CN109353478A - A kind of combination drive underwater glider - Google Patents
A kind of combination drive underwater glider Download PDFInfo
- Publication number
- CN109353478A CN109353478A CN201811010506.5A CN201811010506A CN109353478A CN 109353478 A CN109353478 A CN 109353478A CN 201811010506 A CN201811010506 A CN 201811010506A CN 109353478 A CN109353478 A CN 109353478A
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- Prior art keywords
- hole
- end cap
- fuel tank
- pressure hull
- glider
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/14—Control of attitude or depth
- B63G8/22—Adjustment of buoyancy by water ballasting; Emptying equipment for ballast tanks
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/14—Control of attitude or depth
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/14—Control of attitude or depth
- B63G8/16—Control of attitude or depth by direct use of propellers or jets
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Other Liquid Machine Or Engine Such As Wave Power Use (AREA)
Abstract
The invention discloses a kind of combination drive underwater gliders.The present invention includes pressure hull, and pressure hull has fore body and stern, is provided with buoyant means, luffing mechanism, wabbler mechanism, screw propulsion mechanism in pressure hull, screw propulsion mechanism is arranged close to the stern；Pressure hull includes buoyancy compartment and main nacelle, and buoyancy compartment has the through-hole being connected to external waters；The present invention adjusts the sink-float of glider by buoyancy structure, the pitch attitude of glider is adjusted by luffing mechanism, the heel posture of glider is adjusted by wabbler mechanism, it is provided with screw propulsion mechanism simultaneously to cooperate buoyant means to realize the underwater navigation of glider, and the positional relationship being rationally arranged between several mechanisms.Glider route speed of the invention is controllable, and mobility is high.
Description
Technical field
The present invention relates to underwater operation apparatus field more particularly to a kind of combination drive underwater gliders.
Background technique
Ocean current is to physical processes a variety of in ocean, chemical process, bioprocess and geological process and the gas in ocean overhead
The formation and variation of time and weather, the effect for all having an impact and restricting.Therefore understand and grasp the rule of ocean current, large scale sea gas phase
The climate change of interaction and long-term, it is all significant to fishery, shipping, blowdown and military affairs etc..In order to scientifically and rationally
Develop and utilize marine resources, it would be desirable to a large amount of accurate ocean environment parameters are obtained from ocean, and it is explored,
Sampled measurements and construction.Various Ocean Development Technologies, including deep-sea exploration, deep sea diving, ocean remote sensing and sea are just needed at this time
Upper navigation etc..
For underwater glider as underwater detection equipment, function is very powerful, not only cheap, but also can navigate over long distances
Row, will not also pollution of marine environment.Therefore, the favor by various countries all over the world.Underwater glider can not only exploiting ocean money
Source detects marine environment, moreover it is possible to realize that ocean positions.The development of underwater glider and the development of China or even world ocean contact
It is very close, so, China very focuses on the development of underwater glider.
But existing underwater glider has the following deficiencies:
(1) route speed is low；
(2) mobility is small, is easy to be influenced by ocean current or stormy waves, track and positioning accuracy are lower.
Summary of the invention
For overcome the deficiencies in the prior art, the purpose of the present invention is to provide a kind of combination drive underwater gliders, should
Glider mobility is high, and route speed is controllable.
