CN110435861B - Hydrofoil device for realizing multi-navigation state and low-energy-consumption navigation of marine unmanned aircraft - Google Patents
Hydrofoil device for realizing multi-navigation state and low-energy-consumption navigation of marine unmanned aircraft Download PDFInfo
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- CN110435861B CN110435861B CN201910628097.3A CN201910628097A CN110435861B CN 110435861 B CN110435861 B CN 110435861B CN 201910628097 A CN201910628097 A CN 201910628097A CN 110435861 B CN110435861 B CN 110435861B
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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
- B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B1/00—Hydrodynamic or hydrostatic features of hulls or of hydrofoils
- B63B1/16—Hydrodynamic or hydrostatic features of hulls or of hydrofoils deriving additional lift from hydrodynamic forces
- B63B1/24—Hydrodynamic or hydrostatic features of hulls or of hydrofoils deriving additional lift from hydrodynamic forces of hydrofoil type
- B63B1/242—Mounting, suspension of the foils
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B1/00—Hydrodynamic or hydrostatic features of hulls or of hydrofoils
- B63B1/16—Hydrodynamic or hydrostatic features of hulls or of hydrofoils deriving additional lift from hydrodynamic forces
- B63B1/24—Hydrodynamic or hydrostatic features of hulls or of hydrofoils deriving additional lift from hydrodynamic forces of hydrofoil type
- B63B1/246—Arrangements of propulsion elements
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B1/00—Hydrodynamic or hydrostatic features of hulls or of hydrofoils
- B63B1/16—Hydrodynamic or hydrostatic features of hulls or of hydrofoils deriving additional lift from hydrodynamic forces
- B63B1/24—Hydrodynamic or hydrostatic features of hulls or of hydrofoils deriving additional lift from hydrodynamic forces of hydrofoil type
- B63B1/26—Hydrodynamic or hydrostatic features of hulls or of hydrofoils deriving additional lift from hydrodynamic forces of hydrofoil type having more than one hydrofoil
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B1/00—Hydrodynamic or hydrostatic features of hulls or of hydrofoils
- B63B1/16—Hydrodynamic or hydrostatic features of hulls or of hydrofoils deriving additional lift from hydrodynamic forces
- B63B1/24—Hydrodynamic or hydrostatic features of hulls or of hydrofoils deriving additional lift from hydrodynamic forces of hydrofoil type
- B63B1/28—Hydrodynamic or hydrostatic features of hulls or of hydrofoils deriving additional lift from hydrodynamic forces of hydrofoil type with movable hydrofoils
- B63B1/285—Hydrodynamic or hydrostatic features of hulls or of hydrofoils deriving additional lift from hydrodynamic forces of hydrofoil type with movable hydrofoils changing the angle of attack or the lift of the foil
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B1/00—Hydrodynamic or hydrostatic features of hulls or of hydrofoils
- B63B1/16—Hydrodynamic or hydrostatic features of hulls or of hydrofoils deriving additional lift from hydrodynamic forces
- B63B1/24—Hydrodynamic or hydrostatic features of hulls or of hydrofoils deriving additional lift from hydrodynamic forces of hydrofoil type
- B63B1/28—Hydrodynamic or hydrostatic features of hulls or of hydrofoils deriving additional lift from hydrodynamic forces of hydrofoil type with movable hydrofoils
- B63B1/30—Hydrodynamic or hydrostatic features of hulls or of hydrofoils deriving additional lift from hydrodynamic forces of hydrofoil type with movable hydrofoils retracting or folding
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H1/00—Propulsive elements directly acting on water
- B63H1/30—Propulsive elements directly acting on water of non-rotary type
- B63H1/36—Propulsive elements directly acting on water of non-rotary type swinging sideways, e.g. fishtail type
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H1/00—Propulsive elements directly acting on water
- B63H1/30—Propulsive elements directly acting on water of non-rotary type
- B63H1/37—Moving-wave propellers, i.e. wherein the propelling means comprise a flexible undulating structure
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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
- B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
- B63G2008/002—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Ocean & Marine Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Other Liquid Machine Or Engine Such As Wave Power Use (AREA)
Abstract
The invention discloses a hydrofoil device for realizing multi-navigation state and low-energy consumption navigation of an ocean unmanned aircraft, which comprises an aircraft main body, wherein a front hydrofoil mechanism and a rear hydrofoil mechanism are arranged at the head part and the tail part of the aircraft main body; a hydraulic system is arranged inside the aircraft body; the front hydrofoil mechanism comprises a front hydrofoil, a hydrofoil mechanism fixing truss, a driving hydraulic cylinder, a hydrofoil supporting rod, a tensioning rod, a displacement rod, a hydrofoil linkage frame, a coil spring and a coil spring fixing block; the bottom end of a driving hydraulic cylinder is rotationally connected with a fixed truss of the hydrofoil mechanism, a double-lug joint at the top end of the driving hydraulic cylinder is rotationally connected with a hydrofoil supporting rod, and the driving hydraulic cylinder is connected with a hydraulic system through a pipeline and a joint; the hydraulic system is formed by connecting an outer oil bag, an electromagnetic valve, a one-way valve, a filter, a pressure sensor, an overflow valve, a hydraulic pump and an inner oil tank; the rear hydrofoil mechanism and the front hydrofoil mechanism have the same structure; the device is suitable for two navigation states of water surface and underwater and has different working modes respectively.
Description
Technical Field
The invention belongs to the field of unmanned marine vehicles, and particularly relates to a hydrofoil device which can realize that an unmanned marine vehicle sails by utilizing wave energy to propel on the water surface and glides under the water, so that the unmanned marine vehicle has two low-energy-consumption sailing states of water surface and under the water.
