Hybrid drive variable glider wing underwater robot

Abstract

The utility model relates to a hybrid drive variable gliding wing underwater robot belongs to underwater robot field, including streamline shell, its appearance imitates seat head whale body shape design, surface smooth transition, cross section is oval, variable gliding wing mechanism, relative to the symmetrical surface of shell 1 symmetrical arrangement, including gliding wing, worm, worm wheel and steering wheel, the gliding wing is connected through the meshing of worm wheel and worm, and the worm is driven by the steering wheel, hybrid power system, including propeller and pump jet propeller, and the propeller includes two symmetrical side propellers and a stern propeller, the pump jet propeller is installed in the recess inside the bottom of shell, and the nozzle is rearward and is equipped with a fairing, buoyancy adjusting system, including high-pressure gas cylinder and air release valve, and the robot float center is adjusted through gas charging and discharging, the utility model realizes the efficient cooperation of gliding, propulsion and attitude control, and has good environmental adaptability and recyclability.

Description

Technical Field

[0001] This utility model belongs to the field of underwater robots, specifically relating to a hybrid-driven variable glider underwater robot. Background Technology

[0002] As an important branch of unmanned underwater vehicles (UUVs), underwater gliders (AUGs) have been widely used in fields such as marine resource exploration and environmental monitoring due to their advantages such as long endurance, low energy consumption, and good stealth. However, traditional AUGs rely on buoyancy propulsion, have low speeds (usually below 1 knot), and poor maneuverability, making them difficult to adapt to the high-maneuverability mission requirements in complex marine environments.

[0003] To improve performance, researchers proposed the hybrid-drive underwater glider HUG, combining gliding and propeller propulsion modes. For example, the publicly available paddle-type propulsion mechanism uses linkages and cranks to oscillate the wings, offering some stealth capabilities, but it is structurally complex, occupies a large space, and the linkages are susceptible to fluid impact. Alternatively, there are wide-speed-range variant propulsion devices that drive folding wings and propellers via dual-axis motors, achieving power distribution, but these still do not solve the wing drag problem in propulsion mode and lack precise attitude control capabilities.

[0004] Furthermore, the presence of the glider in existing HUG systems significantly increases drag during rapid propulsion, affecting flight stability and recovery efficiency. Additionally, most systems rely on complex hydraulic or electric mechanisms for buoyancy adjustment, resulting in high energy consumption. While there are some streamlined design improvements, the lack of deep biomimicry integration limits the effectiveness in reducing drag.

[0005] Therefore, there is an urgent need for an underwater robot solution that can comprehensively address issues such as mobility, energy consumption, and resistance. Summary of the Invention

[0006] The technical problem to be solved: To overcome the shortcomings of existing technologies, this invention provides a hybrid-driven variable-gliding underwater robot that combines gliding, propeller propulsion, and pump-jet propulsion modes, enabling it to adapt to various scenarios ranging from long-endurance observation to highly maneuverable operations. Furthermore, by combining a biomimetic shell with a retractable glider, it significantly reduces drag and improves energy efficiency. This invention achieves highly efficient coordination of gliding, propulsion, and attitude control, and possesses excellent environmental adaptability and reusability.

[0007] The technical solution of this utility model is: a hybrid-driven variable glider underwater robot, comprising: The streamlined outer shell 1 is designed to resemble the shape of a humpback whale, with a smooth transition on the surface and an elliptical cross-section. The variable glider mechanism 4 is symmetrically arranged with respect to the outer shell 1 and includes a glider 41, a worm 42, a worm wheel 43 and a servo motor. The glider 41 is connected to the worm 42 through the worm wheel 43, and the worm 42 is driven by the servo motor. The hybrid power system includes a propeller thruster and a pump-jet thruster 5. The propeller thruster includes two symmetrical side propellers 7 and a stern propeller 6. The pump-jet thruster 5 is installed in a groove at the bottom of the inner shell, with the nozzle facing rearward and a fairing 8 provided. The buoyancy adjustment system, including a high-pressure gas cylinder and a venting valve, adjusts the robot's buoyancy center by filling and releasing gas. A further technical solution of this utility model is: the airfoil of the glider 41 is NACA0012, and the roots of the two gliders 41 are fixedly connected to the upper surfaces of two symmetrically arranged worm gears 43 by bolts. The two worm gears 43 are perpendicularly intersecting with the worm 42, and the axis of the worm 42 is parallel to the axis of the outer shell and located on the symmetrical plane of the outer shell 1. A further technical solution of this utility model is: the transmission ratio between the worm gear 43 and the worm 42 is greater than 10:1, the worm 42 is directly driven by the servo motor through the coupling, and the worm gear 43 on both sides rotates synchronously with the glider 41 through the worm 42, so as to realize the deployment and retraction of the glider.

