An unmanned underwater vehicle

Abstract

This application provides an unmanned underwater vehicle (UUV) belonging to the field of underwater vehicle technology. It includes an UUV body, a flexible tail fin, and two drive components. The flexible tail fin is mounted at the rear end of the UUV body. Each drive component includes a motor, a linkage assembly, a sliding member, and an airbag, with the airbag filling the interior of the flexible tail fin. The motor drives the sliding member via the linkage assembly, and the two drive components drive in opposite directions. The two sliding members slide in opposite directions along the length of the UUV body and alternately compress the airbag. The airbag undergoes geometric deformation under pressure, causing structural deformation of the flexible tail fin, resulting in alternating oscillations along the radial direction of the UUV body. Through the combination of mechanical structure and aerodynamic deformation, the flexible tail fin can complete multiple alternating oscillations, effectively propelling the UUV forward in the water. This improves propulsion efficiency, reduces energy consumption, simplifies the system structure, and allows operation in complex underwater environments, meeting diverse needs.

Description

Technical Field

[0001] This application relates to the field of underwater vehicle technology, and more specifically, to an unmanned underwater vehicle. Background Technology

[0002] Unmanned underwater vehicles (UUVs) are intelligent devices that can autonomously navigate underwater and perform various tasks using remote or automatic control systems without human piloting. With their strong stealth capabilities, high level of intelligence, limited operational range, and low operational costs, UUVs have been widely used in military reconnaissance, scientific research, and environmental monitoring. Their design concept is similar to that of traditional submarines, typically employing a streamlined shape to improve underwater navigation efficiency. The nose of an UUV generally adopts a teardrop shape, which effectively reduces water resistance and improves navigation stability; the main body is usually cylindrical, further enhancing its underwater balance and maneuverability; and the tail mimics the structure of a fish tail, using tail-swinging for propulsion, optimizing the dynamic characteristics of underwater navigation.

[0003] However, most unmanned underwater vehicles (UUVs) currently on the market still rely on traditional propellers as their primary propulsion method. Although propeller propulsion systems have been used for many years, this approach has revealed some significant shortcomings in the design of modern UUVs. First, propellers have low propulsion efficiency and insufficient maneuverability, especially in complex underwater environments where they often struggle to flexibly respond to various navigation needs. Second, propeller propulsion systems consume a large amount of energy, significantly limiting the endurance of UUVs. Prolonged, energy-intensive operations not only affect the operational efficiency of UUVs but also limit their potential for long-duration missions.

[0004] To overcome the shortcomings of propeller-driven propulsion systems, some unmanned underwater vehicles (UUVs) have begun to adopt a motor-driven linkage mechanism to convert rotational motion into tail fin oscillation. Tail fin oscillation propulsion systems draw inspiration from the natural movement of fish in water, theoretically offering higher maneuverability and lower energy consumption. However, this mechanical structure still faces several challenges. First, the purely mechanical propulsion system of tail fin oscillation is relatively complex, requiring multiple mechanical transmission components, and this complexity increases the probability of malfunctions. Second, power loss is inevitable during transmission, leading to low propulsion efficiency and thus affecting the UUV's speed and endurance.

[0005] To overcome the shortcomings of traditional mechanical propulsion systems, pneumatic propulsion systems have begun to be applied. For example, patent CN111846168A proposes using an air pump to drive a fishtail structure, utilizing the inflation and deflation of gas within an air chamber to achieve the oscillation of the tail fin. This pneumatic propulsion system has a relatively simple structure and, compared to mechanical systems, can significantly reduce the wear and failure risk of mechanical components. However, the response speed of pneumatic systems is typically low, which has become its main technical bottleneck. The lag in inflation and deflation limits the frequency at which the pneumatic system can drive the tail fin to oscillate, resulting in low tail fin movement efficiency and affecting propulsion performance and navigation performance. Utility Model Content

[0006] The purpose of this application is to provide an unmanned underwater vehicle in order to address the shortcomings of the aforementioned technologies.

[0007] To achieve the above objectives, the technical solution adopted in this application is as follows:

[0008] This application provides an unmanned underwater vehicle, including an unmanned underwater vehicle body, a flexible tail fin, and two drive components. The flexible tail fin is installed at the rear end of the unmanned underwater vehicle body. Each drive component includes a motor, a linkage assembly, a slider, and an airbag, with the airbag filling the interior of the flexible tail fin.

