Fish-like vector propulsion underwater glider

Abstract

The utility model provides an underwater glider of imitative fish vector propulsion, including gliding module, vector joint module and imitative fish propulsion module, vector joint module includes spherical motor, flexible bellows casing and connecting rod, spherical motor sets up in flexible bellows casing, flexible bellows casing sets up in the tail end of gliding module, imitative fish propulsion module includes elastic skeleton and tail fin, elastic skeleton passes through connecting rod and is connected with spherical motor, tail fin sets up on elastic skeleton. The utility model provides an underwater glider of imitative fish vector propulsion has adopted the scheme of spherical motor vector joint combination imitative fish tail propulsion, has the characteristics of low noise, long voyage, has the advantages of good maneuverability, can carry out accurate detection and surveying under water, greatly expands the application range of underwater glider, and simple structure, few moving parts, the advantage of high degree of modularization.

Description

Technical Field

[0001] This utility model relates to the field of underwater mechanical equipment, and in particular to a fish-inspired vector propulsion underwater glider. Background Technology

[0002] Existing underwater gliders are mainly divided into two categories: unpowered underwater gliders and hybrid underwater gliders. Unpowered underwater gliders glide forward by adjusting their weight and center of gravity, utilizing natural forces such as gravity, buoyancy, and water currents. Hybrid underwater gliders primarily use pump-jet propulsion or folding propellers for auxiliary propulsion. Both types of underwater gliders have their unique advantages and applications, but they also have some drawbacks.

[0003] Unpowered underwater gliders offer significant advantages in terms of low energy consumption and low noise, and can operate underwater for extended periods. However, their reliance on gliding severely limits their maneuverability, making them ill-suited for complex underwater environments and hindering precise underwater detection and surveying. Hybrid underwater gliders, employing pump-jet propulsion and folding propellers, offer better maneuverability, but suffer from high noise and energy consumption. Furthermore, the addition of appendages increases drag during gliding, further impacting their effectiveness in underwater detection and surveying. Utility Model Content

[0004] Therefore, it is necessary to provide a fish-inspired vector propulsion underwater glider to address at least one of the problems mentioned above.

[0005] The fish-inspired vector propulsion underwater glider provided by this utility model includes a gliding module, a vector joint module, and a fish-inspired propulsion module; The vector joint module includes a ball motor, a flexible bellows housing, and a connecting rod. The ball motor is installed inside the flexible bellows housing, which is located at the tail end of the gliding module. The fish-like propulsion module includes an elastic frame and a tail fin. The elastic frame is connected to the spherical motor via the connecting rod, and the tail fin is mounted on the elastic frame.

[0006] In one embodiment, the spherical motor is disposed on the axial top surface of the flexible bellows housing, and the connecting rod passes through the axial bottom surface of the flexible bellows housing and is connected to the top of the elastic skeleton.

[0007] In one embodiment, a sealed bearing is provided at the tail end of the flexible bellows housing, and the connecting rod passes through the sealed bearing and connects to the elastic skeleton.

[0008] In one embodiment, a gap is provided between the top surface of the elastic skeleton and the bottom surface of the flexible bellows shell.

[0009] In one embodiment, the elastic skeleton is provided with a flexible skin.

[0010] In one embodiment, the elastic skeleton is made of carbon fiber plates, the flexible skin is made of silicone, and the tail fin is made of carbon fiber plates.

[0011] In one embodiment, the gliding module includes a buoyancy adjustment device, an attitude adjustment device, a communication and navigation device, a power supply, a control board, a shell, and a gliding wing.

[0012] In one embodiment, the buoyancy adjustment device includes an oil tank, an oil bladder, an oil pipe, an oil pump, and a solenoid valve. The oil bladder is located in the non-watertight section of the hull, while the oil tank, the oil pump, and the solenoid valve are distributed in the watertight section of the hull.

[0013] In one embodiment, the glider is fixed to the outer peripheral surface of the shell.

