Underwater vehicle outline body length adjusting device and underwater vehicle
By dynamically adjusting the length and center of gravity of the underwater vehicle through an external length adjustment device, the problem of flexibility and adaptability of traditional unmanned underwater vehicles in complex seabed environments has been solved, enabling more efficient, stable and safe mission execution.
Patent Information
- Application Number
- CN202423219365.1
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-12-25
- Publication Date
- 2025-10-28
- Estimated Expiration
- 2034-12-25
AI Technical Summary
Traditional unmanned underwater vehicles (UUVs) have limited flexibility, adaptability, and mission execution capabilities in complex seabed environments due to their fixed length, limited center of gravity adjustment capabilities, and insufficient attitude control.
An underwater vehicle body length adjustment device is adopted, which controls the seawater pump through an axial telescopic sleeve and a solenoid valve to dynamically adjust the vehicle's body length and center of gravity. Seawater is used as the adjustment medium to achieve flexible adjustment of body length and center of gravity.
It enhances the vehicle's adaptability and stealth in complex seabed environments, improves attitude control performance, simplifies installation and control, avoids pollution to the marine environment, and enhances the flexibility and safety of mission execution.
Smart Images
Figure CN223479298U_ABST
Abstract
Description
Technical Field
[0001] This utility model belongs to the field of underwater vehicle technology, and in particular relates to an underwater vehicle shape and length adjustment device and an underwater vehicle. Background Technology
[0002] Unmanned underwater vehicles (UUVs) are high-tech equipment that can perform missions autonomously or remotely underwater without direct human control. They are widely used in fields such as ocean exploration, resource exploration, environmental monitoring, and military reconnaissance. A typical UUV structure includes a pressure hull, propulsion system, navigation and control system, sensor modules, and mission payload equipment, enabling flexible maneuverability and efficient operation in complex underwater environments.
[0003] Currently, unmanned underwater vehicles face a series of technical challenges in practical applications, especially in complex seabed environments, where the limitations of their design and functions often significantly restrict their ability to perform tasks.
[0004] First, traditional unmanned underwater vehicles (UUVs) typically have a fixed length, a design that is particularly limiting when navigating narrow or complex seabed terrain. Because their length cannot be adjusted, these vehicles cannot flexibly navigate complex environments such as reefs and caves, restricting their ability to maneuver in these environments. In scenarios requiring precise positioning or obstacle avoidance, the fixed length significantly reduces the vehicle's maneuverability, preventing it from fully utilizing its advantages in navigating and concealing itself in confined spaces.
[0005] Secondly, traditional underwater vehicles typically rely on the movement of mass blocks to adjust their center of gravity; however, this method has several drawbacks. While mass block adjustment can alter the vehicle's center of gravity to some extent, its precision and response speed are limited. In complex seabed environments, changes in currents, topography, and other factors require vehicles to adjust their attitude in real time to ensure stability and control precision, a requirement that existing center of gravity adjustment mechanisms often struggle to meet. Especially in rapidly changing marine environments, the vehicle's attitude adjustments are often delayed, impacting its adaptability and operational performance.
[0006] Furthermore, the combination of fixed length and limited center of gravity adjustment capabilities significantly restricts the attitude control capabilities of traditional unmanned underwater vehicles (UUVs). Attitude control is crucial for the stability, navigation accuracy, and mission execution of underwater vehicles. In complex seabed terrain, vehicles need flexible attitude adjustment capabilities to cope with sudden changes in the seabed environment. For example, strong currents and undulating terrain can affect the vehicle's course and stability. If these changes cannot be effectively addressed through attitude adjustment, the vehicle's mission execution capabilities will be greatly reduced.
[0007] Furthermore, traditional unmanned underwater vehicles (UUVs) suffer from significant shortcomings in stealth. Due to their fixed length, they struggle to maneuver flexibly or conceal themselves in complex terrain such as reefs, making them prone to revealing their position during reconnaissance missions. In contrast, UUVs equipped with adjustable length and shape devices can adjust their length according to mission requirements, thereby improving their stealth and preventing detection by enemy forces or detection equipment. During missions, these vehicles can operate more flexibly in complex underwater environments, reducing the risk of detection.