The purpose of the present invention adopts the following technical scheme that realization:
A kind of combination drive underwater glider of the present invention, including pressure hull, the pressure hull have fore body and stern,
Buoyant means, luffing mechanism, wabbler mechanism, screw propulsion mechanism, the screw propulsion mechanism are provided in the pressure hull
It is arranged close to the stern；The pressure hull includes buoyancy compartment and main nacelle, and the buoyancy compartment has to be connected to external waters
Through-hole；
The buoyant means include the outer leather bag in the buoyancy compartment, and fuel tank in the main nacelle,
Oil inlet pipe, high-pressure plunger pump, solenoid valve, stepper motor；The pedestal of the stepper motor is fixedly connected with the pressure hull, institute
The output shaft for stating stepper motor is connected with the piston rod of the high-pressure plunger pump；The import of the high-pressure plunger pump and the fuel tank
Connection, is equipped with partition between the buoyancy compartment and the main nacelle, the partition is equipped with through-hole, described oil inlet pipe one end and institute
High-pressure plunger pump outlet is stated, the other end penetrates buoyancy compartment by through-hole and is connected to the outer leather bag, the oil inlet pipe and institute
It states and is equipped with sealing element between through-hole；The inlet communication of flowline one end and solenoid valve, the other end by through-hole penetrate buoyancy compartment with
Outer leather bag connection；The outlet of the solenoid valve is connected to fuel tank；
The luffing mechanism includes first motor, pitching battery pack, first shaft coupling, the first screw rod, the first guide rail, described
The pedestal of first motor and the first guide rail are both secured on the pressure hull, and first guide rail is along the pressure hull length
Direction extends, and the output shaft of the first motor is connect with the first screw rod by first shaft coupling, the first screw rod and pressure hull
Constitute revolute；The pitching battery pack and the first screw rod constitute screw pair, and constitute sliding pair with the first guide rail；
The wabbler mechanism includes the second motor, second shaft coupling, first gear, second gear, transmission shaft, waves battery
Packet；The pedestal of second motor is fixed on pressure hull；The output shaft of second motor be fixed on stretching in first gear
Shaft is connected by second shaft coupling；The second gear is fixed with transmission shaft, and is engaged with first gear；Transmission shaft and pressure resistance
Shell constitutes revolute；The battery pack of waving is fixed on transmission shaft, and the battery pack center of gravity of waving is located at outside transmission shaft；
The screw propulsion mechanism includes rotating electric machine and Magnetic Pole Coupling, and spiral is additionally provided with outside the pressure hull
The output shaft of paddle, the propeller and rotating electric machine is connected by Magnetic Pole Coupling；The pedestal of rotating electric machine is fixed on pressure resistance
On shell.
Further, the buoyant means further include gear pump, filter, the first check valve and second one-way valve, described
Fuel tank includes fuel tank oil inlet and fuel tank oil outlet, and the outer leather bag includes leather bag oil inlet and leather bag oil outlet；The fuel tank
Oil outlet, gear pump, filter, high-pressure plunger pump, the first check valve and leather bag oil inlet are sequentially communicated to form floating pipeline, institute
Stating the first check valve opening direction is fuel tank toward leather bag direction；The leather bag oil outlet, solenoid valve, gear pump, second one-way valve,
Fuel tank oil inlet is sequentially communicated to form sinking pipeline, and the second one-way valve opening direction is from leather bag toward fuel tank direction.
Further, the fuel tank internal uses spring like oil sac.
Further, first screw rod is ball screw, and the luffing mechanism further includes the first brake, described first
Brake is braked to first motor.
Further, if the pitching battery pack includes two fixed end caps and dry cell, any fixed end cap is equal
Open up mounting hole and end cap through-hole；The mounting hole is blind round hole；The battery both ends are inserted in different fixed end caps respectively
Mounting hole in；First guide rail sequentially passes through the end cap through-hole of two fixed end caps.
Further, the section of first guide rail is set to square；The fixed end cap includes end cap ontology and transition
Part, the end cap bulk material are plastics, making circular hole among the end cap ontology；The transition piece periphery is circle, and center is opened
If square through hole, the transition piece periphery and the end cap ontology are socketed, the square through hole of the transition piece and the first guide rail structure
At sliding pair.
Further, the material of the transition piece is polytetrafluoroethylene (PTFE).
Further, if the battery pack of waving includes two fixed end caps and dry cell, any fixed end cap is equal
Including end cap ontology and interconnecting piece, the end cap ontology offers mounting hole and end cap through-hole；The battery both ends plug respectively
In in the mounting hole of different fixed end caps；The end cap through-hole is circular through hole；The end cap through-hole is arranged and is fixed on described
On transmission shaft.
Further, the pressure hull stern is equipped with pod, and the propeller is set in the pod.
Compared with prior art, the beneficial effects of the present invention are: route speed is controllable, and mobility is high.
Detailed description of the invention
Fig. 1 is the structural diagram of the present invention；
Fig. 2 is the hydraulic drive schematic diagram of buoyant means in the present invention；
Fig. 3 is the structural schematic diagram of luffing mechanism in the present invention；
Fig. 4 is the structural schematic diagram of wabbler mechanism in the present invention.
In figure: 10, pressure hull；11, fore body；12, stern；21, outer leather bag；211, leather bag oil outlet；212, leather bag into
Hydraulic fluid port；22, fuel tank；221, fuel tank oil outlet；222, fuel tank oil inlet；23, high-pressure plunger pump；24, gear pump；25, filter；
26, solenoid valve；27, the first check valve；28, second one-way valve；31, first motor；32, pitching battery pack；33, the first shaft coupling
Device；34, the first guide rail；41, the second motor；42, battery pack is waved；43, second shaft coupling；44, transmission shaft；45, first gear；
46, second gear；53, propeller；54, pod.