[0014] In one embodiment, the spherical motor includes a rotor ball, a stator spherical shell, an output shaft, and a base, with the output shaft docked to the connecting rod.

[0015] The technical solutions provided in the embodiments of this utility model bring the following beneficial technical effects: The fish-inspired vector propulsion underwater glider provided by this utility model adopts a scheme combining a spherical motor vector joint with a fish-tail propulsion system. It retains the characteristics of low noise and long range, while also having the advantages of good maneuverability and the ability to conduct precise underwater detection and surveying. This greatly expands the application range of underwater gliders. In addition, it has the advantages of simple structure, few moving parts, and high degree of modularity.

[0016] Additional aspects and advantages of this application will be set forth in the following sections and will be understood in detail from the following description or by means of specific implementation of the present invention. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the external structure of a fish-inspired vector propulsion underwater glider in one embodiment of the present invention; Figure 2 This is a schematic diagram of the internal structure of a fish-inspired vector propulsion underwater glider in one embodiment of the present invention; Figure 3 This is a cross-sectional structural diagram of a fish-inspired vector propulsion underwater glider according to one embodiment of the present invention; Figure 4 This is a schematic diagram of the buoyancy adjustment device in one embodiment of the present invention; Figure 5This is a schematic diagram of the vector joint module and the fish-like propulsion module in one embodiment of the present invention; Figure 6 This is a schematic diagram of the structure of a spherical motor in one embodiment of the present invention; Figure 7 This is an exploded view of a spherical motor in one embodiment of the present invention.

[0018] Explanation of reference numerals in the attached figures: 100 - Gliding module, 200 - Vector joint module, 300 - Fish-like propulsion module; 110 - Buoyancy adjustment device, 120 - Shell, 130 - Glider; 111-Fuel tank, 112-Fuel bladder, 113-Fuel pipe, 114-Fuel pump; 210-Spherical motor, 220-Flexible bellows housing, 230-Connecting rod; 211-Rotor ball, 212-Stator ball housing, 213-Output shaft, 214-Base, 221-Sealed bearing; 310 - Flexible skeleton, 320 - Tail fin, 330 - Flexible skin. Detailed Implementation

[0019] To facilitate understanding of this utility model, a more complete description will be given below with reference to the accompanying drawings. The drawings illustrate possible embodiments of this utility model. However, this utility model can be implemented in many different forms and is not limited to the embodiments described herein with reference to the drawings. The embodiments described with reference to the drawings are exemplary and intended to provide a more thorough and complete understanding of the disclosure of this utility model, and should not be construed as limiting the utility model. Furthermore, detailed descriptions of known technologies may be omitted where such details are not essential to the features of the illustrated utility model.

[0020] Those skilled in the art will understand that, unless otherwise defined, all terms used herein (including technical and scientific terms) have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. It should also be understood that terms such as those defined in general dictionaries should be understood to have the same meaning as in the prior art and should not be interpreted in an idealized or overly formal sense unless specifically defined as herein.

[0021] Those skilled in the art will understand that, unless specifically stated otherwise, the singular forms “a,” “an,” “the,” and “the” used herein may also include the plural forms. It should be further understood that the word “comprising” as used in the specification of this application means the presence of the stated feature, integer, step, operation, element, and / or module, but does not exclude the presence or addition of one or more other features, integers, steps, operations, elements, modules, and / or groups thereof. It should be understood that the word “and / or” as used herein includes all or any unit and all combinations of one or more associated listed items.

[0022] The technical solution of this utility model and how the technical solution solves the above-mentioned technical problems are described in detail below with specific embodiments.