[0008] Finally, traditional unmanned underwater vehicles (UUVs) generally have poor adaptability in complex terrain. Complex seabed topography places higher demands on vehicles, especially in narrow areas such as reefs and deep trenches. Underwater vehicles need to have greater flexibility and adaptability to perform tasks such as seabed sampling and exploration. However, existing UUVs, due to their fixed length and limited center of gravity adjustment, find it difficult to move flexibly in these environments, are easily constrained by space, and cannot successfully complete their missions.
[0009] In summary, traditional unmanned underwater vehicles (UUVs) generally face problems such as fixed length, insufficient center of gravity adjustment capability, limited attitude control, poor stealth, and poor adaptability to complex terrain. These issues limit the application of these vehicles in complex seabed environments, especially when performing high-precision tasks and responding to dynamic environmental changes, often preventing them from fully utilizing their performance. Future underwater vehicle designs need to place greater emphasis on improving length and center of gravity adjustment capabilities, as well as developing attitude control technologies, to enhance their maneuverability and adaptability in complex seabed environments. Utility Model Content
[0010] To address the limitations of traditional unmanned underwater vehicles (UUVs) in terms of flexibility, adaptability, and mission execution capabilities in complex seabed environments due to their fixed length, limited center of gravity adjustment capabilities, and insufficient attitude control, this invention provides an underwater vehicle body length adjustment device and an underwater vehicle.
[0011] This utility model is implemented as follows: an underwater vehicle body length adjustment device, characterized in that it includes a front cover, a rear cover, an axial telescopic component, an axial telescopic sleeve, a first solenoid valve, and a seawater pump. The two ends of the axial telescopic sleeve are respectively connected to the front cover and the rear cover, and an axial length-adjustable sealed chamber is formed inside. The two ends of the axial telescopic component are respectively connected to the front cover and the rear cover, allowing the front cover and the rear cover to move along the axis of the sealed chamber. At least one of the front cover and the rear cover is provided with an active orifice, which is connected to the outside of the axial telescopic sleeve through the first solenoid valve and the seawater pump.
[0012] In the above technical solution, preferably, the axial telescopic sleeve is a cylindrical corrugated pipe.
[0013] In the above technical solution, preferably, the axial telescopic component is a telescopic rod composed of a plug rod and a sleeve rod, and the plug rod and the sleeve rod are inserted to form an axial moving pair.
[0014] In the above technical solution, preferably, the axial telescopic sleeve is a corrugated pipe with a restoring elastic force, and the front end cover or the rear end cover is provided with a passive orifice, which is connected to the outside of the axial telescopic sleeve through a second solenoid valve.
[0015] In the above technical solution, preferably, the insertion rod and the sleeve rod are cylindrical rods.
[0016] In the above technical solution, preferably, the insertion rod and the sleeve rod are torsion rods with a rectangular cross-section.
[0017] The underwater vehicle shape and length adjustment device provided by this utility model has several significant advantages and effects through the optimization of existing underwater vehicles, which can significantly improve the adaptability, flexibility and mission execution capability of underwater vehicles in complex seabed environments.
[0018] First, it enhances the vehicle's flexibility and stealth in complex seabed terrain. Equipped with a length and shape adjustment device, the underwater vehicle can automatically adjust its length based on real-time information about the seabed topography, controlling underwater solenoid valves and seawater pumps. This adjustment function allows the vehicle to flexibly adjust its size according to environmental changes, thus better adapting to narrow or complex seabed terrains such as reefs and deep trenches. This dynamic adjustment enables the vehicle to more flexibly navigate obstacles or conceal itself during missions, significantly improving stealth and safety, especially when performing missions requiring high levels of stealth.
[0019] Secondly, it boasts a simple installation and control method. This shape and length adjustment device can be directly installed on existing underwater vehicles, offering excellent compatibility. Because the device employs a simple mechanical and electrical control system, the installation process is convenient and requires no major modifications to the vehicle, thus offering advantages such as a low technical threshold and rapid deployment. The ease of control and operation allows users to quickly master the device and flexibly adjust the vehicle's size and center of gravity in different environments.