[0008] A further technical solution of this utility model is: the water inlet of the pump-jet propulsion 5 is located at the front end of the groove at the bottom of the outer shell, and the water outlet is provided with a gradually narrowing and expanding shroud 8. The axis of the pump-jet propulsion 5 is parallel to or can be adjusted to deflect the central axis of the outer shell.

[0009] A further technical solution of this utility model is: the two side-mounted propellers 7 are respectively installed on the symmetrical positions on both sides of the outer shell, and the stern propeller 6 is installed on the center line of the tail of the outer shell. The three are independently controlled to achieve levitation, ascent and descent. A further technical solution of this utility model is: the high-pressure gas cylinder of the buoyancy adjustment system is connected to the air bladder or ballast tank outside the shell through a hose, and the venting valve is a solenoid valve, which is controlled by the main controller.

[0010] A further technical solution of this utility model is: the streamlined outer shell 1 is made of composite material, and has a watertight hardware compartment inside for accommodating the battery, controller and power equipment, and the surface of the outer shell is coated with an anti-bioadhesion coating. A further technical solution of this utility model is: when the glider 41 is retracted, it is completely housed in the groove on the side wall of the outer shell; when it is unfolded, the maximum unfolding angle is 0° to 90°, and it is kept stable by a worm gear self-locking mechanism.

[0011] A further technical solution of this utility model is: the hybrid power system is powered by a unified lithium battery, and the power is distributed to the propeller thruster, the pump-jet thruster 5 and the servo motor respectively through the onboard voltage regulation module.

[0012] A further technical solution of this utility model is: it also includes a control system, which includes a main controller and a host computer communication module; The main controller integrates attitude sensors and depth sensors, receives commands from the host computer, and controls the servo motor, hybrid power system, and buoyancy adjustment system. The host computer communication module supports wireless or wired signal transmission, enabling remote control and status feedback.

[0013] Beneficial effects The beneficial effects of this invention are as follows: By organically combining gliding mode, propeller propulsion mode, and pump-jet propulsion mode, this invention enables the robot to perform long-duration, wide-area cruise observation in low-energy gliding mode, while also achieving flexible hovering and vertical movement through the propeller. This effectively overcomes the inherent contradiction between the poor maneuverability of traditional underwater gliders and the high energy consumption of propeller-driven AUVs, resulting in greater adaptability to the environment and missions. Specific effects are analyzed below: 1. Based on the streamlined shell design inspired by humpback whales, combined with a variable glider mechanism that can be fully retracted into the shell's recesses as needed, the robot can minimize drag when using propellers or pump-jet propulsion at high speeds. This "on-demand deformation" capability enables a dynamic optimization of the low-drag shape and high-lift airfoil configuration, fundamentally reducing propulsion energy consumption and extending underwater operation time.

[0014] 2. The variable-glide glider mechanism features a compact structure, reliable transmission, and a self-locking function. It employs a worm gear drive for glider deployment and retraction, offering advantages over traditional crank-slider mechanisms such as a larger transmission ratio, more compact structure, and smaller footprint. Furthermore, the inherent self-locking characteristic of the worm gear mechanism ensures the glider maintains a stable position at any deployment angle without additional braking, simplifying the control system and improving the mechanism's reliability and stability under complex water flow conditions.

[0015] 3. The power system layout is reasonable. The propeller and pump-jet propulsion have clear division of labor and work together. The side-mounted and stern-mounted propellers are dedicated to vertical plane attitude control, while the built-in pump-jet propulsion, in conjunction with the fairing, effectively improves water jet efficiency and provides strong and directionally controllable main thrust.

[0016] 4. Buoyancy adjustment is achieved using high-pressure gas cylinders and venting valves. The net buoyancy is changed directly by charging and decharging the gas, resulting in extremely low energy consumption compared to continuously consuming electricity to drive hydraulic pumps or propellers for attitude adjustment. This highly efficient buoyancy adjustment method provides crucial energy-saving assurance for robots to achieve long-endurance gliding operations lasting weeks or even months. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the overall structure of a hybrid-driven variable glider underwater robot according to an embodiment of the present invention; Figure 2 This is a line drawing of the variable glider mechanism in an embodiment of the present invention; Figure 3 This is a diagram showing the distribution of the power system in an embodiment of this utility model; Explanation of reference numerals in the attached drawings: 1. Streamlined outer shell, 2. Bow flooded tank, 3. Hardware compartment, 4. Variable glider mechanism, 41. Glider, 42. Worm, 43. Turbine; 5. Pump-jet propulsion, 6. Stern propeller, 7. Side-mounted propeller, 8. Fairing. Detailed Implementation

[0018] The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the present invention, and should not be construed as limiting the present invention.