Background
The marine unmanned aircraft is an unmanned system sailing in the ocean, and is an important tool for modern ocean observation and resource detection. According to the navigation space, the unmanned underwater vehicle can be divided into a water surface unmanned vehicle and an underwater unmanned vehicle. The surface navigation and the underwater navigation are two different navigation states, in order to adapt to different navigation spaces and navigation states, the prior unmanned surface vehicle is developed and built based on a technical system of a small ship, and the prior unmanned underwater vehicle is developed and built based on a technical system of a torpedo and a submarine. Due to technical limitation, the two types of unmanned aircrafts have single navigation state, can only continuously work on the water surface or under the water, and cannot meet the requirements of multi-space three-dimensional and combined observation on the water surface and under the water of the ocean in the future. Although semi-submersible unmanned vehicles capable of sailing on and near the water surface have been developed, few unmanned vehicles are available that can achieve low-energy consumption and continuous propulsion sailing in both water and underwater sailing states.
The exploration of the sea by human beings gradually extends from the near shore and the offshore to the far sea, and increasingly higher requirements are put forward on the endurance and the self-sustaining force of an aircraft. The existing marine unmanned aircraft mostly provides energy required by navigation propulsion and work of various electric devices by a battery carried by the aircraft, and reducing the energy consumption of the aircraft is an important way for realizing the improvement of endurance and self-sustaining power. According to literature statistics, the navigation propulsion energy consumption ratio is usually higher than 50%, so that the propulsion driving energy consumption of the unmanned aircraft is reduced, and the effect of improving the endurance of the unmanned aircraft is remarkable by adopting an advanced propulsion driving technology.
Wave energy is a clean energy widely existing in the ocean, and at present, two application ways of wave energy power generation and wave energy driving are mainly available. Wave energy power generation is to convert wave energy into mechanical energy and further into electric energy for use or storage, and the energy conversion stages are multiple and the efficiency is low. At present, the ocean unmanned vehicle which utilizes the relatively mature wave energy driving technology is mainly a wave energy glider which consists of a water surface floating body and an underwater hydrofoil array, the two parts are connected through an umbilical cord, the underwater hydrofoil array is used for converting wave energy into forward power and driving the water surface floating body to move forward, but the wave energy glider can only sail on the water surface, and the ocean unmanned vehicle has the defects of complex split structure, easy winding of the connecting umbilical cord, high difficulty in laying and recovering operation, poor water surface mobility, easy flow-by-flow along with the wave and the like.
The underwater buoyancy drive of the aircraft generally adopts a hydraulic system to adjust the volume of an immersed oil sac at the position of the maximum submergence depth so as to change the buoyancy of the aircraft, thereby realizing the floating. Meanwhile, the horizontal direction thrust generated by the wings of the underwater vehicle can be utilized to realize horizontal direction movement, and compared with the conventional underwater vehicle which continuously propels a navigation mode by using propellers, water jet propellers and the like, the underwater buoyancy driving has the advantages of low energy consumption and low noise. However, the buoyancy driven vehicle is limited by the buoyancy driving mechanism, and needs to move in a reciprocating profile in a submerged and floating mode, and cannot continuously sail on the water surface.
Disclosure of Invention
The invention aims to overcome the defects in the prior art and provide a hydrofoil device for realizing multi-navigation state and low-energy consumption navigation of an unmanned marine vehicle. The navigation device can utilize wave energy to propel navigation on the water surface, can drive gliding movement navigation under water by means of buoyancy, and can be switched between two navigation states. The invention can enable the vehicle to have two low-energy-consumption navigation modes of water surface and underwater, improve the endurance of the unmanned marine vehicle and expand the vertical navigation space of the unmanned marine vehicle in the sea.
The purpose of the invention is realized by the following technical scheme:
a hydrofoil device for realizing multi-navigation state and low-energy consumption navigation of an ocean unmanned aircraft comprises an aircraft main body, wherein a front hydrofoil mechanism and a rear hydrofoil mechanism are arranged at the head and the tail of the aircraft main body; the front hydrofoil mechanism and the rear hydrofoil mechanism penetrate through a square hole on the lower side of the main body of the aircraft and extend out to the lower side of the aircraft; a hydraulic system is arranged inside the aircraft body;
the front hydrofoil mechanism comprises a front hydrofoil, a hydrofoil mechanism fixing truss, a driving hydraulic cylinder, a hydrofoil supporting rod, a tensioning rod, a displacement rod, a hydrofoil linkage frame, a coil spring and a coil spring fixing block; the bottom end of the driving hydraulic cylinder is rotationally connected with the fixed hydrofoil mechanism truss, a double-lug joint at the top end of the driving hydraulic cylinder is rotationally connected with the hydrofoil supporting rod, and the driving hydraulic cylinder is connected with the hydraulic system through a pipeline and a joint;
the hydrofoil support rod is rotatably connected with the hydrofoil mechanism fixing truss, a guide rail installation groove is formed in the hydrofoil support rod, a linear guide rail is installed in the guide rail installation groove, a sliding block and a limiting block are installed in the linear guide rail, and the sliding block and the limiting block can do reciprocating linear motion along the linear guide rail; one end of the tension rod is rotatably connected with the hydrofoil mechanism fixed truss, and the other end of the tension rod is rotatably connected with the displacement rod; the displacement rod is fixed on the sliding block and does reciprocating linear motion along the linear guide rail along with the sliding block; the displacement rod is provided with a limiting hole, and the limiting block is limited to move in the limiting hole; a groove is formed in the middle of the front hydrofoil, a hydrofoil shaft penetrating through the groove is fixedly arranged in the front hydrofoil, a hydrofoil linkage shaft is fixedly arranged in front of the hydrofoil shaft and is rotatably connected with the lower end of a hydrofoil support rod, the hydrofoil linkage shaft is rotatably connected with one end of the hydrofoil linkage frame, and the other end of the hydrofoil linkage frame is rotatably connected with a limiting block; the wind spring fixing block is fixed at the lower end of the hydrofoil supporting rod, and two ends of the wind spring are respectively fixedly connected with the hydrofoil shaft and the wind spring fixing block and are used for providing restoring torque when the front hydrofoil rotates around the central axis of the hydrofoil shaft;
the hydraulic system is formed by connecting an outer oil bag, an electromagnetic valve, a one-way valve, a filter, a pressure sensor, an overflow valve, a hydraulic pump and an inner oil tank with a joint through a pipeline;
the rear hydrofoil mechanism and the front hydrofoil mechanism adopt the same mechanism, the structural components and the connection mode are the same, and the outline of the front hydrofoil and the outline of the rear hydrofoil are arranged in a mirror symmetry way;
the hydrofoil device is suitable for two navigation states of water surface and underwater and has different working modes respectively.
