Underwater glider driving device and method fusing IPMC propulsion and attitude adjustment

Abstract

The application provides a kind of underwater glider driving device and method for fusing IPMC propulsion and attitude adjustment, and belongs to underwater glider driving control field.The underwater glider driving device includes at least three groups of driving components, each group of driving components includes attitude adjustment cabin, IPMC flexible tail wing and fixed support;fixed support is arranged at the end of fuselage, IPMC flexible tail wing and attitude adjustment cabin are rotatably connected to the fixed support at the end of fuselage of underwater glider, and at least one group of driving components is installed on the fuselage of each underwater glider at the median position, and at least one group of driving components is symmetrically installed on both sides of the driving component installed in the middle of fuselage;PMC flexible tail wing realizes floating, sinking and turning by changing motion attitude and amplitude under the control of attitude adjustment cabin.The application improves the underwater power, stability and attitude adjustment response speed of wing-body fusion underwater glider, and reduces energy consumption.

Description

Technical Field

[0001] This invention belongs to the field of underwater glider drive control, specifically relating to an underwater glider drive device and method that integrates IPMC propulsion and attitude adjustment. Background Technology

[0002] Underwater gliders rely on net buoyancy and attitude adjustment to achieve underwater gliding, offering advantages such as low energy consumption and long endurance, and are widely used in marine environmental monitoring and underwater exploration. Traditional underwater gliders often use oil pumps, counterweight sliders, or conventional servo motors to drive the tail fin, resulting in problems such as complex structure, large size, high noise, and slow response speed. For example, Chinese patent ZL202210829353.7 discloses a maneuverability enhancement device and its operating method for a blended wing-body underwater glider. This maneuverability enhancement device is installed on the underside of the blended wing-body underwater glider and includes a rope deployment and retrieval device and a counterweight sliding system. The rope deployment and retrieval device includes a rope deployment and retrieval unit, a rope, and a counterweight. The counterweight sliding system includes an isosceles triangular rail and a sliding trolley assembly. However, the aforementioned counterweight sliding system increases the complexity and size of the structure and severely affects the glider's response speed. Summary of the Invention

[0003] In view of the above-mentioned defects or deficiencies in the prior art, the present invention aims to provide a propulsion device and method for an underwater glider that integrates ion-exchange polymer metal composite (IPMC) propulsion and attitude adjustment. The propulsion device is constructed using IPMC smart materials, and the propulsion is achieved by combining electromagnetic and spring mechanisms to complete attitude adjustment at the same time. This improves the underwater power, stability and attitude adjustment response speed of the blended wing-body underwater glider, while reducing energy consumption and extending the continuous underwater working time.

[0004] To achieve the above objectives, the embodiments of the present invention adopt the following technical solutions:

[0005] In a first aspect, embodiments of the present invention provide an underwater glider drive device integrating IPMC propulsion and attitude adjustment. The underwater glider drive device includes at least three sets of drive components, each set including an attitude adjustment cabin 2, an IPMC flexible tail fin 3, and a fixed support 4; wherein...

[0006] The fixed bracket 4 is located at the end of the fuselage 1. The IPMC flexible tail fin 3 and the attitude adjustment cabin 2 are rotatably connected to the fixed bracket 4 at the end of the fuselage 1 of the underwater glider. At least one set of drive components is installed on the fuselage 1 of each underwater glider at the center position. At the same time, at least one set of drive components is symmetrically installed on both sides of the drive component installed in the middle of the fuselage 1.

[0007] The IPMC flexible tail fin 3 is used to achieve buoyancy, descent, and turning by changing the motion attitude and amplitude under the control of the attitude adjustment cabin 2.

[0008] In a preferred embodiment of the present invention, the attitude adjustment cabin 2 includes a signal receiver 201, an offset electromagnet 202, a balance electromagnet 203, a magnetic counterweight ball 204, a counterweight connecting rod 205, a return spring 206, a rotating power supply slot 207, a tail fin rotating bracket 208, a power supply 209, a gripper-type power supply lead 210, and a gripper spring 211; wherein...

[0009] The signal receiver 201 is electrically connected to both the bias electromagnet 202 and the balance electromagnet 203 to receive control signals and control the magnetism of the bias electromagnet 202 and the balance electromagnet 203 respectively according to the control signals, and there is no situation where the two are energized at the same time.

[0010] The biasing electromagnet 202 is positioned directly above the magnetic counterweight ball 204, and the balancing electromagnet 203 is positioned directly in front of the magnetic counterweight ball 204 when the counterweight connecting rod 205 is in a horizontal state. These electromagnets are used to generate or demagnetize the magnetic counterweight ball 204 by whether or not it is energized. Both the biasing electromagnet 202 and the balancing electromagnet 203 are fixed to the machine body by the connecting rod.