Specific embodiment
With reference to the accompanying drawing and specific embodiment is described further the present invention.
As shown in Figs 1-4, a kind of combination drive underwater glider, including pressure hull 10, pressure hull 10 have fore body
11 and stern 12, four buoyant means, luffing mechanism, wabbler mechanism, screw propulsion mechanism machinery are provided in pressure hull 10
Mechanism；Screw propulsion mechanism is arranged close to stern 12, enables to the fltting speed of motor-driven adjustment glider well, or
The track for cooperating luffing mechanism and wabbler mechanism adjustment glider, to avoid glider by ocean current or other such environmental effects
Deviate set track too far；Pressure hull 10 includes buoyancy compartment and main nacelle, and buoyancy compartment has the through-hole being connected to external waters.
As shown in Fig. 2, buoyant means include: the outer leather bag 21 in buoyancy compartment, and the fuel tank in main nacelle
22, the pedestal of oil inlet pipe, high-pressure plunger pump 23, solenoid valve 26, stepper motor, stepper motor is fixedly connected with pressure hull 10,
The output shaft of stepper motor is connected with the piston rod of high-pressure plunger pump 23；The import of high-pressure plunger pump 23 is connected to fuel tank 22, is floated
Partition is equipped between power cabin and main nacelle, partition is equipped with through-hole, oil inlet pipe one end and 23 outlet of high-pressure plunger pump, another
End penetrates buoyancy compartment by through-hole and is connected to outer leather bag 21, and sealing element is equipped between oil inlet pipe and through-hole；Flowline one end and electricity
The inlet communication of magnet valve 26, the other end penetrate buoyancy compartment by through-hole and are connected to outer leather bag 21；The outlet of solenoid valve 26 and fuel tank
22 connections.Fuel tank 22 is used to storage medium, such as oil.
As shown in figure 3, luffing mechanism include first motor 31, pitching battery pack 32, first shaft coupling 33, the first screw rod,
First guide rail 34, the pedestal of first motor 31 and the first guide rail 34 are both secured on pressure hull 10, and the first guide rail 34 is along pressure resistance
10 length direction of shell extends, and the output shaft of first motor 31 is connect with the first screw rod by first shaft coupling 33, the first screw rod
Revolute is constituted with pressure hull 10；Pitching battery pack 32 and the first screw rod constitute screw pair, and constitute and slide with the first guide rail 34
Dynamic pair；First motor 31 drives pitching battery pack 32 to do axial reciprocating along the first guide rail 34 and moves；
As shown in figure 4, wabbler mechanism include the second motor 41, second shaft coupling 43, first gear 45, second gear 46,
Transmission shaft 44 waves battery pack 42；The pedestal of second motor 41 is fixed on pressure hull 10；The output shaft of second motor 41 with
The projecting shaft being fixed in first gear 45 is connected by second shaft coupling 43；Second gear 46 and transmission shaft 44 are fixed, and with
First gear 45 engages；Transmission shaft 44 and pressure hull 10 constitute revolute；Battery pack 42 is waved to be fixed on transmission shaft 44, and
42 center of gravity of battery pack is waved to be located at outside transmission shaft 44；Second motor 41 drives transmission shaft 44 to rotate, and waves battery pack 42 with driving
It is rotation center rotation with transmission shaft 44；
Meanwhile screw propulsion mechanism includes rotating electric machine and Magnetic Pole Coupling, and propeller is additionally provided with outside pressure hull 10
53, propeller 53 is connect with the output shaft of rotating electric machine by Magnetic Pole Coupling；The pedestal of rotating electric machine is fixed on pneumatic shell
On body 10.
There are two types of operating modes for combination drive underwater glider tool of the invention: one is by changing buoyancy inside and outside shell
The gliding mode of difference, another kind are the propulsion modes for rotating to promote glider by 53 paddle of propeller.
The operation principle of the present invention is that:
Each underwater glider has fixed structure and volume, i.e., each underwater glider has fixed centre of buoyancy
The position of buoyancy (glider in water), so can by changing the gravity point (position of center of gravity) of glider, with
So that glider is able to maintain horizontality under water.