Furthermore, the bottom end of the driving hydraulic cylinder is rotatably connected with the fixed truss of the hydrofoil mechanism, the double-lug joint is connected with the hydrofoil support rod, the hydrofoil support rod is connected with the fixed truss of the hydrofoil mechanism, and one end of the tension rod is rotatably connected with the fixed truss of the hydrofoil mechanism through a connecting pin shaft.
Further, the displacement rod comprises a first displacement rod and a second displacement rod; the coil springs comprise a first coil spring and a second coil spring; the coil spring fixing blocks comprise a first coil spring fixing block and a second coil spring fixing block.
Further, the slide block comprises a first slide block, a second slide block, a third slide block and a fourth slide block; the limiting blocks comprise a first limiting block and a second limiting block; the linear guide rail comprises a first linear guide rail, a second linear guide rail, a third linear guide rail and a fourth linear guide rail.
Furthermore, in a water surface navigation state, the hydrofoil support rod is positioned at a position vertical to the axis of the aircraft, the hydrofoil support rod is locked by acting force provided by the driving hydraulic cylinder, and the front hydrofoil and the rear hydrofoil rotate around the central axis of the hydrofoil shaft in a reciprocating manner under the common acting force of seawater and the coil spring to drive the limit block to do reciprocating linear motion; the upper limit and the lower limit of the limiting hole limit the maximum displacement position of the limiting block, so as to limit the maximum swing angle of the front hydrofoil and the rear hydrofoil; the front hydrofoil and the rear hydrofoil convert wave energy into horizontal thrust to push the aircraft to sail;
under the underwater navigation state, the hydrofoil supporting rod is positioned in a position parallel to the axis of the aircraft, the hydrofoil supporting rod is locked by an acting force provided by a driving hydraulic cylinder, the front hydrofoil and the rear hydrofoil are parallel to the axis of the hydrofoil supporting rod under the combined action of the hydrofoil linkage frame and the coil spring and are kept fixed, and the front hydrofoil and the rear hydrofoil form a wing;
in the switching process of two sailing states of water surface and underwater, the hydraulic system drives a piston rod of a hydraulic cylinder to stretch, the piston rod of the hydraulic cylinder drives a hydrofoil supporting rod to rotate through a double-lug connector, and a tension rod drives a displacement rod to move along the hydrofoil supporting rod in the rotating process of the hydrofoil supporting rod; when the displacement rod moves to the bottom boundary of the limiting hole and contacts with the limiting block, the displacement rod drives the limiting block to move, and the limiting block drives the front hydrofoil and the rear hydrofoil to rotate through a crank block mechanism formed by the limiting block and the hydrofoil linkage frame; when the boundary of the bottom of the limiting hole is separated from the limiting block, the front hydrofoil and the rear hydrofoil return to the balance position under the action of the coil spring.
Furthermore, the sections of the front hydrofoil and the rear hydrofoil are both of NACA0012 wing type, the outline of the front hydrofoil and the outline of the rear hydrofoil are semi-elliptical, and the chord length is gradually reduced along the length expanding direction.
Furthermore, the main body of the aircraft adopts a streamline structure design, and the section of the main body is gradually changed into an ellipse so as to reduce the resistance coefficient when navigating on the water surface and under the water.
Furthermore, in the hydraulic system, the electromagnetic valves include a first electromagnetic valve, a second electromagnetic valve, a third electromagnetic valve and a fourth electromagnetic valve, and the check valves include a first check valve, a second check valve and a third check valve;
the outer oil bag is contacted with seawater, the outlet of the outer oil bag is connected with a fourth electromagnetic valve, the outlet of the fourth electromagnetic valve is connected with the inner oil tank, and the fourth electromagnetic valve is a two-position two-way electromagnetic valve and is used for controlling the on-off of an oil path between the outer oil bag and the inner oil tank; the outlet of the inner oil tank is connected with a hydraulic pump, the outlet of the hydraulic pump is connected with a filter and an overflow valve, and the outlet of the filter is connected with a third electromagnetic valve; the third electromagnetic valve is a two-position three-way electromagnetic valve and is used for switching the direction of an oil way at the outlet of the hydraulic pump; one outlet of the third electromagnetic valve is connected with a third one-way valve, and the outlet of the third one-way valve is connected to the outlet of the outer oil bag; the other outlet of the third electromagnetic valve is respectively connected with a first one-way valve and a second one-way valve, the outlets of the first one-way valve and the second one-way valve are respectively connected with a first electromagnetic valve and a second electromagnetic valve, and the first electromagnetic valve and the second electromagnetic valve are both two-position three-way electromagnetic valves and are used for switching oil ways of the driving hydraulic cylinder; oil supply ports of the first electromagnetic valve and the second electromagnetic valve are respectively connected with a driving hydraulic cylinder and a hydrofoil mechanism driving hydraulic cylinder, and oil discharge ports of the first electromagnetic valve and the second electromagnetic valve are connected to an outlet of the inner oil tank.
Compared with the prior art, the technical scheme of the invention has the following beneficial effects:
1. the hydrofoil mechanism directly converts the vertical vibration of fluid (vertical to the sailing direction) into forward thrust at the water surface stage and pushes the aircraft to move, so that the aircraft has the capability of sailing continuously without depending on electric energy on the water surface. Compared with a wave energy power generation technical approach, the wave energy power generation device has the advantages that the hydrofoils are driven to directly convert wave energy into kinetic energy of an aircraft, the energy conversion process is simple, the loss is low, and the conversion efficiency is high at low navigational speed. Compared with the existing wave energy glider driving technology, the existing hydrofoil array is replaced by two pairs of hydrofoil mechanisms at the head and the tail, and the number of the hydrofoils is obviously reduced. In addition, the hydrofoil mechanism is rigidly connected with the tail part of the sailing aircraft head, so that the defect caused by two body structures of the existing wave energy glider is avoided.