[0011] The magnetic counterweight ball 204 is rigidly connected to the counterweight connecting rod 205, and the other end of the counterweight connecting rod 205 is rigidly connected to the back of the rotating power supply slot 207. The two ends of the tail fin rotating bracket 208 are fixed to the rotating bracket connecting rod 404 and pass through the rotating power supply slot 207, so that the rotating power supply slot 207 can rotate up and down around the tail fin rotating bracket 208 under the traction of the magnetic counterweight ball 204 and the counterweight connecting rod 204. At an appropriate position in the middle of the fuselage connecting neck 405 and the counterweight connecting rod 205, a return spring 206 is provided connecting the upper inner wall of the fuselage connecting neck 405 and the middle of the counterweight connecting rod 205. When the magnetic counterweight ball 204 is released by the electromagnet 202, the counterweight connecting rod 205 drives the magnetic counterweight ball 204 away from the electromagnet 202.

[0012] The rotating power supply slot 207 has a flat open groove on its front side, and a power supply 209 is disposed inside the groove. A claw-type power lead 210 is disposed at the open end of the groove. The claw-type power lead 210 includes a positive lead and a negative lead. A claw connecting rod is disposed between the positive and negative leads, and the claw connecting rod is made of insulating material and is provided with a claw spring 211. The positive lead, negative lead, claw connecting rod and claw spring 211 form a claw for clamping the end of the IPMC tail fin body 303. The claw spring is used to provide clamping force for the claw, and the claw connecting rod is used to provide support for the claw spring and isolate the power supply from the tail fin.

[0013] In a preferred embodiment of the present invention, the magnetic counterweight ball 204 is an iron ball.

[0014] In a preferred embodiment of the present invention, a limiting structure is provided on the tail wing rotating bracket 208, so that the rotating power supply slot 207 rotates up and down within the limiting space of the tail wing rotating bracket 208.

[0015] In a preferred embodiment of the present invention, the tail fin rotating support 208 adopts a bearing structure.

[0016] In a preferred embodiment of the present invention, the fixing bracket 4 at the end of the fuselage 1 includes an annular fixing plate 401, a locking inner ring 402, a central drive compartment 403, a rotating bracket connecting rod 404, and a fuselage connecting neck 405; wherein...

[0017] The fuselage connecting neck 405 is connected to the end of the fuselage in a spatial communication manner, and the space inside the neck is connected to the internal space of the fuselage. The end of the fuselage here is the point of application of the driving force. The other end of the fuselage connecting neck 405 is connected to the outer edge of the central hole of the annular fixing plate 401. A locking inner ring 402 is provided on the other side of the annular fixing plate 401. A central drive compartment 403 composed of two arc-shaped plates is provided in the locking inner ring 402, and a rotating bracket connecting rod 404 is connected to the upper and lower ends of the two arc-shaped plates respectively.

[0018] As a preferred embodiment of the present invention, the IPMC flexible tail fin 3 includes a locking steel ring 301, a tail fin covering layer 302, an IPMC tail fin body 303, and a tail fin 304;

[0019] The locking steel ring 301 is coaxial with the locking inner ring 402 of the fixing bracket 4, and an annular groove is formed between the locking steel ring 301 and the locking inner ring 402. The tail fin covering layer 302 is divided into a head, a body and a tail. The head is locked in the annular groove, the body covers the outside of the IPMC tail fin body 303 and exposes the end of the IPMC tail fin body 303, so that the end of the IPMC tail fin body 303 is locked and connected to the inside of the claw-type power lead 210. The tail of the tail fin covering layer 302 covers the outside of the tail fin 304. The tail fins 304 are arranged in pairs to maintain the balance of the IPMC flexible tail fin 3.

[0020] In a preferred embodiment of the present invention, the tail fin covering layer 302 is made of thermoplastic polyurethane (TPU) flexible film material; the tail fin 304 is made of triangular aluminum sheet.

[0021] Secondly, embodiments of the present invention also provide a method for driving an underwater glider that integrates IPMC propulsion and attitude control, characterized in that the driving method is based on the underwater glider driving device described above and includes:

[0022] The power supply provides low-voltage excitation to the IPMC flexible tail fin; the IPMC material bends and deforms under low-voltage excitation, and the flexible tail fin swings up and down continuously in a wave-like manner, providing forward thrust for the underwater glider.

[0023] When the underwater glider moves horizontally, the signal receiver continuously receives a horizontal forward signal, which connects the circuit of the balance position electromagnet of all drive components, generates a balance position magnetic field, and the magnetic counterweight ball is attracted to the balance position electromagnet, keeping the counterweight linkage in a horizontal state; and the low voltage excitation of the power supply is the same, so the swing amplitude of all tail fins is the same.