[0020] Furthermore, this device enhances the underwater vehicle's center of gravity adjustment capability, improving attitude control performance. Traditional underwater vehicles adjust their center of gravity using mass blocks, but this method cannot provide sufficiently precise attitude control in certain situations. In contrast, the body length adjustment device adjusts the center of gravity by changing the vehicle's length, allowing for more flexible attitude control during navigation. Especially when rapid response to environmental changes (such as changes in water currents or seabed topography) is required, this device can adjust the center of gravity in real time, effectively maintaining the vehicle's stability and control precision, thus improving its maneuverability and mission execution capabilities.
[0021] To avoid polluting seawater, an environmentally friendly medium is used. This regulating device uses seawater as the regulating medium, rather than other fluids, thus avoiding pollution of the marine ecosystem. Using seawater as the regulating medium not only meets environmental requirements but also simplifies the design and maintenance of the device, avoiding complex sealing techniques and potential leakage risks. Furthermore, no pressure difference is generated between the inner and outer sides of the expansion joint during the regulating process, ensuring system stability and long-term reliable operation, further enhancing the device's durability and safety.
[0022] Finally, enhancing the autonomy and adaptability of underwater vehicles. By equipping them with external body length adjustment devices, underwater vehicles can more autonomously adjust their size and center of gravity to adapt to different mission requirements and environmental changes. This flexible adaptive capability enables the vehicles to perform more complex and challenging tasks in varied seabed environments, such as deep-sea exploration, seabed surveying, and reconnaissance, without relying on human intervention or pre-programmed procedures, thereby improving mission success rates and efficiency.
[0023] In summary, the underwater vehicle length adjustment device proposed in this invention significantly enhances the adaptability, stealth, and flexibility of underwater vehicles in complex seabed environments by dynamically adjusting the vehicle's length and center of gravity. Furthermore, the device features simple installation and control, is environmentally friendly, and effectively improves the vehicle's attitude control performance, making it more efficient, stable, and safe during missions.
[0024] The second objective of this utility model is to provide an underwater vehicle equipped with the aforementioned underwater vehicle body length adjustment device.
[0025] In the above technical solution, preferably, the underwater vehicle includes a front pressure hull and a rear pressure hull, the underwater vehicle's external body length adjustment device is disposed between the front pressure hull and the rear pressure hull, the front end cover is connected to the rear end of the front pressure hull, the rear end cover is connected to the front end of the rear pressure hull, and the front pressure hull, the axial telescopic sleeve, and the rear pressure hull are connected sequentially from front to back to form a cylindrical structure.
[0026] In the above technical solution, preferably, a support is connected between the front end cover and the pressure-resistant shell, and an open cavity is formed on the inner side of the support that communicates with the outside of the underwater vehicle. The first solenoid valve and the seawater pump are disposed in the open cavity. Attached Figure Description
[0027] Figure 1 This is a schematic diagram of the structure of this utility model;
[0028] Figure 2 This is a schematic diagram of the installation structure of the solenoid valve in this utility model;
[0029] Figure 3 This is a schematic diagram of the installation structure of the cylindrical insert rod and sleeve rod in this utility model;
[0030] Figure 4 This is a schematic diagram of the installation structure of the rectangular insert rod and sleeve rod in this utility model;
[0031] Figure 5 This is a schematic diagram of the working principle of the solenoid valve in this utility model;
[0032] Figure 6 This is a schematic diagram of the underwater vehicle of this utility model in its extended state;
[0033] Figure 7 This is a schematic diagram of the underwater vehicle described in this utility model in its shortened state. Detailed Implementation
[0034] To make the objectives, technical solutions, and advantages of this utility model clearer, the following detailed description is provided in conjunction with embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this utility model.
[0035] To address the limitations of traditional unmanned underwater vehicles (UUVs) in terms of flexibility, adaptability, and mission execution capabilities in complex seabed environments due to their fixed length, limited center of gravity adjustment capabilities, and insufficient attitude control, this invention provides an underwater vehicle body length adjustment device and the UUV itself. To further illustrate the structure of this invention, a detailed description is provided below in conjunction with the accompanying drawings:
[0036] Please see Figure 1 and Figure 2 An underwater vehicle body length adjustment device includes a front cover 1, a rear cover 2, an axial telescopic component, an axial telescopic sleeve, a first solenoid valve 8, and a seawater pump 10.