2. The invention realizes that the vehicle is propelled by wave energy at the water surface stage and is driven by buoyancy at the underwater stage, compared with the traditional propeller propulsion mode, the invention obviously reduces the battery energy consumption of the vehicle and can prolong the on-position duration and the endurance mileage of the vehicle.
3. The hydraulic system integrates the hydrofoil mechanism position switching function and the underwater buoyancy adjusting function of the aircraft, and adopts a design scheme of sharing valves, thereby reducing the complexity of the hydraulic system. The hydraulic system adopts a zero-leakage reversing valve, the volume of the outer leather bag and the position of the hydraulic cylinder can be kept unchanged for a long time, and the starting frequency of the hydraulic pump is reduced.
4. The hydrofoil mechanism has a navigation state switching function, can be vertically unfolded below the aircraft in a water surface stage to serve as a wave energy conversion propulsion device, and provides forward thrust for the aircraft; the underwater stage can be folded at the abdomen of the aircraft to be used as a gliding wing to provide gliding lift force for the aircraft. The hydrofoil section is streamlined, and the profile is half oval, can improve wave conversion efficiency.
5. The invention has compact and small design and high integration level, and can be applied to a small aircraft with 100kg magnitude and 2m long dimension. The hydrofoil mechanism is arranged at the tail part of the head of the aircraft, and the hydraulic system is an independent cabin section, so that the hydrofoil mechanism is easy to integrate with the existing aircraft and has less adaptive modification workload.
6. The hydraulic valve has the advantages of simple structure, reliable work and low cost, does not need special processing and special parts, and is a mature-type product.
Drawings
FIG. 1 is a schematic view of the general structure of the present invention in a water surface sailing state;
FIG. 2 is a schematic structural view of a front hydrofoil mechanism of the present invention;
FIG. 3 is a schematic view of the front hydrofoil mechanism of the present invention;
FIG. 4 is a schematic structural diagram of the hydraulic system of the present invention;
FIG. 5 is a schematic illustration of the hydraulic system of the present invention;
FIG. 6a and FIG. 6b are schematic overall profiles of the present invention;
FIG. 7 is a schematic view of the front hydrofoil motion during the water navigation of the present invention;
FIG. 8 is a schematic view of the front and rear hydrofoils under water navigation in accordance with the present invention;
FIG. 9 is a schematic view of the present invention under underwater navigation;
FIG. 10 is a schematic view of the motion of the front hydrofoil mechanism of the present invention;
Detailed Description
The invention is described in further detail below with reference to the figures and the detailed description. To better illustrate the embodiments of the present invention, some parts of the drawings may be omitted, enlarged or reduced, and do not represent the size of an actual product; it will be understood by those skilled in the art that certain well-known structures in the drawings and descriptions thereof may be omitted.
The invention provides a hydrofoil device for realizing multi-navigation state and low-energy consumption navigation of an ocean unmanned aircraft, which mainly comprises: a front hydrofoil mechanism 1, a hydraulic system 2, a vehicle body 3, and a rear hydrofoil mechanism 4, as shown in fig. 1. The front hydrofoil mechanism 1 includes: the hydrofoil mechanism comprises a front hydrofoil 11, a hydrofoil mechanism fixing truss 12, a driving hydraulic cylinder 13, a hydrofoil supporting rod 14, a tensioning rod 15, a displacement rod 16a, a displacement rod 16b, a hydrofoil linkage frame 17, a coil spring 18a, a coil spring 18b, a coil spring fixing block 19a and a coil spring fixing block 19 b; the front hydrofoil 11 comprises a hydrofoil shaft 111 and a hydrofoil linkage shaft 112; the driving hydraulic cylinder 13 comprises a hydraulic cylinder piston rod 131, and the top end of the hydraulic cylinder piston rod is fixedly connected with a double-lug joint 132; the hydrofoil support rod 14 is provided with a guide rail installation groove 141, and further comprises a linear guide rail 142a, a linear guide rail 142b, a linear guide rail 142c, a linear guide rail 142d, a sliding block 143a, a sliding block 143b, a sliding block 143c, a sliding block 143d, a limit block 144a and a limit block 144b, as shown in fig. 2.
The front hydrofoil mechanism 1 and the rear hydrofoil mechanism 4 are respectively fixed at the head and the tail of the main body 3 of the aircraft by bolts, and extend out to the lower part of the aircraft through a square hole at the lower side of the main body 3 of the aircraft. The bottom end of the driving hydraulic cylinder 13 is rotatably connected with the hydrofoil mechanism fixing truss 12 through a hydraulic cylinder connecting pin shaft 133, the double-lug joint 132 at the top end is rotatably connected with the hydrofoil support rod 14 through a double-lug joint connecting pin shaft 134, and the driving hydraulic cylinder 13 is connected with the hydraulic system 2 through a pipeline and a joint. The hydrofoil support rod 14 is rotatably connected with the hydrofoil mechanism fixing truss 12 through a hydrofoil support rod connecting pin 145, the linear guide rail 142a, the linear guide rail 142b, the linear guide rail 142c and the linear guide rail 142d are fixedly installed at the guide rail installation groove 141 through screws, the sliding block 143a, the sliding block 143b, the sliding block 143c and the sliding block 143d are respectively and correspondingly installed on the linear guide rail 142a, the linear guide rail 142b, the linear guide rail 142c and the linear guide rail 142d and can do self-lubricating reciprocating linear motion along the guide rails, the friction force is small, and the motion range does not exceed the linear guide rail 142a, the linear guide rail 142b, the linear guide rail 142c and the linear guide rail 142. The limiting blocks 144a and 144b are respectively mounted on the linear guide rails 142c and 142d, and can perform self-lubricating reciprocating linear motion along the guide rails, so that the friction force is small, and the motion range does not exceed the linear guide rails 142c and 142 d. One end of the tension rod 15 is rotatably connected with the fixed hydrofoil mechanism truss 12 through a tension rod connecting pin shaft 151, and the other end of the tension rod is rotatably connected with the displacement rod 16a and the displacement rod 16b through pins. The displacement rod 16a is fixed on the sliding block 143a and the sliding block 143c by screws, the displacement rod 16b is fixed on the sliding block 143b and the sliding block 143d by screws, the displacement rod 16a and the displacement rod 16b can do reciprocating linear motion along the guide rail along with the sliding block 143a, the sliding block 143b, the sliding block 143c and the sliding block 143d, and the displacement rod 16a and the displacement rod 16b are provided with limit holes 161; the top ends of the limiting blocks 144a and 144b penetrate through the limiting holes 161, and the movement range is limited by the upper and lower boundaries of the limiting holes 161. The middle of the front hydrofoil 11 is provided with a groove, a hydrofoil shaft 111 is fixedly arranged at the position close to the stress center, and a hydrofoil linkage shaft 112 is fixedly arranged at the front edge; the hydrofoil shaft 111 is rotatably connected with the lower end of the hydrofoil support rod 14, the hydrofoil linkage shaft 112 is rotatably connected with the hydrofoil linkage frame 17, and the other end of the hydrofoil linkage frame 17 is rotatably connected with the limiting block 144a and the limiting block 144b through pins. In the embodiment, the sections of the front hydrofoil 11 and the rear hydrofoil 41 are NACA0012 wing profiles, and the design of large aspect ratio is adopted, so that the lift-drag ratio is high; the outer contour is semi-elliptical, and the chord length of the two ends is smaller, so that the disturbance of water flow is reduced. The coil spring fixing blocks 19a and 19b are fixed at the lower end of the hydrofoil support rod 14 through screws, the inner end and the outer end of the coil spring 18a are fixedly connected with the hydrofoil shaft 111 and the coil spring fixing blocks 19a respectively, the inner end and the outer end of the coil spring 18b are fixedly connected with the hydrofoil shaft 111 and the fixing blocks 19b respectively, and restoring torque is provided when the front hydrofoil 11 rotates around the central axis of the hydrofoil shaft.
