This is an exploded schematic diagram of the overall layout and wing root rotation assembly of a worm gear type double-wing synchronous retraction and extension mechanism.

[0027] Figure 3 This is a sectional view of the transmission chain, support, and motor enclosed arrangement of a worm gear type double-wing synchronous retraction and extension mechanism.

[0028] Figure 4 This is a schematic diagram showing the deployed and retracted states of a worm gear type double-wing synchronous deployment and retraction mechanism.

[0029] Figure 5 This is a partial structural diagram showing the connection between the worm gear and the mounting plate of the first wing.

[0030] Figure 6 This is a schematic diagram showing the structural composition and two states of a planar linkage type double-wing synchronous retraction and deployment mechanism.

[0031] Figure 7 This is a schematic diagram showing the deployed and retracted states of a planar linkage-type dual-wing synchronous deployment and retraction mechanism.

[0032] Figure 8 A schematic diagram of the retracted state structure of a planar linkage type double-wing synchronous retraction and extension mechanism; Figure 9 This is a schematic diagram of the structure of an integrated electro-hydraulic power unit.

[0033] Figure 10 This is a schematic diagram of the structure of an integrated electro-hydraulic power unit.

[0034] In all the accompanying drawings, the same reference numerals are used to denote the same elements or structures, wherein: 1-Underwater glider; 2-Fairing; 3-Wing; 4-Worm gear type biplane synchronous retraction and extension mechanism; 4.1-Limit nut; 4.2-Worm gear; 4.3-Worm gear shaft; 4.4-First wing mounting plate; 4.5-Rotating support sleeve; 4.6-Mounting base; 4.7-Arched end cap; 4.8-Bearing; 4.9-First bevel gear set; 4.10-Intermediate drive shaft; 4.11-Left mounting frame; 4.12-Worm; 4.13-Right mounting frame; 4.14-Second bevel gear set; 4.15-Angle sensor; 4.16-Motor protective cover; 4.17-First motor assembly; 4.18-Motor cable; 4.19-Screw; 5-Planar linkage type double-wing synchronous retraction and extension mechanism; 5.1-Second wing mounting plate; 5.11-Fixed mounting ring; 5.12-Wing root rocker arm; 5.2-Modible connecting rod; 5.21-First movable hinge; 5.22-Second movable hinge; 5.3-Common slider; 5.4-Push rod; 5.5-Double-acting hydraulic cylinder; 5.6-Integrated electro-hydraulic power unit; 5.61-Motor protective cover; 5.62-Second motor assembly; 5.63-Bidirectional pump; 5.64-Valve block; 5.65-Valve block process plug; 5.66-Flexible oil reservoir; 5.67-Tower-shaped spring; 5.68-Oil sac protective cover; 5.69-Valve components; 5.610-First and second working oil ports; 5.611-Coupling. Detailed Implementation

[0035] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention. Furthermore, the technical features involved in the various embodiments of this invention described below can be combined with each other as long as they do not conflict with each other.

[0036] This invention provides a synchronized wing retraction and deployment system for an underwater glider. A pair of wings symmetrical about the longitudinal center plane of the glider are provided on the fuselage. The two wings rotate about the rotation axis at the wing root and are driven by a synchronized transmission component with one power input and two motion outputs to retract or deploy synchronously in opposite directions.

[0037] The biplane synchronous retraction and extension system includes at least a mounting base, a pair of wings, a pair of wing root rotation assemblies, a synchronous transmission assembly, a drive assembly, and a fairing. The synchronous transmission assembly has one power input and two motion outputs respectively connected to the two wing root rotation assemblies, used to convert the single output of the drive assembly into synchronous rotation of the two wings in opposite directions and with corresponding angular displacements. Position detection components, mechanical limit components, sealing components, and controllers can be configured according to specific implementation methods.

[0038] Table 1. Main components and functions of the biplane synchronous expansion and retraction system

[0039] Specifically, the synchronous retraction and extension mechanism is either a worm gear type double-wing synchronous retraction and extension mechanism or a planar linkage type double-wing synchronous retraction and extension mechanism. The worm gear type double-wing synchronous retraction and extension mechanism may employ a worm 4.12 located between and meshing with both worm gears 4.2. Spatial steering transmission between the drive source and the worm 4.12 is achieved through a two-stage bevel gear set and an intermediate transmission shaft. The rotation angle of the intermediate transmission shaft is detected by an angle sensor 4.15 to calculate the wing rotation angle.