[0024] When the signal receiver receives the sinking signal, it cuts off the balance position electromagnet circuit of all drive components and releases the magnetic counterweight ball; at the same time, it connects the circuit of the bias position electromagnet of all drive components to generate a bias position magnetic field. The magnetic counterweight ball moves upward and is attracted to the bias position electromagnet; the magnetic counterweight ball drives the counterweight linkage and the rotating power slot to rotate around the tail fin rotating bracket as the axis. The claw-type power lead fixed on the rotating power slot drives the clamped IPMC flexible tail fin end to deflect upward, forming an angle of attack that is conducive to sinking and gliding.

[0025] When the signal receiver receives the buoyancy signal, it cuts off the balance position electromagnet circuit of all drive components and releases the magnetic counterweight ball. At this time, all electromagnets of all drive components are de-energized and demagnetized. The reset spring pushes the magnetic counterweight ball down through the counterweight linkage. The magnetic counterweight ball moves downward, driving the counterweight linkage and the rotating power slot to rotate around the tail fin rotating bracket as the axis. The claw-type power lead fixed on the rotating power slot drives the clamped IPMC flexible tail fin end to deflect downward, forming an angle of attack that is conducive to buoyancy, and buoyancy gliding.

[0026] When the signal receiver receives a left turn signal, it enhances the low-voltage excitation of the right drive component, increasing the swing amplitude of the right flexible tail fin; and / or weakens or stops the low-voltage excitation of the left drive component, weakening or stopping the swing amplitude of the left flexible tail fin; at this time, the forward momentum on both sides is unbalanced, with the right side being greater than the left side, thus achieving a left turn;

[0027] When the signal receiver receives a right turn signal, it performs the opposite operation: it enhances the low-voltage excitation of the left drive component, increasing the swing amplitude of the left flexible tail fin; and / or, it weakens or stops the low-voltage excitation of the right drive component, weakening or stopping the swing amplitude of the right flexible tail fin; at this time, the forward momentum on both sides is unbalanced, with the left side being greater than the right side, thus achieving a right turn.

[0028] In a preferred embodiment of the present invention, when it is necessary to achieve turning while floating or sinking, the two corresponding operations are performed simultaneously.

[0029] The technical solutions provided in the embodiments of the present invention have the following beneficial effects:

[0030] The described underwater glider drive device and method integrating IPMC propulsion and attitude control utilizes IPMC smart materials to directly drive the tail fin's oscillation, replacing traditional mechanical transmission and servo mechanisms to achieve lightweight, low-noise, and low-power propulsion. The tail fin is entirely covered with flexible materials, protecting the IPMC while maintaining a blended wing-body shape, improving hydrodynamic performance and environmental adaptability. An attitude control mechanism combining electromagnetic engagement and spring reset is designed to enable rapid switching of the tail fin's angle of attack, coordinating control of the glider's ascent and descent attitudes. The integrated propulsion drive and attitude control are compact, responsive, and enhance the underwater glider's maneuverability and control precision. This invention features a highly simplified structure, eliminating complex gears and linkages, significantly reducing size and weight, and lowering system energy consumption. The flexible IPMC drive, combined with the flexible covering layer, provides smooth propulsion, low noise, and superior hydrodynamic characteristics. The electromagnetic-spring attitude control offers fast response, allowing for rapid switching between ascent and descent attitudes, improving the glider's maneuverability and sea condition adaptability. The overall mechanism boasts high reliability, easy maintenance, and extended continuous underwater operating time, making it suitable for long-term ocean observation missions.

[0031] Of course, implementing any product or method of the present invention does not necessarily require achieving all of the advantages described above at the same time. Attached Figure Description

[0032] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0033] Figure 1 This is a bisection view of the tail fin installation state of an underwater glider according to an embodiment of the present invention;

[0034] Figure 2 This is a bisection view of the tail fin installation state of an underwater glider according to another embodiment of the present invention;

[0035] Figure 3 This is another embodiment of the present invention, a bisection view of the tail fin installation state of an underwater glider;

[0036] Figure 4 This is a schematic diagram of the working state of the underwater glider drive device integrating IPMC propulsion and attitude adjustment as described in an embodiment of the present invention;

[0037] Figure 5 This is a cross-sectional view of the attitude adjustment cabin in an embodiment of the present invention;

[0038] Figure 6 This is a three-dimensional structural diagram of the fixed bracket at the end of the fuselage in an embodiment of the present invention;

[0039] Figure 7 This is a schematic diagram of the fixed bracket connection structure in an embodiment of the present invention;

[0040] Figure 8 This is a schematic diagram of the leading edge structure of the IPMC flexible tail fin in an embodiment of the present invention;

[0041] Figure 9 This is a cross-sectional view of the tail fin of the IPMC flexible tail fin in an embodiment of the present invention;

[0042] Figure 10 This is a flowchart of the underwater glider driving method integrating IPMC propulsion and attitude adjustment in an embodiment of the present invention;

[0043] Figure 11 This is a schematic diagram illustrating the sinking principle of the underwater glider drive device described in this embodiment of the invention;

[0044] Figure 12 This is a schematic diagram illustrating the upward movement principle of the underwater glider drive device described in this embodiment of the invention.