[0009] The motor drives the sliding component via the linkage assembly, and the two driving components drive in opposite directions. The two sliding components slide in opposite directions along the length of the unmanned underwater vehicle body and alternately compress the airbag. The airbag is compressed and undergoes geometric deformation, which causes the flexible tail fin to undergo structural deformation, thereby causing it to alternately swing along the radial direction of the unmanned underwater vehicle body.

[0010] Furthermore, the linkage assembly includes a first linkage and a second linkage. One end of the first linkage is fixedly connected to the output end of the motor, and the other end is hinged to one end of the second linkage. The other end of the second linkage is drivenly connected to the slider.

[0011] Furthermore, the linkage assembly also includes a third link, through which the second link is driven to the slider. One end of the third link is hinged to the second link, and the other end is fixedly connected to the slider.

[0012] Furthermore, the drive assembly also includes a push plate, the third link is connected to the slider via the push plate, a guide rail extending along the length of the unmanned underwater vehicle body is installed in the unmanned underwater vehicle body, and a groove is provided on the push plate, the groove being slidably connected to the guide rail.

[0013] Furthermore, multiple annular grooves are formed on the surface of the flexible tail fin, and these grooves are arranged at intervals along the length of the unmanned underwater vehicle body to increase the deformability of the flexible tail fin.

[0014] Furthermore, the flexible tail fin is made of resin material.

[0015] Furthermore, an I-shaped bulkhead is installed inside the unmanned underwater vehicle, and the motors of the two drive components are symmetrically installed on both sides of the web of the I-shaped bulkhead.

[0016] Furthermore, a dorsal fin is installed on the back of the unmanned underwater vehicle body, extending along the length of the unmanned underwater vehicle body.

[0017] Furthermore, pectoral fins are installed on both sides of the unmanned underwater vehicle body along its width direction, and the pectoral fins on both sides extend in the opposite direction along the width direction of the unmanned underwater vehicle body.

[0018] Furthermore, a battery is installed inside the unmanned underwater vehicle, and the battery is electrically connected to the motor.

[0019] The beneficial effects of this application include:

[0020] This application provides an unmanned underwater vehicle (UUV), including a UUV body, a flexible tail fin, and two drive components. The flexible tail fin is mounted at the rear end of the UUV body. Each drive component includes a motor, a linkage assembly, a slider, and an airbag, with the airbag filling the interior of the flexible tail fin. The motor drives the slider via the linkage assembly, and the two drive components drive in opposite directions. The two sliders slide in opposite directions along the length of the UUV body and alternately compress the airbag. The airbag undergoes geometric deformation under pressure, causing structural deformation of the flexible tail fin, which then alternately oscillates radially along the UUV body. Through the organic combination of mechanical structure and aerodynamic deformation, the flexible tail fin can complete multiple alternating oscillations, effectively propelling the UUV forward in the water, significantly improving propulsion efficiency and reducing energy consumption. Compared with traditional purely mechanical or aerodynamic tail fin systems, the UUV provided in this application, through the combination of mechanics and aerodynamics, can respond quickly, ensuring navigation speed and efficiency, while simplifying the system structure and reducing wear and failure risks of mechanical components. Meanwhile, the geometric deformation of the airbag and the oscillation of the flexible tail fin effectively reduce mechanical friction and energy loss, improve the system's energy utilization rate, significantly extend the endurance of the unmanned underwater vehicle, and enhance its performance capability in long-duration missions. Furthermore, the propulsion system design of this application possesses high stability and reliability, strong adaptability, and can operate stably in complex underwater environments to meet the needs of different missions. Attached Figure Description

[0021] To more clearly illustrate the technical solutions of this application, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0022] Figure 1 This is one of the structural schematic diagrams of an unmanned underwater vehicle provided in this application;

[0023] Figure 2 for Figure 1 Enlarged view of A in the middle;

[0024] Figure 3 This is the second structural schematic diagram of an unmanned underwater vehicle provided in this application;

[0025] Figure 4 The third structural schematic diagram of an unmanned underwater vehicle provided in this application;

[0026] Figure 5 The fourth structural schematic diagram of an unmanned underwater vehicle provided in this application.

