CN108639287B - Large-scale heavy-load hybrid-driven underwater glider - Google Patents
Large-scale heavy-load hybrid-driven underwater glider Download PDFInfo
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- CN108639287B CN108639287B CN201810508824.8A CN201810508824A CN108639287B CN 108639287 B CN108639287 B CN 108639287B CN 201810508824 A CN201810508824 A CN 201810508824A CN 108639287 B CN108639287 B CN 108639287B
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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
Abstract
The invention discloses a large heavy-load hybrid-driven underwater glider, which comprises a glider body, a buoyancy adjusting device, an attitude adjusting device, a folding wing mechanism, an energy module, a main control system, a navigation communication system and a propeller driving system, wherein the buoyancy adjusting device is arranged on the glider body; the main control system controls the buoyancy adjusting device to realize the buoyancy adjustment of the underwater glider, and the attitude adjusting device is integrally connected above the back of the underwater glider to realize the pitching attitude control of the underwater glider; the folding wing mechanism is single-degree-of-freedom and comprises an air spring mechanism, a connecting rod mechanism, a pair of rotary wings and a pair of telescopic wings, the folding wing mechanism is connected with the posture adjusting device and fixed in the middle of the glider body and connected with the glider body into a whole, the pair of rotary wings realize plane rotation under the driving of the connecting rod mechanism, and the pair of telescopic wings realize extension and contraction movement; the navigation communication system is used for setting a course and an operation task; the main control system controls the propeller driving system to realize propelling movement and differential turning movement.
Description
Technical Field
The invention relates to the field of novel marine aircrafts, in particular to a large heavy-load hybrid-driven underwater glider.
Background
With the deepening of the research of ocean science, the underwater glider is used as novel unmanned underwater vehicle water, the technology of the underwater glider is rapidly developed, various sensors can be carried, key basic data are provided for the research of ocean science, exploration operation can be carried out on submarine topography and submarine oil and gas pipelines, and the like, and the underwater glider becomes one of conventional, sustainable and high-resolution ocean observation platforms.
In the current field of ocean exploration at home and abroad, the single-machine technology of the glider is mature, the hybrid propulsion technology is taken as a characteristic, and the application of carrying various sensors to expand the underwater glider is one of the current research hotspots. The hybrid propulsion technology, in conjunction with the use of folding wings, has become the main direction of current underwater gliders to combine a low-energy-consumption glide mode with a fast-propulsion maneuver mode. At present, research and development of underwater gliders at home and abroad are mostly concentrated on small and medium-sized products, the improvement of the carrying capacity of the energy of the underwater gliders, the number of carried sensors and the weight of the underwater gliders is not facilitated, and the detection application field and the large-range operation requirement of the underwater gliders are greatly limited. Meanwhile, the traditional folding wings are required to be equipped with a sealed cabin which is arranged in the body of the underwater glider and is provided with a driving motor, so that the energy consumption of the glider is improved, the overall layout of the glider is damaged, the design, use and installation difficulty of the underwater glider is increased, and the requirements of modularization and low energy consumption of design and installation of the underwater glider are not facilitated. How to combine low-power consumption, large voyage, the sensor of carrying pluralism of glider system, modularized design installation to improve its comprehensive properties and viability, expand observation and detection ability, obtain accurate data and become the research and development focus and the trend of current underwater vehicle.
Disclosure of Invention
The invention aims to overcome the defects in the prior art and overcome the defects of low comprehensive performance, few carrying detection equipment, low modularization level and high energy consumption of the current glider.