[0019] In the description of this utility model, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc., indicating the orientation or positional relationship are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this utility model and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model.

[0020] The complexity of the marine environment, the attachment of marine organisms, and the varied underwater topography place higher demands on the environmental adaptability, variable-mode navigation capabilities, and high-maneuverability of underwater observation equipment. Enhancing the adaptability of AUGs to changes in the marine physical field, biological attachment, and the integration of different mission sensors, as well as their ability to adaptively adjust hydrodynamic parameters or control parameters, is a key scientific issue for achieving stable navigation of AUGs under ultra-long endurance conditions. Simultaneously, improving their navigational maneuverability is also an important technical issue for expanding the application scenarios and operational areas of AUGs.

[0021] Therefore, innovative designs for underwater vehicles aimed at improving HUG performance and expanding its mobility modes still face many challenges. Based on the goal of achieving more diverse navigation and operational modes for AUGs with less propulsion, lower energy consumption, and lower cost, this invention provides a hybrid-driven variable-glide underwater robot, comprising: The streamlined outer shell 1 is designed to resemble the shape of a humpback whale, with a smooth transition on the surface and an elliptical cross-section. The variable glider mechanism 4 is symmetrically arranged with respect to the outer shell 1 and includes a glider 41, a worm 42, a worm wheel 43 and a servo motor. The glider 41 is connected to the worm 42 through the worm wheel 43, and the worm 42 is driven by the servo motor. The hybrid power system includes a propeller thruster and a pump-jet thruster 5. The propeller thruster includes two symmetrical side propellers 7 and a stern propeller 6. The pump-jet thruster 5 is installed in a groove at the bottom of the inner shell, with the nozzle facing rearward and a fairing 8 provided. The buoyancy adjustment system, including a high-pressure gas cylinder and a venting valve, adjusts the robot's buoyancy center by filling and releasing gas. Specifically, the airfoil of the glider 41 is NACA0012. The roots of the two gliders 41 are fixedly connected to the upper surfaces of two symmetrically arranged worm gears 43 by bolts. The two worm gears 43 are perpendicularly intersecting with the worm 42. The axis of the worm 42 is parallel to the axis of the outer shell and located on the symmetry plane of the outer shell 1. Specifically, the transmission ratio between the worm gear 43 and the worm 42 is greater than 10:1. The worm 42 is directly driven by the servo motor through a coupling. The worm gear 42 drives the worm gears 43 on both sides to rotate synchronously with the glider 41, thereby realizing the deployment and retraction of the glider.

[0022] Specifically, the water inlet of the pump-jet propulsion unit 5 is located at the front end of the groove at the bottom of the outer shell, and the water outlet is provided with a gradually narrowing and expanding fairing 8. The axis of the pump-jet propulsion unit 5 is parallel to or can be adjusted to deflect the central axis of the outer shell.

[0023] Specifically, the two side-mounted propellers 7 are respectively installed symmetrically on both sides of the outer shell, and the stern propeller 6 is installed on the center line of the tail of the outer shell. The three are independently controlled to achieve levitation, ascent and descent. Specifically, the high-pressure gas cylinder of the buoyancy adjustment system is connected to the air bladder or ballast tank outside the outer shell via a hose, and the venting valve is a solenoid valve, which is controlled by the main controller.

[0024] Specifically, the streamlined outer shell 1 is made of composite material and has a watertight hardware compartment inside to house the battery, controller and power equipment. The surface of the outer shell is coated with an anti-biofouling coating. Specifically, the glider 41 is completely retracted into the groove on the side wall of the outer shell when it is folded up, and the maximum unfolding angle is 0° to 90° when it is unfolded, and it is kept stable by a worm gear self-locking mechanism.

[0025] Specifically, the hybrid power system is powered by a unified lithium battery, and the power is distributed to the propeller thruster, pump-jet thruster 5, and servo motor through an onboard voltage regulation module.

[0026] Specifically, it also includes a control system, which includes a main controller and a host computer communication module; The main controller integrates attitude sensors and depth sensors, receives commands from the host computer, and controls the servo motor, hybrid power system, and buoyancy adjustment system. The host computer communication module supports wireless or wired signal transmission, enabling remote control and status feedback.