Specifically, the working principle of underwater glider are as follows:
(1) when oil liquid is in outer leather bag 21, the volume of outer leather bag 21 increases, and pressure hull is discharged in the water in buoyancy compartment
Outside 10, glider is swum on the water surface；
(2) when glider needs, opens solenoid valve 26, oil liquid can be pressed into fuel tank 22, at this time suffered by glider
Pressure to offset a part of buoyancy, in this case, underwater glider starts dive；In order to keep it preparatory according to us
The angle of glide dive of setting adjusts the dive angle of underwater glider gliding by luffing mechanism；When it is last stablizes, determine
Normal gliding；
(3) when glider needs to rise, high-pressure column plug valve is opened, the oil liquid in part fuel tank 22 is made to discharge into outer leather bag
21, buoyancy suffered by glider and suffered downward pressure balance will be made at this time, glider then passes through tune not in dive
Whole luffing mechanism changes glider angle, then the oil liquid in fuel tank 22 is all pressed onto outer leather bag 21, floats suffered by glider at this time
Power is greater than pressure, and glider will float to sea according to the glider angle preset, reach stable state, to receive transmitting letter
Number.
Specifically, the pitch regulation of glider is to drive shaft coupling to drive screw rod to rotate by motor, and screw rod will turn
Turn changes the linear motion of pitching battery pack 32 into, drives pitching battery pack 32 to be moved forward and backward, so that the weight of underwater glider
The heart is moved forward and backward, to realize that pitch angle is adjusted.
Specifically, glider waves adjusting, can adjust glider horizontal direction, passes through motor and drives 45 turns of first gear
It moves to drive second gear 46 to rotate, waves battery pack 42 around the rotation of transmission shaft 44, so that the center of gravity of underwater glider to drive
It moves left and right, to realize the adjusting of left and right angle.
Specifically, screw propulsion mechanism is arranged close to stern 12, and buoyancy compartment is arranged close to fore body 11, can make in this way
Both the system and propulsion system of drifting along do not interfere with each other.
Preferably, buoyancy-driven mechanism, luffing mechanism, wabbler mechanism, screw propulsion mechanism arrive 12 side of stern along fore body 11
To setting gradually.
Simultaneously as screw propulsion mechanism is provided with, so that the combination drive underwater glider route speed is controllable, and machine
Dynamic property is high
Preferably, spring like oil sac is used inside fuel tank 22；Be with the advantages of this design: spring like flexibility is good,
Compression volume can be obtained by surveying its displacement, to control the discrepancy amount of hydraulic oil；It, can and with this spring like oil sac
With damping, the stability of glider underwater operation is improved.
Preferably, as shown in Fig. 2, buoyant means further include gear pump 24, filter 25, the first check valve 27 and the second list
To valve 28, fuel tank 22 includes fuel tank oil inlet 222 and fuel tank oil outlet 221, and outer leather bag 21 includes leather bag oil inlet 212 and leather bag
Oil outlet 211；Fuel tank oil outlet 221, gear pump 24, filter 25, high-pressure plunger pump 23, the first check valve 27 and leather bag oil inlet
Mouthfuls 212 pass sequentially through pipeline connection to form floating pipeline, and the first check valve 27 is adapted so that medium from fuel tank 22 toward leather bag side
To circulation；Leather bag oil outlet 211, solenoid valve 26, gear pump 24, second one-way valve 28, fuel tank oil inlet 222 pass sequentially through pipeline
To form sinking pipeline, second one-way valve 28 is adapted so that medium is circulated from leather bag toward 22 direction of fuel tank for connection.
Specifically, the reason of gear pump 24 are installed in oil pipeline is gushed and is rushed to avoid pressure to tentatively be pressurized
High-pressure plunger pump 23；Check valve is arranged in oil circuit to play the role of protecting oil circuit；In oil circuit be arranged filter 25, be in order to
Impurity in oil circuit is rejected, guarantees that oil circuit is unobstructed, improves glider job stability；And 25 script of filter should be placed in oil
At case oil outlet 221, but since it is considered that partial pressure can lose when oil liquid passes through filter 25, there are also in the duct, also can
There are partial pressure losses, so that under atmospheric pressure, it is possible to and so that hydraulic oil is can not be successfully return, therefore by filter
25 are arranged in shown position.
Preferably, as shown in figure 3, the first screw rod is ball screw, luffing mechanism further includes the first brake, the first braking
Device is connect with first motor 31；Using ball-screw-transmission, compared with rack-driving, it have it is more efficient, position it is more quasi-
Advantage, only because it can not be self-locking, therefore when combination drive underwater glider communicates in seawater surface, some are understood in inclination angle
Greatly, battery pack perhaps can glide because of self weight, therefore motor has filled a brake, brake glider to prevent accident.Pass through
The efficiency of pitch regulation can be improved in the cooperation of ball screw and the first brake.