The schematic diagram of the front hydrofoil mechanism 1 is shown in fig. 3, when the hydraulic cylinder piston rod 131 extends and retracts, the hydrofoil support rod 14 is driven to rotate around the hydrofoil support rod connecting pin 145, and the tension rod 15 drives the displacement rod 16a and the displacement rod 16b to move linearly along the hydrofoil support rod 14. The displacement rods 16a and 16b drive the front hydrofoil 11 to rotate through the hydrofoil link frame 17, and the front hydrofoil 11 receives the restoring acting forces of the coil springs 18a and 18 b.
The front hydrofoil mechanism 1 and the rear hydrofoil mechanism 4 adopt the same mechanism, the structural components and the connection mode are the same, and only the outline of the front hydrofoil 11 and the outline of the rear hydrofoil 41 are arranged in a mirror symmetry mode.
The hydraulic system 2 is composed of an outer oil bag 21, an electromagnetic valve 22a, an electromagnetic valve 22b, an electromagnetic valve 22c, an electromagnetic valve 22d, a check valve 23a, a check valve 23b, a check valve 23c, a filter 24, a pressure sensor 25, an overflow valve 26, a hydraulic pump 27, and an inner oil tank 28, which are connected with a joint through a pipeline, as shown in fig. 4, and a schematic diagram thereof is shown in fig. 5. The outer oil bag 21 is contacted with the seawater, the outlet of the outer oil bag is connected with an electromagnetic valve 22d, and the outlet of the electromagnetic valve 22d is connected with an inner oil tank 28. The electromagnetic valve 22d is a two-position two-way electromagnetic valve and is used for controlling the on-off of an oil path between the outer oil bag 21 and the inner oil tank 28, the electromagnetic valve 22d is opened, and hydraulic oil in the outer oil bag 21 flows into the inner oil tank 28 under the action of negative pressure in the cabin. The outlet of the internal oil tank 28 is connected with a hydraulic pump 27, and after the hydraulic pump 27 is started, hydraulic oil can be pumped out of the internal oil tank 28 and discharged from the outlet under pressure. The outlet of the hydraulic pump 27 is connected with a filter 24 and an overflow valve 26, the filter 24 is used for filtering impurities in oil, and the overflow valve 26 plays an unloading protection role when the pressure of the hydraulic oil in the pipeline is too high. The outlet of the filter 24 is connected with an electromagnetic valve 22c, and the electromagnetic valve 22c is a two-position three-way reversing electromagnetic valve and is used for switching the flowing direction of the hydraulic oil discharged by the hydraulic pump 27. A pressure sensor 25 is installed between the filter 24 and the solenoid valve 22c for measuring the oil pressure. One outlet of the electromagnetic valve 22c is connected with a one-way valve 23c, and the outlet of the one-way valve 23c is connected with the outer oil bag 21. The other outlet of the electromagnetic valve 22c is respectively connected with a one-way valve 23a and a one-way valve 23b, the outlets of the one-way valve 23a and the one-way valve 23b are respectively connected with an electromagnetic valve 22a and an electromagnetic valve 22b, and the electromagnetic valve 22a and the electromagnetic valve 22b are two-position three-way zero-leakage electromagnetic valves and are used for switching oil paths of the driving hydraulic cylinder 13 and the driving hydraulic cylinder 43. The oil supply ports of the electromagnetic valve 22a and the electromagnetic valve 22b are respectively connected with the hydraulic cylinder driving hydraulic cylinder 13 and the driving hydraulic cylinder 43, and the oil discharge port is connected to the outlet of the internal oil tank 28. The driving hydraulic cylinder 43 is mounted on the rear hydrofoil mechanism 4, the driving hydraulic cylinder 43 and the driving hydraulic cylinder 13 are the same hydraulic cylinder, and the mounting mode and the function are the same.
The shape of the vehicle body 3 is a streamline structure design, as shown in fig. 6a and 6b, the section is gradually changed into an ellipse, so as to reduce the drag coefficient when navigating on the water surface and under the water.