The purpose of the invention is realized by the following technical scheme:
a large heavy-load hybrid-driven underwater glider comprises a glider body, a buoyancy adjusting device, an attitude adjusting device, a folding wing mechanism, an energy module, a main control system, a navigation communication system and a propeller driving system; the main control system controls the buoyancy adjusting device to realize the buoyancy adjustment of the underwater glider, and the attitude adjusting device is integrally connected above the back of the underwater glider to realize the pitching attitude control of the underwater glider; the folding wing mechanism is single-degree-of-freedom and comprises an air spring mechanism, a connecting rod mechanism, a pair of rotary wings and a pair of telescopic wings, the folding wing mechanism is connected with the posture adjusting device, is fixed in the middle of the glider body and is connected with the glider body into a whole, the pair of rotary wings realize plane rotation under the driving of the connecting rod mechanism, and the pair of telescopic wings realize extension and contraction movement; when the rotary wings and the telescopic wings are both in a folded state, the underwater glider is laid underwater, and the piston rod of the air spring mechanism is controlled by the pressure difference of air pressure and water pressure of the air spring mechanism to drive the connecting rod mechanism to realize the extension of the rotary wings and the telescopic wings, so that the gliding is realized; when the underwater glider floats to the water surface, the piston rod of the air spring mechanism is reset, and the rotary wings and the telescopic wings are driven by the connecting rod mechanism to be folded, so that the underwater glider can be conveniently laid and recovered; the navigation communication system is used for setting a course and an operation task; the main control system controls the propeller driving system to realize propelling movement and differential turning movement.
Furthermore, the posture adjusting device comprises a pressure-resistant bin, a motor, a stay wire sensor, a lead screw, an adjusting weight and a pair of retaining rods, wherein the adjusting weight is in threaded connection with the lead screw, the retaining rods are parallel to the lead screw and symmetrically distributed on two sides of the lead screw, and the retaining rods penetrate through the adjusting weight; the motor drives the lead screw to rotate in the pressure-resistant bin, so that the adjusting weight block moves horizontally, the gravity center position of the glider is adjusted, and then the pitching posture of the underwater glider is adjusted.
Further, the rolling and steering motions of the underwater glider can be realized through the differential control of the propeller driving system.
Furthermore, the buoyancy adjusting device consists of an outer leather bag and an oil tank, and a gear pump, a normally closed electromagnetic valve and a hydraulic pipeline are arranged in the oil tank.
Furthermore, the pair of rotary wings and the pair of telescopic wings are respectively and symmetrically distributed on two sides of the gas spring mechanism in a horizontal mode, and two sliding tracks used for the telescopic wings to perform unfolding and contraction motions are arranged on the rotary wings.
Compared with the prior art, the technical scheme of the invention has the following beneficial effects:
1. the attitude adjusting device is externally arranged and is integrated with the folding wing mechanism through the wing body to be arranged above the back of the underwater glider.
2. The stroke of the weight adjusting block in the external posture adjusting device is large, and the posture adjusting amount is increased.
3. The single-degree-of-freedom folding wing mechanism in the glider is simple and reliable in structure, the modularized design and installation of the glider are easy to realize, meanwhile, the air spring mechanism controlled by the pressure difference of air pressure and water pressure saves the internal space and energy loss of the body of the underwater glider, the layout of a pressure-resistant cabin body is optimized, meanwhile, the carrying equipment is added, the carrying capacity and the endurance capacity of the large-scale underwater glider are enhanced, and the application field of the large-scale underwater glider is expanded.
3. The glider can selectively install and remove the posture adjusting device and the folding wing mechanism according to different task requirements, so that the functions of the glider and the AUV are switched, and the effect of one machine with two purposes is achieved.