Preferably, if pitching battery pack 32 includes two fixed end caps and dry cell, any fixed end cap opens up installation
Hole, end cap through-hole；Battery both ends are inserted in respectively in the mounting hole of different fixed end caps；First guide rail 34 sequentially passes through two admittedly
The end cap through-hole of fixed end lid.By the restriction of the first guide rail 34, pitching battery pack 32 can be made to be moved forward and backward along fixed journey system.
Preferably, to ensure that luffing mechanism can be accurately positioned and avoid pitching battery pack 32 to revolve on the first guide rail 34
Turn, the section of the first guide rail 34 is set to square；Fixed end cap includes end cap ontology and transition piece, to reduce overall weight,
Select plastics as the material of fixed end cap；The making circular hole among end cap ontology, then with a square internally and round externally transition piece
That is battery pack sleeve connection can slide on end cap ontology on square rail.Since battery pack will be slided on guide rail
Dynamic, the gap between battery pack sleeve and guide rail wants slightly larger, and the frictional force between battery pack sleeve and guide rail wants smaller
Better, material is selected as polytetrafluoroethylene (PTFE), coefficient of friction very little, convenient for sliding on guide rail.
Preferably, if waving battery pack 42 includes two fixed end caps and dry cell, any fixed end cap includes end cap
Ontology and interconnecting piece, end cap ontology offer mounting hole, end cap through-hole；Battery both ends are inserted in the peace of different fixed end caps respectively
It fills in hole；End cap through-hole is circular through hole, and end cap through-hole is arranged and is fixed on transmission shaft 44.It can make to wave battery in this way
When packet 42 is fixed on transmission shaft 44, as long as transmission shaft 44 slightly rotates, it will drive and wave the rotation of battery pack 42, it will
So that glider center of gravity or so changes.
Preferably due to combination drive underwater glider does serrate profile movement, therefore propeller propulsive mechanism can be with
The variation by external water pressure.Pressure hull 10 is set not outside propeller 53, one can mitigate the weight of whole system,
So that glider seems dexterousr, secondly being externally provided with pod 54 and isolation board in propeller 53, propeller 53 is set to pod
In 54, the loss of power when propeller 53 rotates is reduced.54 side wall of pod can have limbers.
Specifically, due to being equipped with Magnetic Pole Coupling between rotating electric machine and propeller 53, it can be by motor transfer
Propeller 53 is passed in the rotation of son, so that blade be enable to rotate.The influence that frictional force is eliminated with this drive method, makes
Energy loss is obtained to reduce.In addition, magnetic drive will prevent motor overload from damaging if propeller 53 blocks.
The above embodiment is only the preferred embodiment of the present invention, and the scope of protection of the present invention is not limited thereto,
The variation and replacement for any unsubstantiality that those skilled in the art is done on the basis of the present invention belong to institute of the present invention
Claimed range.
Claims (9)
1. a kind of combination drive underwater glider, including pressure hull, it is characterised in that: the pressure hull has fore body and stern
Portion is provided with buoyant means, luffing mechanism, wabbler mechanism, screw propulsion mechanism, the screw propeller in the pressure hull
Structure is arranged close to the stern；The pressure hull includes buoyancy compartment and main nacelle, and the buoyancy compartment has to be connected with external waters
Logical through-hole；
The buoyant means include the outer leather bag in the buoyancy compartment, and the fuel tank in the main nacelle, oil inlet
Pipe, high-pressure plunger pump, solenoid valve, stepper motor；The pedestal of the stepper motor is fixedly connected with the pressure hull, the step
Output shaft into motor is connected with the piston rod of the high-pressure plunger pump；The import of the high-pressure plunger pump and the fuel tank connect
It is logical, be equipped with partition between the buoyancy compartment and the main nacelle, the partition is equipped with through-hole, described oil inlet pipe one end with it is described
High-pressure plunger pump outlet, the other end penetrate buoyancy compartment by through-hole and are connected to the outer leather bag, the oil inlet pipe with it is described
Sealing element is equipped between through-hole；The inlet communication of flowline one end and solenoid valve, the other end penetrate buoyancy compartment and outer by through-hole
Leather bag connection；The outlet of the solenoid valve is connected to fuel tank；
The luffing mechanism includes first motor, pitching battery pack, first shaft coupling, the first screw rod, the first guide rail, and described first
The pedestal of motor and the first guide rail are both secured on the pressure hull, and first guide rail is along the pressure hull length direction
Extend, the output shaft of the first motor is connect with the first screw rod by first shaft coupling, and the first screw rod and pressure hull are constituted
Revolute；The pitching battery pack and the first screw rod constitute screw pair, and constitute sliding pair with the first guide rail；
The wabbler mechanism includes the second motor, second shaft coupling, first gear, second gear, transmission shaft, waves battery pack；
The pedestal of second motor is fixed on pressure hull；The output shaft of second motor and the projecting shaft being fixed in first gear
It is connected by second shaft coupling；The second gear is fixed with transmission shaft, and is engaged with first gear；Transmission shaft and pressure hull
Constitute revolute；The battery pack of waving is fixed on transmission shaft, and the battery pack center of gravity of waving is located at outside transmission shaft；
The screw propulsion mechanism includes rotating electric machine and Magnetic Pole Coupling, is additionally provided with propeller outside the pressure hull, institute
The output shaft for stating propeller and rotating electric machine is connected by Magnetic Pole Coupling；The pedestal of rotating electric machine is fixed on pressure hull
On.