[0045] Figure 13 This is a schematic diagram of the left-turning principle of the underwater glider drive device described in this embodiment of the invention;

[0046] Figure 14 This is a schematic diagram of the right-turn principle of the underwater glider drive device described in this embodiment of the invention.

[0047] Explanation of reference numerals in the attached figures:

[0048] 1-Fuselage; 2-Attitude Adjustment Cabin; 201-Signal Receiver; 202-Offset Electromagnet; 203-Balance Electromagnet; 204-Magnetic Counterweight Ball; 205-Counterweight Link; 206-Return Spring; 207-Rotating Power Supply Slot; 208-Tail Rotating Bracket; 209-Power Supply; 210-Claw-Type Power Supply Lead; 211-Claw Spring; 3-IPMC Flexible Tail; 301-Locking Steel Ring; 302-Tail Covering Layer; 303-IPMC Tail Body; 304-Tail Fin; 4-Fixed Bracket; 401-Annular Fixing Plate; 402-Locking Inner Ring; 403-Center Drive Cabin; 404-Rotating Bracket Link; 405-Fuselage Connecting Neck. Detailed Implementation

[0049] After discovering the aforementioned problems, the inventors of this application conducted a detailed study on the existing underwater glider propulsion issues. The study revealed that the materials used in current underwater glider propulsion devices suffer from insurmountable problems such as high density, heavy weight, and poor flexibility. Ion-exchange polymer-metal composite (IPMC), as a smart propulsion material, possesses characteristics such as low-voltage actuation, large deformation capacity, light weight, and good flexibility, making it suitable for underwater flexible propulsion mechanisms. However, current applications of IPMC materials in underwater propulsion devices are limited to propulsion functions, such as as a driving tail fin for biomimetic underwater robots, lacking an integrated adjustment mechanism that matches the glider's buoyancy, making it difficult to balance propulsion efficiency with rapid switching between surfacing and sinking.

[0050] It should be noted that the defects in the above-mentioned prior art solutions are all the result of the inventors' practice and careful research. Therefore, the discovery process of the above problems and the solutions proposed by the embodiments of the present invention in the following text should be the inventors' contributions to the present invention.

[0051] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of them. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations. It should be noted that, without conflict, the embodiments and features in the embodiments of the present invention can also be combined with each other.

[0052] It should be noted that similar reference numerals and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures. In the description of the embodiments of the present invention, the terms "first," "second," "third," "fourth," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance. In addition, sometimes a subscript such as W1 may be written in a non-subscript form such as W1, and their meanings are consistent unless the distinction is emphasized.

[0053] It should be understood that the term "and / or" in this article is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, or B existing alone. A and B can be singular or plural. Additionally, the character " / " in this article generally indicates an "or" relationship between the preceding and following related objects, but it can also represent an "and / or" relationship. Please refer to the context for a more accurate understanding.

[0054] Following the above in-depth analysis, this invention provides a driving device and method for an underwater glider that integrates IPMC propulsion and attitude control, addressing the technical problems of complex, high-power, and poorly maneuverable existing underwater glider drive mechanisms, as well as the lack of coordinated buoyancy control in the IPMC tail fin. This invention employs a blended wing-body design, achieving synergy between IPMC propulsion and adaptive center of gravity adjustment through improvements in the materials and structure of the tail fin and wing-body. This enables efficient propulsion and flexible buoyancy control of the underwater glider, significantly improving its maneuverability and energy efficiency, and providing a new technological path for lightweight, low-noise underwater glider propulsion.

[0055] like Figures 1-3 As shown, the underwater glider drive device and method integrating IPMC propulsion and attitude adjustment described in this embodiment of the invention can be applied to integrated underwater gliders or split-type underwater gliders. The underwater glider drive device includes at least three sets of drive components. Each set of drive components includes an attitude adjustment cabin 2, an IPMC flexible tail fin 3, and a fixed support 4. The fixed support 4 is located at the end of the fuselage 1. The IPMC flexible tail fin 3 and the attitude adjustment cabin 2 are rotatably connected to the fixed support 4 at the end of the fuselage 1 of the underwater glider. To simultaneously achieve underwater propulsion, attitude adjustment, and steering, at least one set of drive components is installed at the center of the fuselage 1 of each underwater glider, and at least one set of drive components is symmetrically installed on each side of the drive component installed in the middle of the fuselage 1. The IPMC flexible tail fin 3 is used to achieve surfacing, descent, and steering by changing the motion attitude and amplitude under the control of the attitude adjustment cabin 2. For example, as... Figure 1 As shown, five drive components are installed on the fuselage 1 of the integrated underwater glider, such as... Figure 2 and Figure 3 As shown, three sets of drive components are installed on the fuselage 1 of the split-type underwater glider. Among them, the middle and side drive components are used to provide driving force, while the side drive components are used for attitude adjustment to achieve steering.