Drawings
FIG. 1a is a schematic view of the overall layout of the glider of the present invention; FIG. 1b is a schematic top view of the overall layout of the glider of the present invention; FIG. 1c is a schematic front view of the overall layout of the glider of the present invention; FIG. 1d is a rear view of the overall configuration of the glider of the present invention;
FIG. 2a is a schematic top view of the glider operating underwater in accordance with the present invention; FIG. 2b is a schematic front view of the glider of the present invention during underwater operation; FIG. 2c is a schematic view of the present invention showing the underwater operation of the glider;
FIG. 3a is a schematic view of an attitude adjustment device; FIG. 3b is a schematic top view of the internal layout of the attitude adjusting device; FIG. 3c is a schematic view of the internal layout of the attitude adjusting device;
FIG. 4a is a schematic view of the folding wing mechanism in its entirety deployed; FIG. 4b is a schematic view of the rotary wing of the folding wing mechanism; FIG. 4c is a schematic view of the telescopic wing of the wing folding mechanism; FIG. 4d is a schematic view of a wing link of the folding wing mechanism; FIGS. 4e and 4f are schematic views of the folding wing mechanism integrally connected to the glider body;
FIG. 5 is a schematic view of a buoyancy adjustment device.
Detailed Description
For further understanding of the contents and features of the present invention, the following examples are given and illustrated in the accompanying drawings:
as shown in fig. 1 to 5, the large heavy-load hybrid-driven underwater glider comprises an underwater glider body 1, a buoyancy adjusting device 2, a posture adjusting device 3, a folding wing mechanism 4, an energy module 5, a main control system 6, a navigation communication system 7, a propeller driving system 8 and the like. The main control system 8 controls the buoyancy adjusting device 2 to realize the buoyancy size adjustment of the underwater glider, and the attitude adjusting device 3 is arranged above the back of the underwater glider body 1 to realize the pitching attitude control of the underwater glider. The folding wing mechanism 4 is controlled by the gas spring mechanism to realize the unfolding and folding of the wings, the folding wing mechanism is respectively used in a low-power-consumption gliding mode and a rapid propulsion mode, and the course and the operation task are set by the underwater glider through the navigation communication system 7 after the underwater glider floats on the sea. The main control system 6 controls a main propeller of a propeller driving system 8 to realize high-speed propelling movement and differential turning movement.
As shown in fig. 3a to 3c, the attitude adjusting device 3 includes a pressure-resistant chamber, a motor 33, a guy wire sensor 34, a screw rod 32, an adjusting weight 31 and a pair of retaining rods 35, the adjusting weight 31 is connected to the screw rod 32 by a thread, the retaining rods 35 are parallel to the screw rod 32 and symmetrically distributed on two sides of the screw rod 32, the retaining rods 35 pass through the adjusting weight 31, the motor 33 drives the screw rod 35 to rotate, so as to achieve the purpose of horizontally moving the adjusting weight 31 back and forth and adjusting the center of gravity position of the glider, thereby realizing the adjustment of the pitching attitude of the underwater glider. The pitch attitude adjustment amount of the attitude adjusting device 3 is feedback-controlled by the wire sensor 34. Furthermore, the rolling movement of the glider can be controlled differentially by the propeller drive system 8.
As shown in fig. 4a to 4f, the folding wing mechanism 4 has a single degree of freedom, and includes a gas spring mechanism 43, a link mechanism, a pair of rotary wings 41 and a pair of telescopic wings 42, wherein the pair of rotary wings 41 and the pair of telescopic wings 42 are horizontally and symmetrically distributed on two sides of the gas spring mechanism 43. The following is a detailed description of the folding wing mechanism on one side of the glider body, and the other side is not described in detail due to the symmetrical relationship:
the rotary wing 41 is hinged on the external ear ring of the gas spring mechanism 43 through a bracket 411. One end of the connecting rod 45 is hinged with the connecting rod 47, and the other end is hinged with the tail part of the gas spring mechanism 43. One end of the connecting rod 46 is hinged with the gas spring mechanism piston rod 44, and the other end is hinged with the hole 412 on the rotary wing 41. One end of the link 47 is hinged to the bracket 413 of the pair of rotary wings 41, and the other end is hinged to the link 45. The link 48 is hinged at one end to the ear 471 of the link 47 and at the other end to the connecting bracket 49 of the telescopic wing 42. The telescopic wings 42 perform an expanding and contracting motion according to the sliding rails 414 and 415 provided on the rotary wings 41. The wing body fusion mechanism 431 and the wing body fusion mechanism 432 are in threaded fixation through 5 