[0040] The planar linkage type double-wing synchronous retraction and extension mechanism uses a common slider 5.3, two sets of symmetrical connecting rods and a double-acting hydraulic cylinder 5.5 to drive the two wings to rotate synchronously. It integrates the motor, bidirectional pump, hydraulic control check valve, overflow valve, valve block, flexible oil reservoir and its pre-pressure structure into a compact electro-hydraulic drive unit.

[0041] For ease of description, the longitudinal direction of the underwater glider is defined as X, the lateral direction as Y, and the vertical direction as Z. A pair of wings are symmetrically arranged about the XZ longitudinal center plane of the fuselage, and the wings are rotatably connected to the fuselage or module mounting base at the wing roots. The wings are in the folded state when they are close to the X direction, and in the deployed state when they are extended along the Y direction. Depending on the mission requirements, the wings can also remain in any set position between the folded and deployed states, preferably with a rotation range of 0° to 90°. The actual angle range is determined by hydrodynamic design, structural interference, and limiting positions.

[0042] The biplane synchronous extension and retraction system can be uniformly controlled by the underwater glider's main controller. The main controller determines the target wing angle based on the mission mode, speed, depth, attitude, or manual commands, and outputs control commands to the first motor assembly 4.17 or the second motor assembly 5.62. Angle sensors, hydraulic cylinder displacement sensors, end position switches, or motor current signals can be used as the basis for position determination and fault diagnosis.

[0043] Table 2 Control process of the dual-wing synchronous expansion and retraction system

[0044] Example 1: Spatial Steering Electric Drive Scheme for Worm Gear Type Twin-Wing Synchronous Extension and Retraction Mechanism See Figures 1 to 5The underwater glider 1 has a fairing 2 on its fuselage, which covers a worm gear-type biplane synchronous retraction and extension mechanism 4. A pair of wings 3 extend from both sides of the fairing 2. The mounting base 4.6 is fixedly connected to the fuselage of the underwater glider 1, and the arc-shaped end cap 4.7 is connected to the end of the adjacent pressure chamber or module. Two sets of wing root rotating assemblies are symmetrically arranged about the longitudinal center plane of the fuselage. Each wing root rotating assembly (i.e., the rotating assembly) consists of a worm gear 4.2, a worm gear shaft 4.3, a first wing mounting plate 4.4, a limit nut 4.1, and a rotating support sleeve 4.5.

[0045] like Figure 5 During assembly, the worm gear type biplane synchronous retraction and extension mechanism 4 is mounted on the mounting base 4.6, and a pair of wings 3 are respectively fixed on the first wing mounting plate 4.4. Each first wing mounting plate 4.4 is fixedly connected to the corresponding worm gear 4.2 by screws 4.19, and together they are fitted or fixed to the corresponding worm gear shaft 4.3. The upper end of the worm gear shaft 4.3 is axially limited by the limiting nut 4.1, and the lower end is supported by the rotating support sleeve or support sleeve 4.5; according to the load requirements, the rotating support sleeve 4.5 can be replaced by a sliding bearing, rolling bearing, or a combination of bearings. This invention forms an independent wing root rotation and load-bearing structure through the wing mounting plate, wing root shaft, rotating support sleeve or bearing, and mounting base, so that the main external hydrodynamic load on the wing is transmitted to the mounting base through the wing root shaft and support structure, while the worm gear or linkage synchronous mechanism mainly undertakes the driving, retraction, extension, and synchronous movement functions of the wing. By rationally dividing the load-bearing path and the power transmission path, the degree to which the external hydrodynamic load of the wing directly acts on the synchronous transmission components can be reduced, the synchronization error caused by the deformation of the transmission components under load can be reduced, and the risk of abnormal load on the worm, worm wheel, connecting rod and drive components can be reduced. This allows the synchronization mechanism to maintain a relatively stable motion relationship when the wing is subjected to hydrodynamic loads of different directions and magnitudes, thereby improving the reliability and synchronization stability of the wings during long-term repeated opening and closing processes.