[0056] like Figure 4 As shown, the attitude adjustment cabin 2 includes a signal receiver 201, an offset electromagnet 202, a balance electromagnet 203, a magnetic counterweight ball 204, a counterweight connecting rod 205, a return spring 206, a rotating power supply slot 207, a tail fin rotating bracket 208, a power supply 209, a gripper-type power supply lead 210, and a gripper spring 211.

[0057] like Figures 5 to 7As shown, the signal receiver 201 is electrically connected to both the bias electromagnet 202 and the balance electromagnet 203. It receives control signals and, based on these signals, controls the magnetism of the bias electromagnet 202 and the balance electromagnet 203 respectively, without both being energized simultaneously. The bias electromagnet 202 is positioned directly above the magnetic counterweight ball 204, and the balance electromagnet 203 is positioned directly in front of the magnetic counterweight ball 204 when the counterweight linkage 205 is horizontal. It is used to generate or demagnetize the magnetic counterweight ball 204 by controlling whether it is energized or not, thus attracting or releasing it. Both the bias electromagnet 202 and the balance electromagnet 203 are fixed to the machine body via linkages.

[0058] The magnetic counterweight ball 204 is rigidly connected to the counterweight connecting rod 205, and the other end of the counterweight connecting rod 205 is rigidly connected to the back of the rotating power supply slot 207. The two ends of the tail fin rotating bracket 208 are fixed to the rotating bracket connecting rod 404 and pass through the rotating power supply slot 207, so that the rotating power supply slot 207 can rotate up and down around the tail fin rotating bracket 208 under the traction of the magnetic counterweight ball 204 and the counterweight connecting rod 204. At an appropriate position in the middle of the fuselage connecting neck 405 and the counterweight connecting rod 205, a return spring 206 is provided connecting the upper inner wall of the fuselage connecting neck 405 and the middle of the counterweight connecting rod 205. When the magnetic counterweight ball 204 is released by the electromagnet 202, the counterweight connecting rod 205 drives the magnetic counterweight ball 204 away from the electromagnet 202.

[0059] Preferably, the magnetic counterweight ball 204 is an iron ball.

[0060] Preferably, the tail wing rotating bracket 208 is provided with a limiting structure, allowing the rotating power supply slot 207 to rotate up and down within the limiting space of the tail wing rotating bracket 208. The tail wing rotating bracket 208 may also employ a bearing structure, making the rotation of the rotating power supply slot 207 smoother.

[0061] The rotating power supply slot 207 has a flat open groove on its front side, and a power supply 209 is installed inside the groove. A claw-type power lead 210 is installed at the open end of the groove. The claw-type power lead 210 includes a positive lead and a negative lead. A claw connecting rod is installed between the positive and negative leads, and the claw connecting rod is made of insulating material and is equipped with a claw spring 211. The positive lead, negative lead, claw connecting rod and claw spring 211 form a claw for clamping the end of the IPMC tail fin body 303. The claw spring is used to provide clamping force for the claw, and the claw connecting rod is used to provide support for the claw spring and isolate the power supply from the tail fin. The claw connecting rod serves as a support rod for the claw spring and as an insulating isolation plate. Therefore, the gripper spring 211 in the gripper-type power lead 210 clamps the end of the IPMC tail fin body 303, maintaining electrical connection between the positive and negative terminals and the IPMC tail fin body 303, respectively. Simultaneously, the gripper connecting rod forms an insulating barrier between the end of the IPMC tail fin body 303 and the power supply 209, preventing a short circuit caused by direct contact between the IPMC tail fin body 303 and the power supply 209. Preferably, the positive and negative leads in the gripper-type power lead 210 are made of conductive materials such as silver or copper, while the gripper connecting rod is made of insulating material. Preferably, a soft pad is provided between the gripper connecting rod and the power supply 209 to prevent compression of the power supply 209.

[0062] like Figure 5 and Figure 6 As shown, the fixed bracket 4 at the end of the fuselage 1 includes an annular fixed plate 401, a locking inner ring 402, a central drive compartment 403, a rotating bracket connecting rod 404, and a fuselage connecting neck 405. The fuselage connecting neck 405 is connected to the end of the fuselage in a spatially connected manner, and the space inside the neck is connected to the internal space of the fuselage. This end of the fuselage is the point of application of the driving force. The other end of the fuselage connecting neck 405 is connected to the outer edge of the central hole of the annular fixed plate 401. A locking inner ring 402 is provided on the other side of the annular fixed plate 401. A central drive compartment 403 composed of two arc-shaped plates is provided inside the locking inner ring 402, and a rotating bracket connecting rod 404 is connected to the upper and lower ends of the two arc-shaped plates respectively.