through holes from top to bottom, and are fixed with a pressure-resistant bin shell of the attitude adjusting device 3 through two rectangular holes on the upper sides of the wing body fusion mechanism 431 and the wing body fusion mechanism 432 by a hose clamp, and are fixed with a shell of the underwater glider body 1 through rectangular holes on the lower sides of the wing body fusion mechanism 431 and the wing body fusion mechanism 432 by a hose clamp, so that the external attitude adjusting device 3 and the folding wing mechanism are fused and fixed with the underwater glider body 1 into a whole, meanwhile, a middle round hole of the wing body fusion mechanism 431 and the wing body fusion mechanism 432 is externally connected with the outer wall of the gas spring mechanism 43, and a rectangular groove in the middle position of the wing body fusion mechanism 431 and the wing body fusion mechanism 432 serves as a fixing structure when the pair of rotary wings 41 is completely unfolded, and the pair of rotary wings 41 are. When the two pairs of wings are arranged under water in a folded state, the piston rod 44 of the gas spring mechanism is subjected to the acting force of the pressure difference between air pressure and water pressure to control the two connecting rods 46 in the plane five-rod mechanism to drive the connecting rod mechanism to rotate, so that the pair of rotary wings 41 and the pair of telescopic wings 42 are completely extended, and the underwater glider glides. When the underwater glider finishes a profile motion of data collection or floats to the water surface after detection operation is finished, the piston rod 44 of the air spring mechanism resets under the action of air pressure in the air spring mechanism 43, and the pair of rotary wings 41 and the pair of telescopic wings 42 are folded under the driving of the connecting rod mechanism.
As shown in fig. 5, the buoyancy adjusting device 2 is composed of an outer bladder 21 and an oil tank 22, and a gear pump, a normally closed solenoid valve, a hydraulic system such as a hydraulic pipeline, and the like are arranged in the oil tank 22. The oil in the oil tank 22 is discharged into the outer skin bag 21 through the gear pump, the buoyancy of the glider is increased, and the floating motion of the underwater glider is realized; on the contrary, when the glider floats to the water surface, the oil pressure in the outer skin bag 21 returns to the oil tank 22, the buoyancy of the glider is reduced, and the sinking movement of the underwater glider is realized.
Referring to fig. 1 to 5, the whole operation process of the glider in this embodiment is as follows: when the mother ship arrives at a designated deployment area, the glider cloth is placed on the sea surface through the deployment and recovery device, the buoyancy adjusting device 2 is controlled through the main control system 6 to reduce the buoyancy of the underwater glider, the glider sinks on the water surface at a certain angle, when the glider sinks below the water surface at a certain depth (about 10 meters underwater), the piston rod 44 of the air spring mechanism is driven by the pressure difference between the air pressure and the water pressure in the air spring mechanism 43 to drive the connecting rod 46 to move, the connecting rod mechanism is driven by the driving connecting rod 46 to enable the pair of rotary wings 41 to rotate around the hinged earrings of the air spring mechanism 43, and the pair of telescopic wings 42 slide through the tracks on the pair of rotary wings 41 until the folding wing mechanism 4 is completely deployed. Meanwhile, the external attitude adjusting device 3 drives the adjusting weight 31 to slide for a specified distance towards the front cabin of the glider through the motor 33, and the glider begins to glide downwards at a certain attack angle. When the underwater glider reaches the preset working depth of the glider, the buoyancy adjusting device 2 is controlled by the main control system 6 to increase the buoyancy of the underwater glider, meanwhile, the external posture adjusting device 3 drives the adjusting weight 31 to slide for a set distance towards the direction of a rear cabin of the glider through the motor 33, and the glider starts to slide upwards at a certain attack angle until a complete section movement is completed. When the underwater glider finishes information acquisition and detection tasks of an appointed sea area through a plurality of section motions, the underwater glider floats to the sea surface, when the underwater glider reaches a certain depth below the water surface (about 10 meters underwater), a piston rod 44 of a gas spring mechanism in a folding wing mechanism drives a connecting rod mechanism to enable the wing to be folded under the action of pressure difference between air pressure and water pressure in the gas spring mechanism, when the underwater glider reaches the water surface, the wing is completely folded to an initial laying state, a cable throwing mechanism is released, a laying recovery device on a deck of a mother ship is controlled to perform recovery operation, and the whole operation flow of the underwater glider is finished.