[0027] The specific embodiments of this utility model will now be described in detail with reference to the accompanying drawings: In one embodiment, refer to Figure 1 As shown in the figure, this embodiment of a hybrid-driven variable glider underwater robot includes a streamlined shell 1, a variable glider mechanism 4, a hybrid power system, a buoyancy adjustment system, and a control system.

[0028] Implementation of the streamlined outer shell 1: The streamlined outer shell 1 is made of glass fiber reinforced composite material, and its shape is biomimetic based on the body shape of a humpback whale, with a total length of approximately 2.5 meters and a maximum diameter of approximately 0.4 meters. The outer shell surface is CNC machined and polished to ensure a smooth transition and reduce turbulence resistance. The outer shell contains three watertight compartments: the forward compartment houses the control system and sensors, the mid-section contains batteries and high-pressure gas cylinders, and the aft compartment houses the propulsion equipment. The bow of the outer shell contains a bow submerged compartment 2. The outer shell surface is coated with an organosilicon anti-biofouling coating to reduce marine organism attachment.

[0029] Implementation of the variable glider mechanism: The glider 41 adopts the NACA0012 airfoil with a wingspan of 0.8 meters and is made of carbon fiber composite material to reduce weight. The glider root is fixed to the upper surface of the worm gear 43 by four M5 stainless steel bolts. The worm gear 43 is made of brass ZCuZn40Pb2 with a module of 1.5 and 30 teeth; the worm 42 is made of stainless steel 2Cr13 with a lead angle of 4° and a transmission ratio of 30:1. The worm 42 is connected to a servo motor (model QFS2025) via a coupling, with a 30 kg·cm torque output shaft connection. The worm gear mechanism is mounted on an aluminum alloy bracket on the side wall of the outer shell. When retracted, the glider is fully embedded in the groove on the side wall of the outer shell; when deployed, the maximum angle is 90°, and the worm gear mechanism self-locks and maintains the position.

[0030] The self-locking mechanism of worm gears is an existing technology. Its principle primarily relies on the worm's helix angle and the coefficient of friction between the worm and the worm wheel. When the worm's helix angle is less than the friction angle between the worm and the worm wheel, the worm gear mechanism exhibits self-locking properties. This is because during transmission, the helical surface of the worm exerts normal pressure on the worm wheel, thereby generating friction. When the worm's helix angle is less than the friction angle, the friction prevents the worm wheel from reversing, thus achieving self-locking.

[0031] Implementation of the hybrid power system: The propeller thrusters include two side-mounted propellers (T200 Thruster, approximately 20N thrust) and one stern propeller (T200 Thruster, approximately 20N thrust). The side-mounted propellers are symmetrically mounted on both sides of the middle of the outer casing, while the stern propeller is mounted at the center of the tail. The pump-jet propellers 5 use a DC brushless water pump (MV-0545, maximum flow rate 15L / min), and the two pump-jet propellers 5 are symmetrically mounted in a recess at the bottom of the outer casing. The inlet is equipped with a grille to prevent debris from being sucked in, and the outlet is connected to a tapered and expanding fairing 8 made of ABS plastic, with the nozzle direction parallel to the outer casing axis. All propellers are connected to the main controller via waterproof cables.

[0032] Implementation of the buoyancy adjustment system: The high-pressure gas cylinder is an aluminum alloy cylinder with a volume of 35mL and a working pressure of 25MPa. It is connected to a 1L bladder-type ballast tank outside the outer shell via a polyurethane hose. The vent valve is a normally closed solenoid valve (model: SMC VX21), controlled by the main controller. When diving is required, the main controller opens the vent valve, releasing gas from the ballast tank and allowing seawater to enter to increase negative buoyancy; when surfacing, the main controller closes the vent valve, and the high-pressure gas cylinder fills the ballast tank with gas and releases seawater.

[0033] Implementation of the control system: The main controller uses an STM32F407 microcontroller, integrating an MPU6050 attitude sensor and an MS5837 depth sensor. The host computer communication module uses a dual-mode Wi-Fi and Bluetooth module for communication with the ground station or a mobile app. The control program uses the FreeRTOS real-time operating system. The control methods used in this control system are all mature technologies and are not within the scope of protection of this utility model.

[0034] The entire unit is powered by a single lithium polymer battery, which provides different voltages to the control system, servos, and thrusters via an onboard DC-DC step-down module. The battery is located in the central compartment and connects to each system via waterproof connectors.

[0035] In one embodiment, the workflow of this utility model is illustrated using a typical task as an example: 1. Long-endurance cruise gliding mode: The glider extends to a 60° angle of attack, the buoyancy adjustment system makes the robot slightly negatively buoyant, the tail propeller stops rotating, and the robot glides in a zigzag trajectory, with a power consumption of about 5W.