Specifically, the working process of the device provided by the invention is as follows:
under the water surface navigation state of the aircraft, the hydrofoil support rod 14 is positioned at a position vertical to the axis of the aircraft, and is locked by acting force provided by the driving hydraulic cylinder 13. The front hydrofoil 11 and the rear hydrofoil 41 are respectively positioned under the head and the tail of the aircraft, and at the moment, the tensioning rod 15, the displacement rod 16a, the displacement rod 16b, the slide block 143a, the slide block 143b, the slide block 143c and the slide block 143d are all fixed. When the front hydrofoil 11 is in the horizontal position, the limiting block 144a and the limiting block 144b are located at the middle position of the limiting hole 161, and the coil springs 18a and 18b are in the natural extension state and have no acting force on the front hydrofoil 11. When the front hydrofoil 11 does heave motion with the aircraft in waves, the front hydrofoil 11 generates relative vertical oscillation motion with the seawater, when the seawater flows through the front hydrofoil 11, the front hydrofoil 11 deflects a certain angle under the combined action of the seawater, the coil spring 18a and the coil spring 18b, as shown in fig. 8, the water velocity V1、V2Respectively forms a certain attack angle with the front hydrofoil 11 and the rear hydrofoil 41, and the water flow respectively generates horizontal acting force L on the front hydrofoil 11 and the rear hydrofoil 411、L2，L1、L2Driving the vehicle forward, vertical component D1、D2Reducing pitch and heave motions of the aircraft. In this process, the front hydrofoil 11 is reciprocally rotated on both upper and lower sides of the horizontal plane about the central axis of the hydrofoil shaft 111, as shown in fig. 7. The front hydrofoil 11 continuously converts wave energy into power for driving the aircraft to advance, meanwhile, the hydrofoil linkage frame 17 drives the limiting block 144a and the limiting block 144b to do reciprocating linear motion in the limiting hole 161, and the upper limit and the lower limit of the limiting hole 161 limit the maximum displacement positions of the limiting block 144a and the limiting block 144b, so that the maximum swing angle of the hydrofoil is limited, and stall caused by overlarge rotation angle is prevented from causing to reduce thrust. In this sailing position, the front hydrofoil 11 and the rear hydrofoil 41, converting wave energy into forward power of an aircraft, and navigating the aircraft on the water surface by means of external environment energy in a continuous low-power-consumption mode.
Under the underwater navigation state of the aircraft, the hydrofoil support rod 14 is positioned in a position parallel to the axis of the aircraft and is locked by acting force provided by the driving hydraulic cylinder 13. The front hydrofoil 11 and the rear hydrofoil 41 form an oval profile wing. When the underwater vehicle starts to dive, the hydraulic system 2 works, the electromagnetic valve 22d is opened, the inner hydraulic oil is discharged into the inner oil tank 28 from the outer oil bag 21 under the action of negative pressure, the size of the outer oil bag 21 is reduced, the displacement and the buoyancy of the underwater vehicle are reduced, the underwater vehicle dives, the position of the center of mass of the underwater vehicle is changed, and the pitching attitude of the underwater vehicle is correspondingly changed. As shown in fig. 9, in the submergence process of the aircraft, the gravity G of the aircraft is greater than the buoyancy B, an attack angle α exists between the water velocity V and the axis of the aircraft, and when water flows through the wing, a resistance D and a lift L are generated, and the aircraft is pushed to move forward by the horizontal direction component force of the resistance D and the lift L. When the aircraft starts to float upwards, the electromagnetic valve 22d is closed, the hydraulic pump 24 is started, the electromagnetic valve 22c switches the direction of an oil way, hydraulic oil is discharged into the outer oil bag 21 from the inner oil tank 28 under the action of the hydraulic pump 27, the volume of the outer oil bag 21 is reduced, the water discharge of the aircraft is increased, the buoyancy is increased, the gravity is unchanged, the aircraft floats upwards, and horizontal forward thrust is generated on the wings by matching with the change of the pitching attitude of the aircraft to push the aircraft to move forwards. In each floating and sinking movement period, the hydraulic system 2 of the aircraft adjusts the volume of the immersed outer oil bag 21 only at the positions of preparation submergence and maximum submergence depth to change the buoyancy of the aircraft, and the acting force of wings in the floating and sinking movement generated by the buoyancy change glides in water to keep long-distance low-power-consumption operation under water.
When the navigation device is switched from an underwater navigation state to a water surface navigation state, the hydraulic pump 27 is started, hydraulic oil is pumped out from the inner oil tank 28 and is pressed into a hydraulic pipeline, the electromagnetic valve 22c switches an oil circuit to the directions of the driving hydraulic cylinder 13 and the driving hydraulic cylinder 43, the electromagnetic valve 22a switches to an oil filling direction, the electromagnetic valve 22b switches to an oil returning direction to the inner oil tank 28, the driving hydraulic cylinder 13 and the driving hydraulic cylinder 43 are provided with oil filling rod ends and oil discharging without rod ends, and the hydraulic cylinder piston rod 131 contracts under the action of the hydraulic oil to drive the hydrofoil support rod 14 to rotate from a horizontal position to a position vertical to the axis. Then, the zero-leakage electromagnetic valves 22a and 22b keep the positions of the valve cores unchanged, and meanwhile, the check valves 23a and 23b play a reverse blocking role, so that the oil passages of the inlet and the outlet of the driving hydraulic cylinder 13 and the driving hydraulic cylinder 43 are cut off, hydraulic oil does not flow, the piston rod 131 of the hydraulic cylinder is fixed, and the hydrofoil support rod 14 is locked at the vertical position. The handover procedure is shown in fig. 10.