[0046] Two worm gears 4.2 are symmetrically arranged about the longitudinal center plane of the fuselage, and a worm 4.12 is located between the two worm gears 4.2 and meshes with both worm gears 4.2 simultaneously. When the worm 4.12 rotates, the two worm gears 4.2 located on both sides of it rotate synchronously in opposite directions, thereby driving the two first wing mounting plates 4.4 and their wings 3 to retract or extend synchronously. This "single worm-double worm gear" structure is the direct synchronous transmission part of this route.

[0047] like Figure 3The worm gear 4.12 is mounted on the left mounting frame 4.11 and the right mounting frame 4.13 via bearings 4.8. A first bevel gear set 4.9 connects the worm gear 4.12 to the intermediate drive shaft 4.10, and a second bevel gear set 4.14 connects the intermediate drive shaft 4.10 to the output shaft of the first motor assembly 4.17. Thus, the torque output by the first motor assembly 4.17 is transmitted sequentially to the two worm gears 4.2 via the second bevel gear set 4.14, the intermediate drive shaft 4.10, the first bevel gear set 4.9, and the worm gear 4.12. The first bevel gear set 4.9 includes a first bevel gear coaxially connected to the worm gear 4.12 and a second bevel gear meshing perpendicularly with the first bevel gear; the second bevel gear is connected to a third bevel gear via the intermediate drive shaft, and the third bevel gear meshes perpendicularly with a fourth bevel gear; the fourth bevel gear is connected to the first motor assembly 4.17. The present invention enables the first motor assembly 4.17 and the worm gear 4.12 to be arranged at different heights or in different axial directions through a two-stage bevel gear set, so as to adapt to the limited space of the cylindrical body.

[0048] The worm gear 4.12 and the first bevel gear set 4.9 are disposed on the outer side of the mounting base 4.6; the intermediate transmission shaft 4.10 passes through the mounting base 4.6, and the third bevel gear, the fourth bevel gear, and the first motor assembly 4.17 are disposed on the inner side of the mounting base 4.6. This invention provides a two-stage bevel gear set and an intermediate transmission shaft between the power source and the worm gear. By changing the power transmission direction through the bevel gear pair, the motor output shaft and the worm gear axis can be arranged in a staggered, offset, or different direction configuration. This allows the power source to be positioned in a more suitable location within the narrow space of the underwater glider. Simultaneously, the intermediate transmission shaft reliably transmits power to the worm gear across the confined space, avoiding the need to expand the overall size of the mechanism to meet traditional transmission shaft relationships.

[0049] The number of teeth and effective transmission ratio of the two worm gears 4.2 are preferably the same so that the absolute values ​​of the angular displacements of the two wings are consistent; if the mission requires the left and right wings to form different angles, it can also be achieved through different numbers of teeth, adjustable connections or differential mechanisms.

[0050] Angle sensor 4.15 is mounted on the intermediate drive shaft 4.10 or a detection shaft coaxially connected to it. The controller calculates the actual wing angle 3 based on the output value of angle sensor 4.15, the transmission ratios at each stage, and the initial calibration zero position; when the actual wing angle reaches the target value, the controller stops the first motor assembly 4.17. Angle sensors can also be mounted on the worm shaft, worm wheel shaft, or wing root shaft to directly or indirectly detect the wing angle. Mechanical or electrical limits are preferably provided at the folding and unfolding ends to prevent overtravel of the transmission mechanism. This invention converts the sensor output into the actual wing angle based on the transmission ratios at each stage and the initial calibration relationship, enabling the controller to obtain the actual wing position and implement deceleration, stopping, and intermediate angle positioning according to the target angle.

[0051] When the lead angle, tooth surface friction condition, and load condition of the worm gear pair meet the self-locking requirements, after the first motor assembly 4.17 stops, the two worm wheels 4.2 are less likely to reverse drive the worm 4.12 under the action of the wing hydrodynamic torque, thereby maintaining the wing position and reducing the energy consumption caused by continuous power supply.

[0052] The first motor assembly 4.17, the second bevel gear set 4.14, and the angle sensor 4.15 can be housed within a sealed space enclosed by the motor protective cover 4.16 and the arc-shaped end cap 4.7. A static end face seal is provided between the motor protective cover 4.16 and the arc-shaped end cap 4.7; when the intermediate drive shaft 4.10 or other drive shafts cross the pressure-resistant boundary, a rotary dynamic seal and bearing support are provided at the penetration location. The power line and control line 4.18 of the first motor assembly 4.17 are connected to the underwater glider control system through the watertight penetration component.