[0036] 2. High-speed approach to target propulsion mode: The glider retracts into the groove, the pump-jet propulsion system starts to provide the main thrust, and the steering is achieved by the differential speed of the pump-jet propulsion systems on both sides. The speed can reach 3 knots, and the power consumption is about 150W.

[0037] 3. Fine observation hovering mode: The glider retracts, the pump-jet propulsion operates at low speed, and the side propellers and tail propellers work in coordination to maintain hovering, with a power consumption of approximately 80W.

[0038] 4. Surfacing and Recovery: The buoyancy adjustment system inflates to give the robot positive buoyancy, all thrusters stop rotating, and the robot floats to the surface.

[0039] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention without departing from the principles and spirit of the present invention.

Claims

1. A hybrid-driven variable-glide underwater robot, characterized in that, include: The streamlined outer shell (1) is designed to resemble the shape of a humpback whale, with a smooth transition on the surface and an elliptical cross-section. The variable glider mechanism (4) is arranged symmetrically with respect to the outer shell (1), including a glider (41), a worm (42), a worm wheel (43), and a servo motor. The glider (41) is connected to the worm (42) by the worm wheel (43), and the worm (42) is driven by the servo motor. The hybrid power system includes a propeller thruster and a pump-jet thruster (5). The propeller thruster includes two symmetrical side propellers (7) and a stern propeller (6). The pump-jet thruster (5) is installed in a groove at the bottom of the inner shell, with the nozzle facing rearward and a fairing (8). The buoyancy adjustment system, including a high-pressure gas cylinder and a venting valve, adjusts the robot's buoyancy center by filling and releasing gas.

2. The hybrid-drive variable-gliding underwater robot according to claim 1, characterized in that: The airfoil of the glider (41) is NACA0012. The roots of the two gliders (41) are fixedly connected to the upper surfaces of two symmetrically arranged worm gears (43) by bolts. The two worm gears (43) are perpendicular to the worm (42). The axis of the worm (42) is parallel to the axial direction of the shell and is located on the symmetrical plane of the shell (1).

3. The hybrid-drive variable-gliding underwater robot according to claim 2, characterized in that: The transmission ratio between the worm gear (43) and the worm (42) is greater than 10:

1. The worm (42) is directly driven by the servo motor through the coupling. The worm gear (42) drives the worm gears (43) on both sides to rotate synchronously with the glider (41), so as to realize the deployment and retraction of the glider.

4. The hybrid-drive variable-gliding underwater robot according to claim 1, characterized in that: The inlet of the pump-jet propulsion unit (5) is located at the front end of the groove at the bottom of the outer shell, and the outlet is provided with a gradually narrowing and expanding fairing (8). The axis of the pump-jet propulsion unit (5) is parallel to or can be adjusted to deflect the central axis of the outer shell.

5. The hybrid-drive variable-glide underwater robot according to claim 1, characterized in that: The two side propellers (7) are installed symmetrically on both sides of the outer shell, and the stern propeller (6) is installed on the center line of the tail of the outer shell. The three are independently controlled to achieve levitation, ascent and descent.

6. The hybrid-drive variable-gliding underwater robot according to claim 1, characterized in that: The high-pressure gas cylinder of the buoyancy adjustment system is connected to the air bladder or ballast tank outside the shell through a hose. The venting valve is a solenoid valve, which is controlled by the main controller.

7. The hybrid-drive variable-glide underwater robot according to claim 1, characterized in that: The streamlined outer shell (1) is made of composite material and has a watertight hardware compartment inside for housing the battery, controller and power equipment. The outer shell surface is coated with an anti-bioadhesion coating.

8. The hybrid-drive variable-glide underwater robot according to claim 1, characterized in that: When the glider (41) is retracted, it is completely stored in the groove on the side wall of the shell. When it is deployed, the maximum deployment angle is 0° to 90°, and it is kept stable by the worm gear self-locking mechanism.

9. The hybrid-drive variable-gliding underwater robot according to claim 1, characterized in that: The hybrid power system is powered by a unified lithium battery, and the power is distributed to the propeller, pump-jet propeller (5) and servo motor respectively through an onboard voltage regulation module.

10. The hybrid-drive variable-gliding underwater robot according to claim 1, characterized in that: It also includes a control system, which includes a main controller and a host computer communication module; The main controller integrates attitude sensors and depth sensors, receives commands from the host computer, and controls the servo motor, hybrid power system, and buoyancy adjustment system. The host computer communication module supports wireless or wired signal transmission, enabling remote control and status feedback.

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