When the navigation vehicle is switched from the water surface navigation state to the underwater navigation state, the hydraulic pump 27 is started, hydraulic oil is pumped out from the inner oil tank 28 and is pressed into a hydraulic pipeline, the electromagnetic valve 22c switches the oil circuit to the direction of the driving hydraulic cylinder 13 and the driving hydraulic cylinder 43, the electromagnetic valve 22a switches the oil return direction to the inner oil tank 28, the electromagnetic valve 22b switches the oil charge direction, the driving hydraulic cylinder 13 and the driving hydraulic cylinder 43 have the rod ends for discharging oil and have no rod ends for charging oil, under the action of hydraulic oil, the piston rod 131 of the hydraulic cylinder extends out to drive the hydrofoil support rod 14 to rotate from the horizontal position to the position vertical to the axis of the aircraft, and then the solenoid valves 22a and 22b with zero leakage keep the positions of valve cores unchanged, meanwhile, the one-way valve 23a and the one-way valve 23b play a role of reverse stopping, hydraulic oil does not flow, and the hydraulic cylinder piston rod 131 is fixed, so that the hydrofoil support rod 14 is locked at a horizontal position. The handover procedure is shown in fig. 10. In the rotation process of the hydrofoil support rod 14, the tension rod 15 pulls the displacement rod 16a and the displacement rod 16b to move along the hydrofoil support rod 14, the lower boundary of the limiting hole 161 contacts the limiting block 144a and the limiting block 144b to drive the limiting block 144a and the limiting block 144b to move together, and the limiting block 144a and the limiting block 144b pull the front hydrofoil 11 to rotate to the position parallel to the axis of the hydrofoil support rod 14 by overcoming the acting force of the coil springs 18a and 18b through the hydrofoil linkage frame 17 and the hydrofoil linkage shaft 112 and cling to the bottom of the aircraft body 3. The front hydrofoil 11 is kept stationary by the combined action of the hydrofoil link bracket 17 and the coil springs 18a and 18 b. The zero-leakage electromagnetic valves 22a and 22b, the check valves 23a and 23b cut off the oil passages at the inlet and the outlet of the driving hydraulic cylinders 13 and 43, the hydraulic cylinder piston rods 131 are fixed, and the hydrofoil support rods 14 are locked at the horizontal positions. The handover procedure is shown in fig. 10.
In the working process, the motion modes and the functions of all parts in the rear hydrofoil mechanism 4 and the front hydrofoil mechanism 1 are the same, and the motion directions of the rear hydrofoil mechanism 4 and the front hydrofoil mechanism 1 are in mirror symmetry.
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 hydrofoil device for realizing multi-navigation state and low-energy consumption navigation of an ocean unmanned aircraft comprises an aircraft main body (3), and is characterized in that a front hydrofoil mechanism (1) and a rear hydrofoil mechanism (2) are arranged at the head and the tail of the aircraft main body (3); the front hydrofoil mechanism (1) and the rear hydrofoil mechanism (2) penetrate through a square hole on the lower side of the main body (3) of the aircraft and extend out to the lower side of the aircraft; a hydraulic system (2) is arranged inside the aircraft body (3);
the front hydrofoil mechanism comprises a front hydrofoil (11), a hydrofoil mechanism fixing truss (12), a driving hydraulic cylinder (13), a hydrofoil supporting rod (14), a tensioning rod (15), a displacement rod, a hydrofoil linkage frame (17), a coil spring and a coil spring fixing block; the bottom end of the driving hydraulic cylinder (13) is rotatably connected with the hydrofoil mechanism fixing truss (12), a double-lug joint (132) at the top end of the driving hydraulic cylinder (13) is rotatably connected with the hydrofoil supporting rod (14), and the driving hydraulic cylinder (13) is connected with the hydraulic system (2) through a pipeline and a joint;
the hydrofoil supporting rod (14) is rotatably connected with the hydrofoil mechanism fixing truss (12), a guide rail mounting groove (141) is formed in the hydrofoil supporting rod (14), a linear guide rail is mounted in the guide rail mounting groove (141), a sliding block and a limiting block are mounted in the linear guide rail, and the sliding block and the limiting block can do reciprocating linear motion along the linear guide rail; one end of the tension rod (15) is rotatably connected with the hydrofoil mechanism fixing truss (12), and the other end of the tension rod (15) is rotatably connected with the displacement rod; the displacement rod is fixed on the sliding block and does reciprocating linear motion along the linear guide rail along with the sliding block; a limiting hole (161) is formed in the displacement rod, and the limiting block is limited to move in the limiting hole (161); a groove is formed in the middle of the front hydrofoil (11), a hydrofoil shaft (111) penetrating through the groove is fixedly installed in the front hydrofoil (11), a hydrofoil linkage shaft (112) is fixedly installed in front of the hydrofoil shaft (111), the hydrofoil shaft (111) is rotatably connected with the lower end of a hydrofoil support rod (14), the hydrofoil linkage shaft (112) is rotatably connected with one end of the hydrofoil linkage frame (17), and the other end of the hydrofoil linkage frame (17) is rotatably connected with a limiting block; the wind spring fixing block is fixed at the lower end of the hydrofoil supporting rod (14), and two ends of the wind spring are respectively fixedly connected with the hydrofoil shaft (111) and the wind spring fixing block and used for providing restoring torque when the front hydrofoil (11) rotates around the central axis of the hydrofoil shaft (111);
the hydraulic system (2) is formed by connecting an outer oil bag (21), an electromagnetic valve, a one-way valve, a filter (24), a pressure sensor (25), an overflow valve (26), a hydraulic pump (27) and an inner oil tank (28) with a joint through a pipeline;
the rear hydrofoil mechanism (4) and the front hydrofoil mechanism (1) adopt the same mechanism, and all structural components and connection modes are the same, and the outline of the front hydrofoil (11) and the outline of the rear hydrofoil (41) are arranged in a mirror symmetry way;
the hydrofoil device is suitable for two navigation states of water surface and underwater and has different working modes respectively;
in the hydraulic system (2), the electromagnetic valves comprise a first electromagnetic valve (22a), a second electromagnetic valve (22b), a third electromagnetic valve (22c) and a fourth electromagnetic valve (22d), and the one-way valves comprise a first one-way valve (23a), a second one-way valve (23b) and a third one-way valve (23 c);
the outer oil bag (21) is in contact with seawater, an outlet of the outer oil bag (21) is connected with a fourth electromagnetic valve (22d), an outlet of the fourth electromagnetic valve (22d) is connected with an inner oil tank (28), and the fourth electromagnetic valve (22d) is a two-position two-way electromagnetic valve and is used for controlling the on-off of an oil path between the outer oil bag (21) and the inner oil tank (28); the outlet of the inner oil tank (28) is connected with a hydraulic pump (27), the outlet of the hydraulic pump (27) is connected with a filter (24) and an overflow valve (26), and the outlet of the filter (24) is connected with a third electromagnetic valve (22 c); the third electromagnetic valve (22c) is a two-position three-way electromagnetic valve and is used for switching the direction of an oil path at the outlet of the hydraulic pump (27); one outlet of the third electromagnetic valve (22c) is connected with a third one-way valve (23c), and the outlet of the third one-way valve (23c) is connected with the outlet of the outer oil bag (21); the other outlet of the third electromagnetic valve (22c) is respectively connected with a first one-way valve (23a) and a second one-way valve (23b), the outlets of the first one-way valve (23a) and the second one-way valve (23b) are respectively connected with a first electromagnetic valve (22a) and a second electromagnetic valve (22b), and the first electromagnetic valve (22a) and the second electromagnetic valve (22b) are both two-position three-way electromagnetic valves and are used for switching oil ways of the driving hydraulic cylinder (13); oil supply ports of the first electromagnetic valve (22a) and the second electromagnetic valve (22b) are respectively connected with a driving hydraulic cylinder (13) and a rear hydrofoil mechanism driving hydraulic cylinder (43), and oil discharge ports of the first electromagnetic valve (22a) and the second electromagnetic valve (22b) are connected to an outlet of an inner oil tank (28); the rear hydrofoil mechanism driving hydraulic cylinder (43) is arranged on the rear hydrofoil mechanism (4), the rear hydrofoil mechanism driving hydraulic cylinder (43) and the driving hydraulic cylinder (13) are the same hydraulic cylinder, and the installation mode and the action are the same.