[0037] The axial telescopic sleeve is connected to a front cover and a rear cover at both ends, forming a sealed chamber with an adjustable axial length inside. In this embodiment, the axial telescopic sleeve is a bellows 3 with a restoring elastic force. Specifically, it includes a front welding ring 4 and a rear welding ring 5. The front welding ring is located on the front side of the bellows and is connected to the bellows by welding; the rear welding ring is located on the rear side of the bellows and is connected to the bellows by welding. The rear cover is located on the rear side of the rear welding ring and is connected to the rear welding ring by bolts, and the front cover is located on the front side of the front welding ring and is connected to the front welding ring by bolts. The inner sides of the front and rear welding rings are sealing surfaces, so that they can cooperate with the front and rear covers through O-rings to form a sealed chamber inside the bellows. The front and rear welding rings have threaded holes for bolt connection with the front and rear covers. The front cover has a lug for installation in the underwater vehicle. The rear cover has a threaded hole for connection with the rear half of the underwater vehicle.
[0038] The axial telescopic component has a front cover and a rear cover at both ends, allowing the front and rear covers to move along the axis of the sealed chamber. The axial telescopic component is a telescopic rod consisting of a plug rod 6 and a sleeve rod 7, which are inserted to form an axial sliding pair. The front end of the plug rod is bolted to the front cover, and the rear end of the sleeve rod is connected to the rear cover. In this embodiment, the plug rod and sleeve rod are cylindrical rods. Alternatively, a torsion telescopic rod can be used, where the plug rod and sleeve rod are torsion rods with a rectangular cross-section.
[0039] When cylindrical rods are selected for insertion rods and sleeve rods. For example... Figure 3 As shown, in the supported design, the outer diameter of the circular cross-section of the insert rod is equal to the inner diameter of the annular cross-section of the sleeve rod. The insert rod is inserted into the sleeve rod, and the insert rod and sleeve rod form a sliding fit, providing lateral support for the entire bellows and preventing lateral deformation. A drainage hole is reserved at the root of the sleeve rod to prevent movement difficulties caused by seawater pressure changes when the insert rod slides inside the rear support sleeve rod.
[0040] When the insert rod and sleeve rod are torsion bars with rectangular cross-sections, such as Figure 4 As shown, this is an anti-torsional structure. The cross-sections of the insert rod and the sleeve rod are rectangular and rectangular rings, respectively. The rectangles within the rectangular rings of the insert rod and sleeve rod are congruent. The insert rod can be inserted into the sleeve rod, forming a sliding fit. This provides not only lateral support but also circumferential support for the entire bellows, preventing torsion. A drainage hole is pre-drilled at the root of the sleeve rod to prevent movement difficulties caused by seawater pressure changes when the insert rod slides inside the sleeve rod.
[0041] At least one of the front and rear covers is provided with an active orifice, which communicates with the outside of the axial telescopic sleeve via a first solenoid valve and a seawater pump. The front or rear cover is provided with a passive orifice, which communicates with the outside of the axial telescopic sleeve via a second solenoid valve 9. Specifically, in this embodiment, the active and passive orifices are located at the sealing interface of the front cover, and both the first and second solenoid valves are underwater on / off solenoid valves.
[0042] Two underwater on / off solenoid valves are directly connected to the front cover via watertight threads, and form a watertight cavity inside the bellows so that the length of the bellows can change when the seawater volume changes, thereby achieving length adjustment of the underwater vehicle hull.
[0043] The seawater pump is directly bolted to the front cover of the variable length unit. When the seawater pump operates and its first solenoid valve, which is connected to it via a pipeline, changes the volume of seawater inside the bellows, thereby altering the length of the bellows.
[0044] The bellows is approximately a cylinder with radius r and an axial elastic modulus of k. It can undergo elastic deformation in the axial direction when the volume of seawater inside the pipe changes, thus elongating or shortening its overall length. When the seawater pump and the underwater solenoid valve connected to the pump are operating, the change in length Δl of the bellows over time t is approximately:
[0045]
[0046] Example 2
[0047] like Figure 6 and Figure 7 As shown, an underwater vehicle is equipped with the underwater vehicle body length adjustment device described in Embodiment 1. The underwater vehicle includes a front pressure hull 11 and a rear pressure hull 12. The underwater vehicle body length adjustment device is disposed between the front and rear pressure hulls. A front end cover is connected to the rear end of the front pressure hull, and a rear end cover is connected to the front end of the rear pressure hull. The front pressure hull, the axial telescopic sleeve, and the rear pressure hull are sequentially connected from front to rear to form a cylindrical structure. A bracket 13 connects the front end cover and the pressure hull. An open cavity communicating with the outside of the underwater vehicle is formed on the inner side of the bracket. A first solenoid valve and a seawater pump are disposed in the open cavity.