Meanwhile, the external posture adjusting device and the folding wing mechanism can be removed according to specific detection environment and data collection task requirements, the large-scale heavy-load hybrid-driven underwater glider is used as an AUV (autonomous underwater vehicle) submersible vehicle for underwater operation, and the function of one machine with two purposes is achieved.
The present invention is not limited to the above-described embodiments. The foregoing description of the specific embodiments is intended to describe and illustrate the technical solutions of the present invention, and the above specific embodiments are merely illustrative and not restrictive. Those skilled in the art can make many changes and modifications to the invention without departing from the spirit and scope of the invention as defined in the appended claims.
Claims (5)
1. A large heavy-load hybrid-driven underwater glider is characterized by comprising a glider body, a buoyancy adjusting device, an attitude adjusting device, a folding wing mechanism, an energy module, a main control system, a navigation communication system and a propeller driving system; the main control system controls the buoyancy adjusting device to realize the buoyancy adjustment of the underwater glider, and the attitude adjusting device is integrally connected above the back of the underwater glider to realize the pitching attitude control of the underwater glider; the folding wing mechanism is single-degree-of-freedom and comprises an air spring mechanism, a connecting rod mechanism, a pair of rotary wings and a pair of telescopic wings, the folding wing mechanism is connected with the posture adjusting device, is fixed in the middle of the glider body and is connected with the glider body into a whole, the pair of rotary wings realize plane rotation under the driving of the connecting rod mechanism, and the pair of telescopic wings realize extension and contraction movement; when the rotary wings and the telescopic wings are both in a folded state, the underwater glider is laid underwater, and the piston rod of the air spring mechanism is controlled by the pressure difference of air pressure and water pressure of the air spring mechanism to drive the connecting rod mechanism to realize the extension of the rotary wings and the telescopic wings, so that the gliding is realized; when the underwater glider floats to the water surface, the piston rod of the air spring mechanism is reset, and the rotary wings and the telescopic wings are driven by the connecting rod mechanism to be folded, so that the underwater glider can be conveniently laid and recovered; the navigation communication system is used for setting a course and an operation task; the main control system controls the propeller driving system to realize propelling movement and differential turning movement.
2. The large heavy-duty hybrid-drive underwater glider according to claim 1, wherein the attitude adjusting means comprises a pressure-resistant cabin, a motor, a guy wire sensor, a lead screw, adjusting weights, and a pair of holding rods, the adjusting weights are in threaded connection with the lead screw, the holding rods are parallel to the lead screw and symmetrically distributed on both sides of the lead screw, and the holding rods pass through the adjusting weights; the motor drives the lead screw to rotate in the pressure-resistant bin, so that the adjusting weight block moves horizontally, the gravity center position of the glider is adjusted, and then the pitching posture of the underwater glider is adjusted.
3. A large heavy duty hybrid drive underwater glider according to claim 1, wherein the rolling and steering motions of the underwater glider are achieved by differential control of the propeller drive system.
4. The large heavy-duty hybrid-driven underwater glider according to claim 1, wherein the buoyancy adjusting device is composed of an outer bladder and an oil tank, and a gear pump, a normally closed solenoid valve and a hydraulic pipeline are arranged in the oil tank.
5. The large heavy-duty hybrid-driven underwater glider according to claim 1, wherein the pair of rotary wings and the pair of telescopic wings are horizontally and symmetrically distributed on both sides of the gas spring mechanism, and each rotary wing is provided with two sliding rails for the telescopic wings to perform unfolding and folding movements.