[0023] The fish-inspired vector propulsion underwater glider provided by this utility model, such as Figures 1-3 As shown, the underwater glider includes a gliding module 100, a vector joint module 200, and a fish-like propulsion module 300. The gliding module 100, vector joint module 200, and fish-like propulsion module 300 are connected sequentially. The vector joint module 200 is connected after the gliding module 100, and the fish-like propulsion module 300 is connected after the vector joint module 200. The vector joint module 200 enables the attitude changes and reciprocating oscillations of the fish-like propulsion module 300. The reciprocating motion of the fish-like propulsion module 300 provides propulsion power for the entire underwater glider. It can be seen that the biomimetic propulsion underwater glider of this invention can be composed of three main modules: the underwater gliding module 100, the vector joint module 200, and the fish-like propulsion module 300. The overall design possesses excellent hydrodynamic shape, providing good drag reduction and easily achieving underwater gliding. The entire system adopts a modular design and manufacturing, facilitating disassembly and replacement, and allowing for flexible assembly. For example, more vector joint modules 200 can be added to achieve more complex control, or the fish-like propulsion module 300 can be replaced with a propulsion module that uses other propulsion methods to achieve more propulsion methods.

[0024] like Figure 2 and Figure 3 As shown, the vector joint module 200 includes a ball motor 210, a flexible bellows housing 220, and a connecting rod 230. The ball motor 210 is connected to the gliding module 100 via a base 214, and the flexible bellows housing 220 is also connected to the base 214. The entire vector joint module is mounted on the tail end of the gliding module 100. The flexible bellows housing 220 enables the overall rotation of the vector joint module 200, thereby driving the deflection of the fish-like propulsion module 300 connected to the tail. Specifically, as... Figure 2 and Figure 6As shown, the spherical motor 210 includes a rotor ball 211, a stator spherical shell 212, an output shaft 213, and a base 214. The output shaft 213 is connected to the connecting rod 230. Permanent magnets distributed according to a specific pattern are mounted on the surface of the rotor ball 211, and coil cores distributed according to a specific pattern are installed inside the stator spherical shell 212. The output shaft 213 is connected to the rotor ball 211. The stator spherical shell 212 is fixed to the base 214. Alternatively, a structure can be adopted where the stator ball (with coil cores installed internally and fixed to the base 214 as a whole) and the rotor ball 211 shell (with permanent magnets installed internally and the entire shell connected to the shaft) are used. Using the spherical motor 210 for thrust vector control has advantages over existing thrust vector control mechanisms for vector thrusters, such as compact structure, fewer moving parts, and more efficient and flexible movement.

[0025] like Figure 2 As shown, the fish-like propulsion module 300 includes an elastic frame 310 and a tail fin 320. The elastic frame 310 is connected to the output shaft 213 of the spherical motor 210 via a connecting rod 230, and the tail fin 320 is fixed to the tail end of the elastic frame 310. By controlling the current magnitude or duty cycle inside each coil of the spherical motor 210 according to a specific rule, the output shaft 213 can be oscillated and rotated. This, in turn, drives the elastic frame 310 and the tail fin 320 to rotate as a whole to a specified angle via the connecting rod 230, and controls them to oscillate back and forth in any specified direction within a certain range. For example, symmetrical oscillation achieves straight-line swimming, while asymmetrical oscillation combined with vector joints achieves flexible turning in three-dimensional space, ultimately realizing a unique combination propulsion method of fish-like vector propulsion. Compared with propellers, pump-jet propulsion, and other propulsion methods, the fish-like propulsion module 300 with a tail fin 320 has advantages such as high efficiency, no additional attached structures, no increase in gliding drag, no entanglement with aquatic plants due to the absence of a rotating mechanism, low noise during propulsion, and greater environmental friendliness.

[0026] The fish-inspired vector propulsion underwater glider provided by this utility model adopts a scheme combining a spherical motor 210 vector joint with a fish-tail propulsion system. It retains the characteristics of low noise and long range, while also having the advantages of good maneuverability and the ability to conduct precise underwater detection and surveying. This greatly expands the application range of underwater gliders. In addition, it has the advantages of simple structure, few moving parts, and high degree of modularity.