[0053] After the first motor assembly 4.17 is powered on, its output shaft drives the second bevel gear set 4.14, which in turn drives the intermediate transmission shaft 4.10 to rotate. The intermediate transmission shaft 4.10 then drives the worm gear 4.12 via the first bevel gear set 4.9. Since the two worm wheels 4.2 are located on opposite sides of the worm gear 4.12, the worm gear 4.12 simultaneously drives the two worm wheels to rotate in opposite directions. The controller calibrates the output of the angle sensor 4.15 at the retracted end to zero and establishes a correspondence between the sensor rotation angle and the wing rotation angle based on the transmission ratio. The controller can control the wing to be fully retracted, fully deployed, or at any intermediate angle. In the fully deployed state, the two wings 3 extend laterally from both sides of the fuselage; in the fully retracted state, the two wings 3 are arranged longitudinally along the fuselage and located in the area adjacent to the fairing 2.

[0054] The working principle of the worm gear type double-wing synchronous retraction and extension mechanism is as follows: 1) Deployment: The controller sends a forward rotation command to the first motor assembly 4.17, and the torque is transmitted to the worm 4.12 through the two-stage bevel gear set; the worm 4.12 simultaneously drives the two worm wheels 4.2 to rotate synchronously in opposite directions, and the left and right wings 3 rotate from the longitudinally folded position to the laterally deployed position.

[0055] 2) Intermediate angle positioning: The controller continuously collects the output of the angle sensor 4.15 and calculates the wing sweep angle according to the calibration relationship; after reaching the target angle, the motor stops and the position is maintained by the worm gear pair or additional locking mechanism that meets the self-locking conditions.

[0056] 3) Retraction: The controller causes the first motor assembly 4.17 to rotate in the opposite direction, the transmission chain moves in the opposite direction, and the left and right wings 3 retract synchronously in the longitudinal direction of the fuselage; it stops after reaching the retraction limit.

[0057] Example 2: Planar Linkage Electro-hydraulic Scheme for Planar Linkage Type Twin-Wing Synchronous Extension and Retraction Mechanism See Figures 6 to 10 The planar linkage type twin-wing synchronous retraction and extension mechanism 5 includes two second wing mounting plates 5.1, two movable connecting rods 5.2, a common slider 5.3, a horizontal moving rod 5.4, and a double-acting hydraulic cylinder 5.5. The two second wing mounting plates 5.1 are symmetrically arranged about the longitudinal center plane of the fuselage. Each second wing mounting plate 5.1 includes a fixed mounting ring 5.11 and a wing root rocker arm 5.12. The fixed mounting ring 5.11 is rotatably connected to the fuselage or mounting base, forming the wing root rotation support of the second wing mounting plate 5.1.

[0058] One end of each movable link 5.2 is hinged to the corresponding wing root rocker arm 5.12 via a first movable hinge 5.21, and the other end is hinged to the common slider 5.3 via a second movable hinge 5.22. The common slider 5.3 is fixedly connected to the horizontal moving rod 5.4, which is connected to the piston rod of the double-acting hydraulic cylinder 5.5. The double-acting hydraulic cylinder 5.5 drives the common slider 5.3 to reciprocate along the X-axis of the fuselage. The two movable links 5.2 convert the linear displacement of the common slider 5.3 into the synchronous, opposite rotation of the two second wing mounting plates 5.1 around their respective fixed mounting rings 5.11.

[0059] like Figure 9 and 10 The integrated electro-hydraulic power unit 5.6 includes a second motor assembly 5.62, a bidirectional pump 5.63, a valve block 5.64, valve elements 5.69, a double-acting hydraulic cylinder 5.5, a flexible oil reservoir 5.66, a tower-shaped spring 5.67, an oil sac protective cover 5.68, and a coupling 5.611. The second motor assembly 5.62 drives the bidirectional pump 5.63 via the coupling 5.611. The bidirectional pump 5.63, valve elements 5.69, and internal oil passages are integrated into the valve block 5.64. The double-acting hydraulic cylinder 5.5 can be directly mounted on the valve block 5.64 or connected to the valve block 5.64 via a short pipeline. The valve block 5.64 is sealed by a valve block process plug 5.65.