[0048] The underwater vehicle's shape and length adjustment device requires an underwater vehicle as a mounting platform, through which the underwater vehicle provides power and control signals to the device. When the underwater vehicle's shape and length adjustment device is installed on the underwater vehicle, it can provide the entire underwater vehicle with the ability to adjust its hull length.
[0049] Combination Figure 5 As shown, the specific working process and principle of using this device to adjust the shape and length of an underwater vehicle are as follows:
[0050] Adjustment method A1: When it is necessary to lengthen the underwater vehicle, close the second underwater solenoid valve, open the first solenoid valve, and control the seawater pump to turn so as to pump seawater into the bellows. The change in seawater volume will cause the bellows to lengthen.
[0051] Adjustment method A2: When it is necessary to shorten the length of the underwater vehicle, close the second solenoid valve, open the first solenoid valve, and control the seawater pump to turn so that seawater is pumped out from inside the bellows. The change in the volume of seawater will shorten the length of the bellows.
[0052] Adjustment method A3: When it is necessary for the underwater vehicle to return to its original length, close the first solenoid valve, open the second solenoid valve, and turn off the seawater pump. Rely on the elasticity of the bellows to suck in or push out seawater, so that it can slowly return to its original length.
[0053] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent replacements and improvements made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.
Claims
1. A device for adjusting the shape and length of an underwater vehicle, characterized in that: The device includes a front cover, a rear cover, an axial telescopic component, an axial telescopic sleeve, a first solenoid valve, and a seawater pump. The two ends of the axial telescopic sleeve are respectively connected to the front cover and the rear cover, and the sleeve forms a sealed chamber with an adjustable axial length. The two ends of the axial telescopic component are respectively connected to the front cover and the rear cover, and the front cover and the rear cover can move along the axis of the sealed chamber. At least one of the front cover and the rear cover is provided with an active orifice, which communicates with the outside of the axial telescopic sleeve through the first solenoid valve and the seawater pump.
2. The underwater vehicle body length adjustment device according to claim 1, characterized in that: The axial telescopic sleeve is a cylindrical corrugated pipe.
3. The underwater vehicle body length adjustment device according to claim 1, characterized in that: The axial telescopic component is a telescopic rod composed of a plug rod and a sleeve rod, which are inserted together to form an axial moving pair.
4. The underwater vehicle body length adjustment device according to claim 1, characterized in that: The axial telescopic sleeve is a corrugated pipe with a restoring elastic force at a fixed length. The front end cover or the rear end cover is provided with a passive orifice. The passive orifice is connected to the outside of the axial telescopic sleeve through a second solenoid valve.
5. The underwater vehicle body length adjustment device according to claim 3, characterized in that: The insertion rod and sleeve rod are cylindrical rods.
6. The underwater vehicle body length adjustment device according to claim 3, characterized in that: The insert rod and sleeve rod are torsion bars with rectangular cross-sections.
7. An underwater vehicle, characterized in that: The underwater vehicle is equipped with the underwater vehicle shape and length adjustment device as described in any one of claims 1-6.
8. The underwater vehicle according to claim 7, characterized in that: The underwater vehicle includes a front pressure hull and a rear pressure hull. The underwater vehicle's external body length adjustment device is disposed between the front pressure hull and the rear pressure hull. The front end cover is connected to the rear end of the front pressure hull, and the rear end cover is connected to the front end of the rear pressure hull. The front pressure hull, the axial telescopic sleeve, and the rear pressure hull are connected sequentially from front to back to form a cylindrical structure.
9. The underwater vehicle according to claim 8, characterized in that: A support bracket connects the front end cover and the pressure-resistant shell. An open cavity is formed on the inner side of the support bracket, which communicates with the outer side of the underwater vehicle. The first solenoid valve and the seawater pump are located in the open cavity.