[0027] Icons: 1. Unmanned underwater vehicle body; 2. Drive assembly; 3. Flexible tail fin; 4. Dorsal fin; 5. Pectoral fin; 6. Protective box; 7. Battery; 201. I-shaped partition; 202. Motor; 203. First connecting rod; 204. First bearing; 205. Connecting shaft; 206. Second bearing; 207. Second connecting rod; 208. Third bearing; 209. Third connecting rod; 210. Push plate; 211. Movable block; 212. Slide groove; 213. Guide rail; 214. Sliding component; 215. Chamber; 216. Airbag. Detailed Implementation

[0028] To make the objectives, technical solutions, and advantages of this application clearer, the technical solutions of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. The components of this application described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0029] Therefore, the following detailed description of the embodiments of this application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely to illustrate selected embodiments of the application. It should be noted that, unless otherwise specified, the various features in the embodiments of this application can be combined with each other, and the combined embodiments are still within the protection scope of this application.

[0030] It should be noted that similar labels 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.

[0031] In the description of this application, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the product of this application is in use. They are only for the convenience of describing this application and simplifying the description, and do not 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 on this application. In addition, the terms "first," "second," and "third," etc., are only used to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0032] Furthermore, terms such as "horizontal" and "vertical" do not imply that components must be absolutely horizontal or suspended, but rather that they can be slightly tilted. For example, "horizontal" simply means that its direction is more horizontal than "vertical," and does not mean that the structure must be completely horizontal, but can be slightly tilted.

[0033] In the description of this application, it should also be noted that, unless otherwise expressly specified and limited, the terms "set up," "install," "connect," and "link" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0034] The technical solution of this application will be described in detail below with reference to specific embodiments.

[0035] This application provides an unmanned underwater vehicle (UUV) that combines the advantages of aerodynamics and mechanical structure to achieve a highly efficient and low-energy propulsion system, thereby improving underwater navigation efficiency and endurance. It mainly includes an UUV body 1, a flexible tail fin 3 installed at the rear of the UUV body 1, and two drive components 2 installed between the UUV body 1 and the flexible tail fin 3. The two drive components 2 are symmetrically arranged along the length of the UUV body 1. The drive components 2 are the core of this technology; through specific design and layout, they effectively combine aerodynamic principles with mechanical structure, thereby achieving efficient oscillation of the flexible tail fin 3 and propelling the UUV forward in the water.

[0036] like Figures 1 to 5As shown, each drive assembly 2 includes a motor 202 and a linkage assembly installed within the unmanned underwater vehicle (UUV) body 1, and a slider 214 and an airbag 216 installed along the length of the UUV body 1 within the flexible tail fin 3. Specifically, the flexible tail fin 3 has a chamber 215, the opening of which faces the rear end of the UUV body 1. The slider 214 is slidably disposed on the side of the chamber 215 near the UUV body 1. The airbag 216 fills the interior of the chamber 215, forming a mating structure between the airbag 216 and the slider 214. This structural design allows the airbag 216 to undergo geometric deformation under pressure, thereby driving the flexible tail fin 3 to undergo corresponding structural deformation and produce a oscillation.

[0037] Motor 202 drives slider 214 via a linkage assembly. Under the action of motor 202, the linkage assembly passes through the opening of chamber 215, causing slider 214 to slide along the length of the unmanned underwater vehicle (UUV) body 1. The sliding direction of slider 214 affects the pressure on airbag 216. When slider 214 slides backward, it compresses airbag 216, causing it to deform. This deformation transmits force to the inner wall of chamber 215, causing structural deformation of flexible tail fin 3, thus enabling it to swing. This swinging of flexible tail fin 3 provides forward propulsion for the UUV. When slider 214 slides forward, airbag 216 returns to its original shape, preparing for the next deformation under pressure, thus ensuring continuous system operation. This combination of mechanical structure and aerodynamic deformation enables flexible tail fin 3 to perform multiple reciprocating swinging motions, effectively propelling the UUV forward in the water. Furthermore, by adjusting the pressure inside chamber 215 and controlling the deformation and speed of airbag 216, the swing amplitude and frequency of flexible tail fin 3 can be controlled.

[0038] It is worth noting that the motors 202 of the two drive components 2 drive in opposite directions, cooperating with each other to achieve the reverse sliding of the slider 214 and the staggered compression of the airbags 216. Specifically, when the left motor 202 drives the slider 214 forward, it does not compress the left airbag 216. At this time, the right motor 202 drives the slider 214 backward, thereby compressing the right airbag 216. Conversely, when the left motor 202 drives the slider 214 backward, it compresses the left airbag 216. At this time, the right motor 202 drives the slider 214 forward without compressing the right airbag 216.