[0063] like Figure 5 and Figure 8As shown, the IPMC flexible tail fin 3 includes a locking steel ring 301, a tail fin covering layer 302, an IPMC tail fin body 303, and a tail fin 304. The locking steel ring 301 is coaxial with the locking inner ring 402 of the fixing bracket 4, forming an annular groove between them. The tail fin covering layer 302 is divided into a head, a body, and a tail. The head is engaged within the annular groove, and the body covers the outside of the IPMC tail fin body 303, exposing the end of the IPMC tail fin body 303, so that the end of the IPMC tail fin body 303 is engaged and connected to the inside of the clamp-type power lead 210.

[0064] like Figure 9 As shown, the tail fin covering layer 302 covers the outer side of the tail fin 304; the tail fins 304 are arranged in pairs to maintain the balance of the IPMC flexible tail fin 3. Preferably, the tail fin covering layer 302 is made of thermoplastic polyurethane (TPU) flexible film material; the tail fin 304 is made of triangular aluminum sheet.

[0065] Based on the above-mentioned underwater glider drive device that integrates IPMC propulsion and attitude adjustment, this embodiment of the invention also provides an underwater glider drive method that integrates IPMC propulsion and attitude adjustment. The method can drive the underwater glider based on IPMC and simultaneously achieve attitude adjustment.

[0066] Specifically, such as Figure 10 As shown, the method includes:

[0067] The power supply provides low-voltage excitation to the IPMC flexible tail fin; the IPMC material bends and deforms under low-voltage excitation, and the flexible tail fin swings up and down continuously in a wave-like manner, providing forward thrust for the underwater glider.

[0068] When the underwater glider moves horizontally, the signal receiver continuously receives a horizontal forward signal, which connects the circuit of the balance position electromagnet of all drive components, generates a balance position magnetic field, and the magnetic counterweight ball is attracted to the balance position electromagnet, keeping the counterweight linkage in a horizontal state; and the low voltage excitation of the power supply is the same, so the swing amplitude of all tail fins is the same.

[0069] When the signal receiver receives the sinking signal, such as Figure 11 As shown, the circuits of the balance position electromagnets of all drive components are cut off, releasing the magnetic counterweight ball; at the same time, the circuits of the bias position electromagnets of all drive components are connected, generating a bias position magnetic field. The magnetic counterweight ball moves upward and is attracted to the bias position electromagnet; the magnetic counterweight ball drives the counterweight linkage and the rotating power slot to rotate around the tail fin rotating bracket as the axis. The claw-type power lead fixed on the rotating power slot drives the clamped IPMC flexible tail fin end to deflect upward, forming an angle of attack that facilitates descent and gliding.

[0070] When the signal receiver receives the rising signal, such as Figure 12 As shown, the balance position electromagnet circuit of all drive components is cut off, and the magnetic counterweight ball is released; at this time, all electromagnets of all drive components are de-energized and demagnetized, and the reset spring pushes the magnetic counterweight ball down through the counterweight linkage. The magnetic counterweight ball moves downward, driving the counterweight linkage and the rotating power slot to rotate around the tail fin rotating bracket as the axis. The claw-type power lead fixed on the rotating power slot drives the clamped IPMC flexible tail fin end to deflect downward, forming an angle of attack that is conducive to surfacing and gliding upward.

[0071] When the signal receiver receives the left turn signal, such as Figure 13 As shown, by enhancing the low-voltage excitation of the right drive component, the swing amplitude of the right flexible tail fin increases; and / or by weakening or stopping the low-voltage excitation of the left drive component, the swing amplitude of the left flexible tail fin decreases or stops swinging; at this time, the forward momentum on both sides is unbalanced, with the right side being greater than the left side, thus achieving a left turn.

[0072] When the signal receiver receives the right turn signal, such as Figure 14 As shown, the opposite operation is performed: the low-voltage excitation of the left drive component is enhanced, and the swing amplitude of the left flexible tail fin increases; and / or, the low-voltage excitation of the right drive component is weakened or stopped, and the swing amplitude of the right flexible tail fin is weakened or stopped; at this time, the forward momentum on both sides is unbalanced, with the left side being greater than the right side, thus achieving a right turn.

[0073] When it is necessary to change direction while rising or sinking, both corresponding operations are performed simultaneously.

[0074] This embodiment achieves efficient and flexible gliding maneuvers for underwater gliders through the coordinated operation of IPMC oscillation propulsion and attitude adjustment. This invention, through the synergistic effect of IPMC drive and adaptive center of gravity adjustment, enables efficient propulsion and flexible buoyancy control of underwater gliders, significantly improving their maneuverability and energy efficiency, and providing a new technological path for lightweight and low-noise propulsion of underwater gliders.