2. The hydrofoil device for realizing multi-state and low-energy consumption sailing of an unmanned marine vehicle according to claim 1, wherein the bottom end of the driving hydraulic cylinder (13) is rotatably connected with the fixed truss (12) of the hydrofoil mechanism, the double-lug joint (132) is connected with the hydrofoil support rod (14), the hydrofoil support rod (14) is connected with the fixed truss (12) of the hydrofoil mechanism, and one end of the tension rod (15) is rotatably connected with the fixed truss (12) of the hydrofoil mechanism through connecting pins.
3. The hydrofoil device for realizing multi-state and low-energy navigation of the marine unmanned aircraft according to claim 1,
under the water surface navigation state, the hydrofoil support rod (14) is positioned at a position vertical to the axis of the aircraft, the hydrofoil support rod is locked by acting force provided by a driving hydraulic cylinder (13), and the front hydrofoil (11) and the rear hydrofoil (41) rotate around the central axis of the hydrofoil shaft in a reciprocating way under the common acting force of seawater and a coil spring to drive the limiting block to do reciprocating linear motion; the upper limit and the lower limit of the limit hole (161) limit the maximum displacement position of the limit block, so as to limit the maximum swing angle of the front hydrofoil (11) and the rear hydrofoil (41); the front hydrofoil (11) and the rear hydrofoil (41) convert wave energy into horizontal thrust to push an aircraft to sail;
under the underwater navigation state, the hydrofoil supporting rod (14) is positioned in a position parallel to the axis of an aircraft, a driving hydraulic cylinder (13) provides acting force to lock the hydrofoil supporting rod, the front hydrofoil (11) and the rear hydrofoil (41) are parallel to the axis of the hydrofoil supporting rod under the combined action of a hydrofoil linkage frame (17) and a coil spring and are kept fixed, and the front hydrofoil (11) and the rear hydrofoil (41) form a wing;
in the switching process of two navigation states of water surface and underwater, a hydraulic system drives a hydraulic cylinder piston rod (131) to stretch, the hydraulic cylinder piston rod (131) drives a hydrofoil supporting rod (14) to rotate through a double-lug joint (132), and in the rotating process of the hydrofoil supporting rod (14), a tension rod (15) drives a displacement rod to move along the hydrofoil supporting rod (14); when the displacement rod moves to the bottom boundary of the limiting hole and contacts with the limiting block, the displacement rod drives the limiting block to move, and the limiting block drives the front hydrofoil (11) and the rear hydrofoil (41) to rotate through a slider-crank mechanism formed by the limiting block and the hydrofoil linkage frame (17); when the boundary of the bottom of the limiting hole is separated from the limiting block, the front hydrofoil and the rear hydrofoil return to the balance position under the action of the coil spring.
4. The hydrofoil device for realizing multi-state and low-energy-consumption sailing of an unmanned marine vehicle according to claim 1, characterized in that the cross sections of the front hydrofoil (11) and the rear hydrofoil (41) are NACA0012 airfoil profiles, the profiles are semi-elliptical, and the chord lengths are gradually reduced along the length expanding direction.
5. The hydrofoil device for realizing multi-navigation state and low energy consumption navigation of the marine unmanned vehicle is characterized in that the vehicle body (3) is designed by adopting a streamline structure, and the section of the hydrofoil device is gradually changed into an ellipse so as to reduce the drag coefficient when the hydrofoil device navigates on the water and underwater.
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| JP2021084470A (en) * | 2019-11-26 | 2021-06-03 | 三菱造船株式会社 | Hydrofoil craft |
| WO2021248268A1 (en) * | 2020-06-08 | 2021-12-16 | 天津大学 | Variable-configuration, dual-navigation-state, long-voyage unmanned marine vehicle driven by natural environment fluid |
| CN111619776B (en) * | 2020-06-08 | 2022-05-03 | 天津大学 | Natural environment fluid driven variable configuration double-state long-range marine unmanned aircraft |
| CN111891321B (en) * | 2020-08-17 | 2024-06-04 | 西北工业大学 | Water surface/underwater dual-mode aircraft |
| CN111890858B (en) * | 2020-08-17 | 2024-06-04 | 西北工业大学 | Cross-medium aircraft |
| CN111890859A (en) * | 2020-08-17 | 2020-11-06 | 西北工业大学 | Unmanned cross-medium aircraft |
| CN113968110B (en) * | 2021-10-28 | 2024-04-16 | 中国北方车辆研究所 | Sliding track amphibious vehicle body with folding hydrofoil structure |
| CN116872661B (en) * | 2023-09-07 | 2023-11-28 | 中国海洋大学 | Ocean aircraft |
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