[0039] This design of reverse sliding and staggered compression allows the airbags 216 to compress and recover on both sides of the unmanned underwater vehicle (UUV) body 1 along its width, generating alternating geometric deformations. This causes structural deformation on different sides of the flexible tail fin 3, resulting in the flexible tail fin 3 oscillating radially along the UUV body 1. For example, when the left airbag 216 is compressed, it applies pressure to the left inner wall of the chamber 215, causing the flexible tail fin 3 to oscillate to the right; while when the right airbag 216 is compressed, it applies pressure to the right inner wall of the chamber 215, causing the flexible tail fin 3 to oscillate to the left. Through this alternating action, the flexible tail fin 3 achieves the oscillation of a biomimetic fish tail, thereby propelling the UUV forward in the water. This propulsion method mimics the movement characteristics of living organisms, making propulsion smoother and more efficient, and adaptable to complex underwater environments. Furthermore, because the propulsion method of the flexible tail fin 3 can simulate the tail movement of fish, it not only possesses good maneuverability and can turn quickly to adapt to various complex underwater conditions, but also utilizes energy more efficiently.

[0040] Overall, through this unique design, the unmanned underwater vehicle (UUV) achieves highly efficient propulsion, significantly improving propulsion efficiency and reducing energy consumption. Compared to traditional propeller- or motor-driven tail fin systems, this UUV, through a combination of mechanical and aerodynamics, can respond quickly, ensuring speed and efficiency, while simplifying the system structure and reducing wear and tear on mechanical components and the risk of failure. Simultaneously, the geometric deformation of the airbag 216 and the oscillation of the flexible tail fin 3 effectively reduce mechanical friction and energy loss, improving the system's energy utilization rate. Therefore, it can significantly extend the UUV's endurance and enhance its performance in long-duration missions. Furthermore, the propulsion system design of this application also possesses high stability and reliability, strong adaptability, and can operate stably in complex underwater environments, meeting the needs of different missions.

[0041] Furthermore, the flexible tail fin 3 is made of resin material, which has good processability and can be precisely molded according to the streamlined design requirements of the flexible tail fin 3. Since the shape of the flexible tail fin 3 needs to adapt to changes in aerodynamic forces, the plasticity of the resin material allows for adjustments to the curvature and thickness of the flexible tail fin 3 according to specific design requirements to achieve optimal underwater motion performance. Especially under the action of the drive component 2, the resin tail fin can undergo corresponding structural changes as the airbag 216 deforms, ensuring that each swing of the flexible tail fin 3 efficiently propels the unmanned underwater vehicle forward.

[0042] Furthermore, such as Figure 1As shown, to further enhance the deformability of the flexible tail fin 3 and optimize its propulsion performance, multiple annular grooves are formed on the surface of the flexible tail fin 3. These annular grooves are spaced apart along the length of the unmanned underwater vehicle body 1 to further improve the deformability and hydrodynamic response of the flexible tail fin 3. The annular grooves not only allow the flexible tail fin 3 to bend and twist in a controlled manner when pressurized by the airbag 216, but also enable it to adapt to deformation under the action of external water flow, reducing local stress concentration and fluid resistance. The size and spacing of the annular grooves have been optimized through simulation to meet the stiffness and strength requirements of the flexible tail fin 3 while ensuring smooth deformation and minimal energy loss during repeated oscillations, thereby maximizing propulsion efficiency.

[0043] Furthermore, the flexible tail fin 3 oscillates in an S-shape. Specifically, in the structural design of the flexible tail fin 3, multiple sections are set inside, each of which can independently adjust its angle of motion. This design allows the flexible tail fin 3 to form a gradually curving S-shaped curve during propulsion, greatly enhancing the thrust and stability of underwater propulsion. When the airbag 216 is under pressure, it causes a portion of the flexible tail fin 3 to bend, and through a reasonable structural design, this deformation is extended to the entire flexible tail fin 3, thus forming an S-shaped oscillation effect. With this S-shaped oscillation of the flexible tail fin 3, the efficiency of underwater propulsion can be effectively improved, because this oscillation mode can maximize the use of the kinetic energy of the water flow and make the transmission of propulsion force smoother and more continuous.