[0075] Therefore, the underwater glider drive device and method integrating IPMC propulsion and attitude adjustment provided in this embodiment of the invention uses IPMC smart materials to directly drive the tail fin's swing, replacing the traditional mechanical transmission and servo mechanism structure, achieving lightweight, low-noise, and low-power propulsion; the tail fin is entirely covered with flexible materials, protecting the IPMC while ensuring the blended wing-body shape, improving hydrodynamic performance and environmental adaptability; an attitude adjustment mechanism combining electromagnetic attraction and spring reset is designed to achieve rapid switching of the tail fin's angle of attack, coordinating the control of the glider's ascent and descent attitudes; the propulsion drive and attitude adjustment are integrated into a compact structure with rapid response, improving the underwater glider's maneuverability and control accuracy.

[0076] The above description is merely a preferred embodiment of the present invention and an explanation of the technical principles employed, and is not intended to limit the scope of the claimed invention, but only to illustrate preferred embodiments of the invention. Those skilled in the art should understand that the scope of the invention is not limited to the specific combinations of the above-described technical features, but should also cover other technical solutions formed by arbitrary combinations of the above-described technical features or their equivalents without departing from the inventive concept. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without inventive effort are within the scope of protection of the present invention.

Claims

1. A drive device for an underwater glider integrating IPMC propulsion and attitude control, characterized in that, The underwater glider drive system includes at least three drive components, each of which includes an attitude adjustment cabin (2), an IPMC flexible tail fin (3), and a fixed support (4); wherein, The fixed bracket (4) is located at the end of the fuselage (1). The IPMC flexible tail fin (3) and attitude adjustment cabin (2) are rotatably connected to the fixed bracket (4) at the end of the fuselage (1) of the underwater glider. At least one set of drive components is installed in the center of the fuselage (1) of each underwater glider. At the same time, at least one set of drive components is symmetrically installed on both sides of the drive components installed in the middle of the fuselage (1). The IPMC flexible tail fin (3) is used to achieve buoyancy, descent and turning by changing the motion attitude and amplitude under the control of the attitude adjustment cabin (2).

2. The apparatus according to claim 1, characterized in that, The attitude adjustment cabin (2) includes a signal receiver (201), an offset electromagnet (202), a balance electromagnet (203), a magnetic counterweight ball (204), a counterweight link (205), a return spring (206), a rotating power supply slot (207), a tail fin rotating bracket (208), a power supply (209), a gripper-type power supply lead (210), and a gripper spring (211); wherein, The signal receiver (201) is electrically connected to both the bias electromagnet (202) and the balance electromagnet (203) to receive control signals and control the magnetism of the bias electromagnet (202) and the balance electromagnet (203) respectively according to the control signals, and there is no situation where the two are energized at the same time. The biasing electromagnet (202) is positioned directly above the magnetic counterweight ball (204), and the balancing electromagnet (203) is positioned directly in front of the magnetic counterweight ball (204) when the counterweight connecting rod (205) is in a horizontal state. It is used to generate or demagnetize the magnetic counterweight ball (204) by whether it is energized or not, thereby attracting or releasing the magnetic counterweight ball (204). Both the biasing electromagnet (202) and the balancing electromagnet (203) are fixed to the machine body (1) by the connecting rod. The magnetic counterweight ball (204) is rigidly connected to the counterweight connecting rod (205), and the other end of the counterweight connecting rod (205) is rigidly connected to the back of the rotating power supply slot (207); the two ends of the tail fin rotating bracket (208) are fixed to the rotating bracket connecting rod (404) and pass through the rotating power supply slot (207), so that the rotating power supply slot (207) can rotate up and down around the tail fin rotating bracket (208) under the traction of the magnetic counterweight ball (204) and the counterweight connecting rod (204); at an appropriate position in the middle of the fuselage connecting neck (405) and the counterweight connecting rod (205), a return spring (206) is provided to connect the upper inner wall of the fuselage connecting neck (405) and the middle of the counterweight connecting rod (205), which is used to drive the magnetic counterweight ball (204) away from the electromagnet (202) when the magnetic counterweight ball (204) is released by the electromagnet (202); The rotating power supply slot (207) has a flat open groove on its front side, and a power supply (209) is installed inside the groove. A claw-type power lead (210) is installed at the open end of the groove. The claw-type power lead (210) includes a positive lead and a negative lead. A claw connecting rod is installed between the positive and negative leads, and the claw connecting rod is made of insulating material and is equipped with a claw spring (211). The positive lead, negative lead, claw connecting rod and claw spring (211) form a claw for clamping the end of the IPMC tail fin body (303). The claw spring is used to provide clamping force for the claw, and the claw connecting rod is used to provide support for the claw spring and isolate the power supply from the tail fin.

3. The apparatus according to claim 2, characterized in that, The magnetic counterweight ball (204) is an iron ball.

4. The apparatus according to claim 2, characterized in that, The tail wing rotating bracket (208) is provided with a limiting structure, so that the rotating power supply slot (207) can rotate up and down within the limiting space of the tail wing rotating bracket (208).

5. The apparatus according to claim 2, characterized in that, The tail fin rotating support (208) adopts a bearing structure.