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| CN201810508824.8A CN108639287B (en) | 2018-05-24 | 2018-05-24 | Large-scale heavy-load hybrid-driven underwater glider |
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| CN109319072A (en) * | 2018-11-07 | 2019-02-12 | 中电科海洋信息技术研究院有限公司 | Underwater glider |
| CN109591985A (en) * | 2018-12-24 | 2019-04-09 | 中国船舶重工集团公司第七0研究所 | A kind of the gliding control position carrying platform and its control method of modular universal |
| CN109709563A (en) * | 2018-12-30 | 2019-05-03 | 北京溯云科技有限公司 | A kind of folding device and underwater sound equipment |
| CN109823501B (en) * | 2019-03-25 | 2020-12-01 | 中国船舶科学研究中心（中国船舶重工集团公司第七0二研究所） | Retractable flexible seawater rudder wing |
| CN110040214B (en) * | 2019-04-30 | 2021-09-07 | 大连海事大学 | Wing capable of ensuring continuity of air-drop type underwater glider main body |
| CN110510089A (en) * | 2019-08-29 | 2019-11-29 | 浙江大学 | A kind of flexible folding wing module for underwater robot |
| CN110641662B (en) * | 2019-09-21 | 2021-08-24 | 天津大学 | Underwater glider capable of presetting large load underwater |
| CN110641664A (en) * | 2019-09-21 | 2020-01-03 | 天津大学 | Large heavy-load underwater glider and control method thereof |
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| CN111439358B (en) * | 2020-04-23 | 2021-07-30 | 天津大学 | Multifunctional large underwater glider based on seawater buoyancy adjusting system |
| WO2021212412A1 (en) * | 2020-04-23 | 2021-10-28 | 天津大学 | Underwater glider based on seawater buoyancy adjustment system |
| CN112407206A (en) * | 2020-11-24 | 2021-02-26 | 中国船舶工业系统工程研究院 | Underwater glider capable of being connected |
| CN112722221B (en) * | 2021-01-22 | 2022-03-01 | 鹏城实验室 | Underwater vehicle |
| CN112977776B (en) * | 2021-03-02 | 2022-05-03 | 南京航空航天大学 | Motion mode of multi-section combined and wingspan folding underwater robot |
| CN113212714B (en) * | 2021-06-15 | 2022-08-05 | 西北工业大学 | Horizontal fin lateral popup stability augmentation device of rotary AUV (autonomous Underwater vehicle) |
| CN113212680B (en) * | 2021-06-15 | 2022-08-02 | 西北工业大学 | Rotary AUV horizontal fin forward ejection stability augmentation device |
| CN113247223B (en) * | 2021-06-15 | 2022-08-05 | 西北工业大学 | Rotary type AUV horizontal fin backward popup stability augmentation device |
| CN113928518A (en) * | 2021-12-07 | 2022-01-14 | 重庆大学 | Underwater vector propulsion device with variable posture |
| CN115071922B (en) * | 2022-06-28 | 2024-01-23 | 中山大学 | Buoyancy range-increasing underwater vehicle and application method thereof |
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| CN116495142B (en) * | 2022-09-13 | 2024-01-30 | 广东海洋大学 | Multi-navigation state composite driving underwater robot |
| CN115924034B (en) * | 2022-09-13 | 2023-08-01 | 广东海洋大学 | Multi-navigation state composite driving underwater robot control system and control method thereof |
| CN116424529B (en) * | 2023-06-13 | 2023-09-05 | 青岛哈尔滨工程大学创新发展中心 | Underwater submarine vehicle and control method thereof |
| CN116495150B (en) * | 2023-06-16 | 2023-09-19 | 青岛哈尔滨工程大学创新发展中心 | Underwater submarine vehicle with foldable wing mechanism |
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