[0060] Valve element 5.69 includes at least a pair of hydraulically controlled check valves and relief valves corresponding to the two working oil circuits. The two working ports of the bidirectional pump 5.63 are connected to the two working chambers of the double-acting hydraulic cylinder 5.5 via working oil circuits within the valve block 5.64. When the pump rotates forward, one working oil circuit pressurizes and supplies oil to the corresponding working chamber of the double-acting hydraulic cylinder 5.5, while the other working chamber returns oil. When the bidirectional pump 5.63 rotates in reverse, the high and low pressure relationships of the two working oil circuits are reversed, thereby driving the double-acting hydraulic cylinder 5.5 to move in the opposite direction.

[0061] A pair of pilot-operated check valves form a bidirectional hydraulic lock: during operation, the pressure-supplying check valve opens in the forward direction, and the supply oil simultaneously opens the return check valve through the pilot oil circuit; when the bidirectional pump 5.63 stops and the pilot pressure disappears, both pilot-operated check valves close, sealing the oil in both chambers of the double-acting hydraulic cylinder 5.5, thus maintaining the piston rod and wing in their current positions. This working logic differs from the simple description of ordinary check valves that only allow flow in one direction. This invention uses a pair of pilot-operated check valves in the working oil circuits on both sides of the double-acting hydraulic cylinder to form a bidirectional hydraulic lock, and provides relief valves in the corresponding bidirectional working oil circuits. When the hydraulic cylinder operates normally, the pilot pressure generated by the pump opens the corresponding pilot-operated check valve, allowing hydraulic oil to enter and exit the hydraulic cylinder normally; when the wing reaches the target angle and the drive stops, the pilot pressure disappears, the two pilot-operated check valves close, sealing the oil in the two working chambers of the hydraulic cylinder, thereby locking the piston rod position and maintaining the current wing angle without requiring continuous operation of the hydraulic pump. When the wing is subjected to abnormal external loads or its movement is obstructed, causing the working oil circuit pressure to exceed the set value, the corresponding relief valve opens to release high-pressure oil, thereby limiting the peak pressure of the hydraulic system and reducing the risk of overload damage to the hydraulic cylinders, connecting rods, and wing root structure. This forms a dual safety mechanism of "low-energy locking in normal conditions and active pressure relief in abnormal conditions." Compared with solutions that rely solely on continuous pressure supply to maintain position or simply use mechanical locking, this mechanism can balance position holding, energy consumption, and overload safety.

[0062] Two relief valves provide overload protection for the high-pressure oil circuit during the forward and reverse rotation of the bidirectional pump 5.63, respectively. When the pressure of the corresponding working oil circuit exceeds the set value, the high-pressure oil flows back to the flexible reservoir 5.66 or the low-pressure replenishment channel via the relief valve. The flexible reservoir 5.66 serves as a hydraulic medium storage and volume compensation element. An oil bladder protective cover 5.68 is installed on its outer side, and a tower-shaped spring 5.67 is located between the flexible reservoir 5.66 and the protective cover, applying preload to give the flexible reservoir 5.66 a tendency to replenish oil to the circuit. The flexible reservoir 5.66 can also perform environmental pressure compensation. The flexible reservoir 5.66 undergoes elastic deformation with temperature changes, hydraulic cylinder differential volume changes, and minor leaks, replenishing oil to the low-pressure side. When used in deep water environments, it is preferable to have the outer side of the flexible reservoir 5.66 withstand the environmental water pressure, thereby reducing the pressure difference between the inside and outside of the reservoir.

[0063] This invention integrates a motor, bidirectional pump, valve block, hydraulic check valve, relief valve, and corresponding working oil circuits into a single unit. The double-acting hydraulic cylinder is directly mounted on the valve block or connected to it via a short pipeline. This replaces some traditional external pipelines with internally machined oil passages within the valve block, reducing the length of external pipelines and the number of pipe joints, lowering the risk of hydraulic oil leakage, and reducing the overall installation space of the electro-hydraulic drive unit. Furthermore, a flexible oil reservoir is connected to the hydraulic circuit, and a pre-compression structure, such as a tower-shaped spring, is installed on the outside of the flexible oil reservoir. This allows the flexible oil reservoir to deform accordingly when the hydraulic oil volume changes and maintains a tendency to replenish oil to the hydraulic circuit under pre-compression. When the hydraulic oil expands due to increased temperature, the flexible oil reservoir absorbs excess oil; when the temperature decreases, the hydraulic cylinder generates differential volume, or there is a minor leakage in the system, the flexible oil reservoir can replenish oil to the low-pressure side, thereby improving the hydraulic circuit's adaptability to changes in oil volume. In deep-water applications, the flexible oil reservoir can withstand ambient water pressure on its outer side, allowing environmental pressure to participate in hydraulic medium pressure compensation and reducing the pressure difference between the inside and outside of the oil reservoir. Therefore, this invention, through the combination of "integrated valve block + short oil circuit + flexible oil reservoir + pre-pressure structure," enables the electro-hydraulic drive system to achieve multiple functions such as driving, reversing, locking, overload protection, oil storage, and volume compensation within a limited installation space, and improves its operational stability and reliability under conditions of temperature changes, hydraulic cylinder volume changes, and deep-water environmental pressure changes.