2. a kind of combination drive underwater glider as described in claim 1, it is characterised in that: the buoyant means further include tooth
Wheel pump, filter, the first check valve and second one-way valve, the fuel tank include fuel tank oil inlet and fuel tank oil outlet, described outer
Leather bag includes leather bag oil inlet and leather bag oil outlet；The fuel tank oil outlet, gear pump, filter, high-pressure plunger pump, the first list
It is sequentially communicated to form floating pipeline to valve and leather bag oil inlet, the first check valve opening direction is fuel tank toward leather bag direction；
The leather bag oil outlet, solenoid valve, gear pump, second one-way valve, fuel tank oil inlet are sequentially communicated to form sinking pipeline, and described
Two check valve opening directions are from leather bag toward fuel tank direction.
3. a kind of combination drive underwater glider as claimed in claim 2, it is characterised in that: the fuel tank internal uses spring
Shape oil sac.
4. a kind of combination drive underwater glider as claimed in any one of claims 1-3, it is characterised in that: described first
Bar is ball screw, and the luffing mechanism further includes the first brake, and first brake is braked to first motor.
5. a kind of combination drive underwater glider as claimed in claim 4, it is characterised in that: the pitching battery pack includes two
If a fixed end cap and dry cell, any fixed end cap open up mounting hole and end cap through-hole；The mounting hole is circle
Blind hole；The battery both ends are inserted in respectively in the mounting hole of different fixed end caps；First guide rail sequentially passes through two institutes
State the end cap through-hole of fixed end cap.
6. a kind of combination drive underwater glider as claimed in claim 5, it is characterised in that: the section of first guide rail is fixed
It is square；The fixed end cap includes end cap ontology and transition piece, and the end cap bulk material is plastics, the end cap ontology
Intermediate making circular hole；The transition piece periphery is circle, and center opens up square through hole, the transition piece periphery and the end cap ontology
Socket, the square through hole of the transition piece and the first guide rail constitute sliding pair.
7. a kind of combination drive underwater glider as claimed in claim 6, it is characterised in that: the material of the transition piece is poly-
Tetrafluoroethene.
8. such as a kind of combination drive underwater glider of any of claims 1-4, it is characterised in that: described to wave electricity
If Chi Bao includes two fixed end caps and dry cell, any fixed end cap includes end cap ontology and interconnecting piece, the end
Lid ontology offers mounting hole and end cap through-hole；The battery both ends are inserted in respectively in the mounting hole of different fixed end caps；Institute
Stating end cap through-hole is circular through hole；The end cap through-hole is arranged and is fixed on the transmission shaft.
9. a kind of combination drive underwater glider as claimed in any one of claims 1-3, it is characterised in that: the pneumatic shell
Body stern is equipped with pod, and the propeller is set in the pod.
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| CN201811010506.5A CN109353478A (en) | 2018-08-31 | 2018-08-31 | A kind of combination drive underwater glider |
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| CN112572739A (en) * | 2020-12-16 | 2021-03-30 | 中国航天空气动力技术研究院 | Buoyancy adjusting device |
| CN112986875A (en) * | 2021-04-13 | 2021-06-18 | 中国海洋大学 | Underwater glider magnetic field characteristic test system, data acquisition method and test method |
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