[0044] Compared to traditional simple left-right oscillation, the S-shaped oscillation significantly improves propulsion efficiency. The S-shaped oscillation not only better adapts to changes in water flow but also enhances the interaction efficiency between the flexible tail fin 3 and the fluid in the water, thereby reducing energy loss. In this way, the propulsion effect of the flexible tail fin 3 is significantly enhanced, enabling the unmanned underwater vehicle (UUV) to achieve higher speeds and more precise control in the water. Simultaneously, the S-shaped oscillation also results in lower water resistance, allowing the UUV to maintain lower energy consumption during extended missions, thus extending its endurance.

[0045] Furthermore, such as Figure 1 As shown, to ensure the drive assembly 2 can be securely installed and operate effectively, an I-shaped bulkhead 201 is installed inside the unmanned underwater vehicle body 1. This I-shaped bulkhead 201 serves to support and fix the drive assembly 2, ensuring the stability of the entire propulsion system during the underwater vehicle's navigation. The motor 202 of each drive assembly 2 is mounted on both sides of the web of the I-shaped bulkhead 201, ensuring balanced and stable propulsion.

[0046] Furthermore, the linkage assembly plays a crucial role, converting the rotational motion of the motor 202 into the linear motion of the slider 214, thereby driving the deformation of the airbag 216 and enabling the flexible tail fin 3 to swing effectively, thus propelling the unmanned underwater vehicle forward. Figures 2 to 4 As shown, the linkage assembly consists of several key components, including a first linkage 203, a second linkage 207, and a third linkage 209. The drive assembly 2 also includes a push plate 210. These components work together through a precise connection and transmission mechanism to ensure that the rotation of the motor 202 can be efficiently and stably converted into the linear motion of the slider 214.

[0047] Specifically, motor 202 is a servo motor. The fixed end of the servo motor is fixed to the web of the I-shaped partition 201. The output end of the servo motor is fixedly connected to one end of the first connecting rod 203. The other end of the first connecting rod 203 is hinged to one end of the second connecting rod 207 via a connecting shaft 205, that is, both are rotatably mounted on the same connecting shaft 205. To ensure smoothness during transmission, a first bearing 204 is provided between the first connecting rod 203 and the connecting shaft 205, and a second bearing 206 is provided between the second connecting rod 207 and the connecting shaft 205. The bearings effectively reduce friction and improve the stability and lifespan of the transmission system. The other end of the second connecting rod 207 is hinged to the third connecting rod 209, and a third bearing 208 is provided between them, further ensuring that the relative movement between the components during transmission is not hindered by friction, thereby improving the efficiency of the system.

[0048] When motor 202 rotates, it drives first link 203 to move second link 207, which in turn pushes third link 209 to slide linearly along the length of the unmanned underwater vehicle body 1. The other end of third link 209 is fixedly connected to push plate 210, and the movement of third link 209 causes push plate 210 to slide synchronously. Push plate 210 is fixedly connected to slider 214, and the movement of push plate 210 directly causes slider 214 to slide synchronously. The sliding direction of slider 214 is consistent with the deformation direction of airbag 216. To ensure that the sliding component 214 does not deviate during sliding, a movable block 211 is designed at the bottom of the push plate 210, and a groove 212 is opened at the bottom of the movable block 211. A guide rail 213 is installed on the lower flange of the I-shaped partition 201. The guide rail 213 extends along the length of the unmanned underwater vehicle body 1. The groove 212 and the guide rail 213 are slidably connected to each other to ensure that the sliding component 214 slides along the fixed track and avoids deviation. This ensures that the airbag 216 can deform evenly when subjected to force, thereby improving the movement efficiency of the flexible tail fin 3.

[0049] Furthermore, the sliding component 214 employs a sliding plate structure, with its surface directly facing the airbag 216. During sliding, the sliding plate applies pressure evenly, causing the airbag 216 to undergo precise geometric deformation. This large-area, uniform pressure application enables the airbag 216 to efficiently convert pressure, driving the flexible tail fin 3 to make precise and stable oscillations, thereby achieving the propulsion function. The design of the sliding component 214 ensures the uniformity of pressure on the airbag 216, avoiding imbalances caused by excessive local compression, and further improving the stability and efficiency of the propulsion system.