[0064] When the second motor assembly 5.62 drives the bidirectional pump 5.63 to rotate forward, the first working oil circuit is pressurized, and the piston rod of the hydraulic cylinder moves in the unfolding direction. The pressurized oil causes the first hydraulically controlled check valve to open in the forward direction, and opens the second hydraulically controlled check valve through the pilot oil circuit, allowing the oil in the other working chamber to flow back. When the wing reaches the target angle, the second motor assembly 5.62 stops, the two hydraulically controlled check valves close when there is no pilot pressure, and the hydraulic cylinder is locked in both directions. When the bidirectional pump 5.63 rotates in reverse, the functions of the two working oil circuits are interchanged, and the hydraulic cylinder drives the wing to retract.

[0065] The working principle of the planar linkage type double-wing synchronous expansion and retraction mechanism is as follows: 1) Deployment: The second motor assembly 5.62 drives the bidirectional pump 5.63 to rotate forward, and oil enters the set working chamber of the hydraulic cylinder 5.5. The piston rod drives the horizontal moving rod 5.4 and the common slider 5.3 to move along the deployment direction; the two movable connecting rods 5.2 push the two second wing mounting plates 5.1 to rotate synchronously in opposite directions around the fixed mounting ring 5.11.

[0066] 2) Hold: After reaching the target angle, stop the second motor assembly 5.62; the pilot pressure disappears, the paired hydraulic check valves close, the two chambers of the hydraulic cylinder 5.5 are closed, and the common slider 5.3 and the two wings 3 remain in the current position.

[0067] 3) Retraction: The second motor assembly 5.62 rotates in the opposite direction, the bidirectional pump 5.63 changes the oil supply direction, the hydraulic cylinder 5.5 moves in the opposite direction, and the common slider 5.3 pulls the two second wing mounting plates 5.1 synchronously retract via two movable connecting rods 5.2.

[0068] 4) Overload protection: When movement in any direction is obstructed or the external hydrodynamic torque is too large, the corresponding high-pressure side relief valve opens to limit the peak pressure of the circuit and reduce the risk of overload of the hydraulic cylinder, connecting rod and wing root structure.

[0069] Those skilled in the art will readily understand that the above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A synchronized deployment and retraction system for an underwater glider's dual wings, characterized in that, It includes a mounting base, two wings, two wing root rotating assemblies, a drive unit, and a synchronous transmission assembly; The two wing root rotating assemblies are rotatably supported on the mounting base and connected to the two wings respectively. The synchronous transmission assembly has one power input end and two motion output ends. The power input end is connected to the drive device, and the two motion output ends are connected to the two wing root rotating assemblies respectively. The synchronous transmission assembly is used to convert the single power input of the drive device into synchronous rotation of the two wing root rotating assemblies in opposite directions and with a predetermined corresponding rotation angle, so as to drive the two wings to synchronously fold, unfold, or be positioned at a set angle between the folded and unfolded states.

2. The underwater glider biplane synchronous deployment and retraction system according to claim 1, characterized in that, The synchronous transmission assembly includes a worm and two worm wheels. The two worm wheels are located on opposite sides of the worm and mesh with the same worm. The two worm wheels are respectively connected to the two wing root rotation assemblies so that the two worm wheels rotate synchronously in opposite directions under the drive of the worm. Each of the wing root rotating assemblies includes a first wing mounting plate, a worm gear shaft, and a rotating support member; the first wing mounting plate is connected to the corresponding wing and worm gear respectively, and the worm gear shaft is rotatably supported on the mounting base through the rotating support member.