6. The apparatus according to claim 1, characterized in that, The fixed bracket (4) at the end of the fuselage (1) includes an annular fixed plate (401), a locking inner ring (402), a central drive compartment (403), a rotating bracket connecting rod (404), and a fuselage connecting neck (405); among which, The fuselage connecting neck (405) is connected to the end of the fuselage in a spatial communication manner. The space inside the neck is connected to the internal space of the fuselage. The end of the fuselage here is the point of application of the driving force. The other end of the fuselage connecting neck (405) is connected to the outer edge of the central hole of the annular fixing plate (401). A locking inner ring (402) is provided on the other side of the annular fixing plate (401). A central drive compartment (403) composed of two arc-shaped plates is provided in the locking inner ring (402). A rotating bracket connecting rod (404) is connected to the upper and lower ends of the two arc-shaped plates respectively.

7. The apparatus according to claim 1, characterized in that, The IPMC flexible tail fin (3) includes a locking steel ring (301), a tail fin covering layer (302), an IPMC tail fin body (303), and a tail fin (304); Among them, the locking steel ring (301) is coaxial with the locking inner ring (402) of the fixed bracket (4), and an annular groove is formed between the locking steel ring (301) and the locking inner ring (40) 2; the tail fin covering layer (302) is divided into a head, a body and a tail, the head is locked in the annular groove, the body covers the outside of the IPMC tail fin body (303) and exposes the end of the IPMC tail fin body (303), so that the end of the IPMC tail fin body (303) is locked and connected to the inside of the claw-type power lead (210); the tail of the tail fin covering layer (302) covers the outside of the tail fin (304); the tail fin (304) is set in pairs to maintain the balance of the IPMC flexible tail fin (3).

8. The apparatus according to claim 7, characterized in that, The tail fin covering layer (302) is made of thermoplastic polyurethane (TPU) flexible film material; the tail fin (304) is made of triangular aluminum sheet.

9. A method for driving an underwater glider that integrates IPMC propulsion and attitude control, characterized in that, The driving method is based on the underwater glider drive device as described in any one of claims 1 to 8, and includes: The power supply provides low-voltage excitation to the IPMC flexible tail fin; the IPMC material bends and deforms under low-voltage excitation, and the flexible tail fin swings up and down continuously in a wave-like manner, providing forward thrust for the underwater glider. When the underwater glider moves horizontally, the signal receiver continuously receives a horizontal forward signal, which connects the circuit of the balance position electromagnet of all drive components, generates a balance position magnetic field, and the magnetic counterweight ball is attracted to the balance position electromagnet, keeping the counterweight linkage in a horizontal state; and the low voltage excitation of the power supply is the same, so the swing amplitude of all tail fins is the same. When the signal receiver receives the sinking signal, it cuts off the balance position electromagnet circuit of all drive components and releases the magnetic counterweight ball; at the same time, it connects the circuit of the bias position electromagnet of all drive components to generate a bias position magnetic field. The magnetic counterweight ball moves upward and is attracted to the bias position electromagnet; the magnetic counterweight ball drives the counterweight linkage and the rotating power slot to rotate around the tail fin rotating bracket as the axis. The claw-type power lead fixed on the rotating power slot drives the clamped IPMC flexible tail fin end to deflect upward, forming an angle of attack that is conducive to sinking and gliding. When the signal receiver receives the buoyancy signal, it cuts off the balance position electromagnet circuit of all drive components and releases the magnetic counterweight ball. At this time, all electromagnets of all drive components are de-energized and demagnetized. The reset spring pushes the magnetic counterweight ball down through the counterweight linkage. The magnetic counterweight ball moves downward, driving the counterweight linkage and the rotating power slot to rotate around the tail fin rotating bracket as the axis. The claw-type power lead fixed on the rotating power slot drives the clamped IPMC flexible tail fin end to deflect downward, forming an angle of attack that is conducive to buoyancy, and buoyancy gliding. When the signal receiver receives a left turn signal, it enhances the low-voltage excitation of the right drive component, increasing the swing amplitude of the right flexible tail fin; and / or weakens or stops the low-voltage excitation of the left drive component, weakening or stopping the swing amplitude of the left flexible tail fin; at this time, the forward momentum on both sides is unbalanced, with the right side being greater than the left side, thus achieving a left turn; When the signal receiver receives a right turn signal, it performs the opposite operation: it enhances the low-voltage excitation of the left drive component, increasing the swing amplitude of the left flexible tail fin; and / or, it weakens or stops the low-voltage excitation of the right drive component, weakening or stopping the swing amplitude of the right flexible tail fin; at this time, the forward momentum on both sides is unbalanced, with the left side being greater than the right side, thus achieving a right turn.

10. The method according to claim 9, characterized in that, When it is necessary to change direction while rising or sinking, both corresponding operations are performed simultaneously.

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