[0027] Specifically, in one embodiment of this utility model, such as Figure 2 and Figure 3As shown, the spherical motor 210 is mounted on the axial top surface of the flexible bellows housing 220, and the connecting rod 230 passes through the axial bottom surface of the flexible bellows housing 220 and connects to the top of the elastic frame 310. The connecting rod 230 is equivalent to the transmission rod of the elastic frame 310, which can transmit the force output by the spherical motor 210 to the fish-like propulsion module 300. It can be seen that the vector joint module 200 mainly includes a pressure-resistant and waterproof spherical motor 210, a section of flexible bellows housing 220, a bearing, and front and rear bulkheads, which are used to realize the directional control of the thrust vector.

[0028] Optionally, in another embodiment of this utility model, such as Figure 5 As shown, a sealed bearing 221 is provided at the tail end of the flexible bellows housing 220, and a connecting rod 230 passes through the sealed bearing 221 and connects to the elastic frame 310. The connecting rod 230, passing through the sealed bearing 221, can smoothly reciprocate within a certain range relative to the sealed bearing 221, more flexibly transmitting attitude changes to the elastic frame 310. Furthermore, in one feasible embodiment, a gap is provided between the top surface of the elastic frame 310 and the bottom surface of the flexible bellows housing 220. The elastic frame 310 is not directly attached to the outer bottom surface of the flexible bellows housing 220, but is separated by a certain gap to allow sufficient space for the movement of the elastic frame 310, ensuring the swing flexibility of the elastic frame 310 and the fish-like propulsion module 300.

[0029] Specifically, in one embodiment of this utility model, such as Figure 3 and Figure 5 As shown, a flexible skin 330 is provided on the elastic frame 310. Further optionally, the elastic frame 310 is made of carbon fiber plate, and the flexible skin 330 is made of silicone; the tail fin 320 is made of carbon fiber plate. The fish-like propulsion module 300 uses the elastic frame 310, specifically made of lightweight and high-strength materials such as carbon fiber plate, combined with a flexible skin made of materials such as silicone or rubber, and assembled with a tail fin 320 made of carbon fiber plate or other composite materials. The two are connected by a connecting rod 230 or a connecting shaft.

[0030] Specifically, in one embodiment of this utility model, such as Figure 3 As shown, the gliding module 100 includes a buoyancy adjustment device 110, an attitude adjustment device, a communication and navigation device, a power supply, a control board, a housing 120, and a gliding wing 130. Further, in one embodiment, as... Figure 3 and Figure 4As shown, the buoyancy adjustment device 110 includes an oil tank 111, an oil bladder 112, an oil pipe 113, an oil pump 114, and a solenoid valve. The oil bladder 112 is located in the non-watertight section of the hull 120, while the oil tank 111, oil pump 114, and solenoid valve are distributed in the watertight sections of the hull 120. Optionally, in one embodiment, the glider 130 is fixed to the outer peripheral surface of the hull 120. (Reference) Figure 4 As can be seen, the buoyancy adjustment device 110 consists of an oil tank 111, an oil bladder 112, an oil pipe 113, an oil pump 114, and a solenoid valve, and is fixed to the bulkhead. The oil bladder 112 is located in the non-watertight section, while the others are located in the watertight section. The oil tank 111 consists of a cylinder, piston, spring, and baffle. The spring stores energy and counteracts some pressure, thus reducing the work done by the oil pump 114. The piston provides a seal. Simultaneously, an infrared ranging sensor installed on the baffle calculates the current oil level in the oil tank 111 and oil bladder 112 based on the distance from the piston to the baffle, serving as a feedback signal to control the flow rate of the oil pump 114.

[0031] The gliding module 100 is used to realize underwater gliding function. Its structure is the same as that of a traditional unpowered underwater glider, which mainly includes a buoyancy adjustment device 110, an attitude adjustment device, communication and navigation equipment, various sensors, a power supply, a main control board, a rigid pressure-resistant and non-pressure-resistant shell 120, bulkheads, and a gliding wing 130. The buoyancy adjustment device 110, attitude adjustment device, power system, communication equipment, and various sensors are all connected to the control panel and power supply by cables or wires.