3. The underwater glider biplane synchronous deployment and retraction system according to claim 2, characterized in that, The synchronous transmission assembly further includes a first bevel gear set connected to the worm gear. The first bevel gear set includes a first bevel gear coaxially connected to the worm gear and a second bevel gear meshing perpendicularly with the first bevel gear. The second bevel gear is connected to a third bevel gear via an intermediate transmission shaft. The third bevel gear meshes perpendicularly with a fourth bevel gear. The fourth bevel gear is connected to the drive source. An angle sensor is connected to the intermediate drive shaft, and the angle sensor is used to detect the rotation angle of the intermediate drive shaft, worm, worm gear shaft or wing root rotating assembly.

4. The underwater glider biplane synchronous deployment and retraction system according to claim 3, characterized in that, The worm gear and the first bevel gear set are disposed on the outside of the mounting base; the intermediate drive shaft passes through the mounting base, and the third bevel gear, the fourth bevel gear and the drive source are disposed on the inside of the mounting base; The worm gear is rotatably supported by two mounting brackets via bearings, and the two mounting brackets are fixed to the mounting base.

5. The underwater glider biplane synchronous deployment and retraction system according to claim 1, characterized in that, The synchronous transmission assembly includes a common drive component and two sets of linkage mechanisms arranged symmetrically about the longitudinal center plane of the fuselage. Each set of linkage mechanisms includes a movable link and a wing root rocker arm. One end of the movable link is hinged to the common drive component, and the other end is hinged to the corresponding wing root rocker arm. The two wing root rocker arms are respectively connected to the two wing root rotating assemblies. When the common drive component moves linearly, it drives the two wing root rotating assemblies to rotate synchronously in opposite directions through the two sets of linkage mechanisms.

6. The underwater glider biplane synchronous deployment and retraction system according to claim 5, characterized in that, The common driving component includes a common slider and a push rod. The common slider is fixedly connected to the push rod and moves linearly back and forth along the longitudinal direction of the mounting base. The two movable connecting rods are respectively hinged to both sides of the common slider.

7. The underwater glider biplane synchronous deployment and retraction system according to claim 5, characterized in that, Each of the wing root rotating assemblies includes a second wing mounting plate fixedly connected to the wing root, the end of the second wing mounting plate having a fixed mounting ring, the fixed mounting ring being movably connected to the mounting base; the second wing mounting plate is fixedly connected to the wing root rocker arm.

8. The underwater glider biplane synchronous deployment and retraction system according to claim 6, characterized in that, The drive device includes a double-acting hydraulic cylinder and an integrated electro-hydraulic power unit. The piston rod of the double-acting hydraulic cylinder is connected to the push rod, and the integrated electro-hydraulic power unit is connected to the two working chambers of the double-acting hydraulic cylinder.

9. The underwater glider biplane synchronous deployment and retraction system according to claim 8, characterized in that, The integrated electro-hydraulic power unit includes a motor assembly, a bidirectional pump, a valve block, a valve group, a flexible oil reservoir, a pre-tightening elastic element, an oil reservoir protective cover, and a coupling; the motor assembly drives the bidirectional pump through the coupling, the bidirectional pump and the valve group are mounted on the valve block and interconnected through the internal oil passage of the valve block, and the double-acting hydraulic cylinder is mounted on the valve block or connected to the valve block through a pipeline; The valve group includes a pair of hydraulically controlled check valves, overflow valves corresponding to two working oil circuits respectively, and a replenishing check valve; the two hydraulically controlled check valves form a bidirectional hydraulic lock, and the two replenishing check valves respectively allow the flexible oil reservoir to replenish hydraulic oil to the low-pressure working oil circuit; The flexible oil reservoir is connected to the oil replenishment circuit. The pre-tightening elastic element is disposed between the flexible oil reservoir and the oil reservoir protective cover and applies a pre-tightening force to the flexible oil reservoir. The oil reservoir protective cover is provided with a pressure equalization hole that communicates with the external water environment so that the outer side of the flexible oil reservoir can withstand the environmental water pressure.

10. The underwater glider biplane synchronous deployment and retraction system according to claim 1, characterized in that, It also includes a fairing that covers the synchronous transmission assembly and smoothly integrates with the shape of the underwater glider.

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