[0050] Through this sophisticated transmission system design, the rotational motion of the motor 202 is efficiently converted into linear motion, driving the slider 214 to slide smoothly along the guide rail 213 and ensuring the accurate deformation of the airbag 216. This structure not only effectively improves the energy utilization efficiency of the propulsion system but also enables the unmanned underwater vehicle to maintain efficient operation for extended periods with lower energy consumption by reducing friction and energy loss. Furthermore, precise control of the deformation of the airbag 216 makes the flexible tail fin 3 more agile in its movement, enabling it to respond quickly to changes in the external environment and enhancing the underwater vehicle's maneuverability and adaptability in complex waters.

[0051] Furthermore, such as Figure 1 As shown, in order to improve the longitudinal stability of the unmanned underwater vehicle, especially in high-speed navigation or complex water conditions, a dorsal fin 4 is installed on the back of the unmanned underwater vehicle body 1. The dorsal fin 4 extends along the length of the unmanned underwater vehicle body 1, and its shape and position are similar to the dorsal fin 4 of a fish. By optimizing the flow and distribution of water, it effectively enhances the stability of the underwater vehicle.

[0052] Specifically, the dorsal fin 4 increases the water contact area, improving the distribution of water flow on the surface of the unmanned underwater vehicle (UUV), thus stabilizing its course and reducing undulation. Especially when the UUV needs to make rapid turns or navigate in complex waters, the dorsal fin 4, with its specific geometry, effectively guides the water flow, reducing the impact of lateral thrust and maintaining the UUV's longitudinal stability. Furthermore, the dorsal fin 4 also has anti-roll properties, effectively counteracting lateral disturbances exerted on the UUV by water flow or external forces, further enhancing the UUV's navigation accuracy and balance.

[0053] Furthermore, such as Figure 5 As shown, to improve the underwater maneuverability and stability of the unmanned underwater vehicle (UUV), pectoral fins 5 are installed on both sides of the UUV body 1 along its width. The position and structural design of the pectoral fins 5 are inspired by the pectoral fins of fish, which play an important role in balance and control during swimming, helping fish to make precise turns and maintain a stable navigation attitude. Similarly, the design of the pectoral fins 5 not only enhances the underwater maneuverability of the UUV, but also enables it to maintain greater stability in complex environments.

[0054] Specifically, the pectoral fins 5 on both sides extend symmetrically in opposite directions along the width of the unmanned underwater vehicle (UUV) body 1. Their shape and size have been precisely designed and calculated to maximize their effectiveness in the water. When the UUV moves forward in the water, the pectoral fins 5 help maintain horizontal stability by altering the flow path of the water, reducing instability caused by changes in external water flow or control forces. The symmetrical, counter-directional design of the pectoral fins 5 ensures balanced force on both sides of the UUV, effectively preventing lateral drift or tilting during navigation and ensuring precise heading control in various aquatic environments.

[0055] The pectoral fins (F5) not only improve the longitudinal stability of the submersible but also significantly enhance its maneuverability. Through the symmetrical counter-movement of the pectoral fins, the submersible can maneuver flexibly in the water, maintaining high control precision even when facing complex currents or rapidly changing underwater environments. This design allows the submersible to quickly adjust its course for precise underwater navigation, maintaining high stability and controllability whether performing reconnaissance, surveillance, or other missions.

[0056] During underwater operations, the pectoral fins (5) of the unmanned underwater vehicle (UUV) effectively disperse the lateral pressure of the fluid on the UUV, reducing swaying or instability caused by uneven lateral pressure. In this way, the pectoral fins (5) enhance the UUV's balance and anti-interference capabilities, making it more stable in complex waters and adaptable to various mission requirements. Furthermore, because the design of the pectoral fins (5) considers hydrodynamic optimization, their presence not only improves maneuverability but also reduces energy consumption during navigation, further extending the UUV's endurance and enhancing its overall combat capability.

[0057] Furthermore, such as Figure 1 As shown, a battery 7 is installed inside the unmanned underwater vehicle (UUV) body 1. As a core energy component, the battery 7 plays a crucial role in the UUV's power system. To ensure the safety and stability of the battery 7, a protective box 6 is fixedly installed inside the UUV body 1. The protective box 6 provides effective protection for the battery 7 and ensures stable and reliable electrical connections between the battery 7 and other critical components. The installation position of the protective box 6 is carefully designed; one side is fixed to the bottom wall of the UUV body 1, and the other side is fixed to the bottom of the I-shaped partition 201, forming a robust support structure. This design not only ensures the stable position of the protective box 6 inside the UUV but also effectively prevents damage to the battery 7 from external impacts or vibrations during UUV operation.