[0032] Its gliding principle is the same as that of a traditional unpowered underwater glider. The control panel (not shown in the figure) sends control signals to the oil pump 114 and solenoid valve in the buoyancy adjustment device 110, first drawing oil from the oil bladder 112 to the oil tank 111 to reduce the buoyancy to a specified value. Then, based on the pitch angle data fed back by the inertial navigation system, the control panel sends control signals to the linear motor (not shown in the figure) in the attitude adjustment device to control the slider (battery module) to move along the guide rail, causing the overall center of gravity of the underwater glider to move forward to a specified position, thus achieving gliding forward while submerging in a bow-down attitude. When surfacing, oil is drawn from the oil tank 111 to the oil bladder 112 to increase the buoyancy, and at the same time, the slider is controlled to move backward to a specified position, thus achieving gliding forward while rising in a bow-up attitude.

[0033] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "installation," "connection," and "joining" 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 direct connection or an indirect connection through an intermediate medium; and they can refer to the internal communication between 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] In the description of this specification, specific features, structures, materials, or characteristics may be combined in any suitable manner in one or more embodiments or examples.

[0035] The above description is only a partial embodiment of this application. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of this application, and these improvements and modifications should also be considered within the scope of protection of this application.

Claims

1. A fish-inspired vector propulsion underwater glider, characterized in that, Includes a gliding module, a vector joint module, and a fish-like propulsion module; The vector joint module includes a ball motor, a flexible bellows housing, and a connecting rod. The ball motor is disposed inside the flexible bellows housing, and the flexible bellows housing is disposed at the tail end of the gliding module. The fish-like propulsion module includes an elastic frame and a tail fin. The elastic frame is connected to the spherical motor via the connecting rod, and the tail fin is mounted on the elastic frame.

2. The fish-inspired vector propulsion underwater glider according to claim 1, characterized in that, The spherical motor is disposed on the axial top surface of the flexible bellows housing, and the connecting rod passes through the axial bottom surface of the flexible bellows housing and is connected to the top of the elastic skeleton.

3. The fish-inspired vector propulsion underwater glider according to claim 1, characterized in that, A sealed bearing is provided at the tail end of the flexible bellows housing, and the connecting rod passes through the sealed bearing and connects to the elastic skeleton.

4. The fish-inspired vector propulsion underwater glider according to claim 3, characterized in that, A gap is provided between the top surface of the elastic skeleton and the bottom surface of the flexible bellows shell.

5. The fish-inspired vector propulsion underwater glider according to claim 1, characterized in that, The elastic skeleton is provided with a flexible skin.

6. The fish-inspired vector propulsion underwater glider according to claim 5, characterized in that, The elastic skeleton is made of carbon fiber plates, the flexible skin is made of silicone, and the tail fin is made of carbon fiber plates.

7. The fish-inspired vector propulsion underwater glider according to claim 1, characterized in that, The gliding module includes a buoyancy adjustment device, an attitude adjustment device, a communication and navigation device, a power supply, a control board, a shell, and a gliding wing.

8. The fish-inspired vector propulsion underwater glider according to claim 7, characterized in that, The buoyancy adjustment device includes an oil tank, an oil bladder, an oil pipe, an oil pump, and a solenoid valve. The oil bladder is located in the non-watertight section of the hull, while the oil tank, the oil pump, and the solenoid valve are distributed in the watertight section of the hull.

9. The fish-inspired vector propulsion underwater glider according to claim 7, characterized in that, The glider is fixed to the outer circumferential surface of the shell.

10. The fish-inspired vector propulsion underwater glider according to claim 1, characterized in that, The spherical motor includes a rotor ball, a stator spherical shell, an output shaft, and a base, with the output shaft connected to the connecting rod.

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