[0058] The protective housing 6 has a specially reserved space for the battery 7, ensuring its stable placement and minimizing interference from external factors. Simultaneously, the battery 7 is electrically connected to the unmanned underwater vehicle's motor 202 and control board, ensuring a continuous power supply. The battery 7's power supply system, through precise electrical connections, enables the motor 202 to operate efficiently, providing the necessary power to the underwater vehicle. Furthermore, the control board receives power from the battery 7 via electrical connection, ensuring the proper functioning of the underwater vehicle's commands and control systems, thereby improving the underwater vehicle's flexibility and accuracy in underwater operations.

[0059] The protective housing 6 not only ensures the stable installation of battery 7 but also enhances its safety. Since battery 7 is often affected by factors such as temperature and pressure during prolonged use, the protective housing 6 effectively provides physical protection for battery 7, preventing damage or leakage during extended operation of the unmanned underwater vehicle in harsh water conditions. Through this design, the unmanned underwater vehicle can operate continuously in more complex and variable underwater environments without frequent concerns about battery 7 system malfunctions or failures.

[0060] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. An unmanned underwater vehicle, comprising an unmanned underwater vehicle body, a flexible tail fin, and two drive components, characterized in that, The flexible tail fin is mounted on the rear end of the unmanned underwater vehicle body; each drive component includes a motor, a linkage assembly, a slider, and an airbag, the airbag being filled inside the flexible tail fin; The motor drives the sliding member via the linkage assembly, and the two driving assemblies drive in opposite directions. The two sliding members slide in opposite directions along the length of the unmanned underwater vehicle body and alternately compress the airbag. The airbag is compressed and undergoes geometric deformation, which causes the flexible tail fin to undergo structural deformation, thereby causing it to alternately swing along the radial direction of the unmanned underwater vehicle body.

2. The unmanned underwater vehicle according to claim 1, characterized in that, The linkage assembly includes a first linkage and a second linkage. One end of the first linkage is fixedly connected to the output end of the motor, and the other end is hinged to one end of the second linkage. The other end of the second linkage is drivenly connected to the slider.

3. The unmanned underwater vehicle according to claim 2, characterized in that, The linkage assembly further includes a third linkage, through which the second linkage is driven to the slider. One end of the third linkage is hinged to the second linkage, and the other end is fixedly connected to the slider.

4. The unmanned underwater vehicle according to claim 3, characterized in that, The drive assembly also includes a push plate, the third link is connected to the slider via the push plate, a guide rail extending along the length of the unmanned underwater vehicle body is installed in the unmanned underwater vehicle body, a groove is provided on the push plate, and the groove is slidably connected to the guide rail.

5. The unmanned underwater vehicle according to any one of claims 1 to 4, characterized in that, Multiple annular grooves are formed on the surface of the flexible tail fin, and the multiple annular grooves are arranged at intervals along the length direction of the unmanned underwater vehicle body to increase the deformability of the flexible tail fin.

6. The unmanned underwater vehicle according to any one of claims 1 to 4, characterized in that, The flexible tail fin is made of resin material.

7. The unmanned underwater vehicle according to any one of claims 1 to 4, characterized in that, An I-shaped partition is installed inside the body of the unmanned underwater vehicle, and the motors of the two drive components are symmetrically installed on both sides of the web of the I-shaped partition.

8. The unmanned underwater vehicle according to any one of claims 1 to 4, characterized in that, A dorsal fin is installed on the back of the unmanned underwater vehicle body, and the dorsal fin extends along the length of the unmanned underwater vehicle body.

9. The unmanned underwater vehicle according to any one of claims 1 to 4, characterized in that, Pectoral fins are installed on both sides of the unmanned underwater vehicle body along its width direction, and the pectoral fins on both sides extend in the opposite direction along the width direction of the unmanned underwater vehicle body.

10. The unmanned underwater vehicle according to any one of claims 1 to 4, characterized in that, A battery is installed inside the unmanned underwater vehicle, and the battery is electrically connected to the motor.

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