CN111959726A - Flexible tail fin hybrid drive underwater glider - Google Patents
Flexible tail fin hybrid drive underwater glider Download PDFInfo
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- CN111959726A CN111959726A CN202010805955.XA CN202010805955A CN111959726A CN 111959726 A CN111959726 A CN 111959726A CN 202010805955 A CN202010805955 A CN 202010805955A CN 111959726 A CN111959726 A CN 111959726A
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- 230000005540 biological transmission Effects 0.000 claims description 9
- 238000004073 vulcanization Methods 0.000 claims description 7
- 238000007789 sealing Methods 0.000 claims description 5
- VYPSYNLAJGMNEJ-UHFFFAOYSA-N Silicium dioxide Chemical compound O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 claims description 4
- 239000000741 silica gel Substances 0.000 claims description 4
- 229910002027 silica gel Inorganic materials 0.000 claims description 4
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- 238000010586 diagram Methods 0.000 description 7
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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
- B63G8/08—Propulsion
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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
- 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
- B63G8/38—Arrangement of visual or electronic watch equipment, e.g. of periscopes, of radar
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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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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T70/00—Maritime or waterways transport
- Y02T70/10—Measures concerning design or construction of watercraft hulls
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- Ocean & Marine Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
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Abstract
The invention provides a flexible tail fin hybrid driving underwater glider, which belongs to the technical field of underwater vehicles. This flexible tail fin hybrid drive glider under water includes the glider main part, and flexible tail fin drive arrangement is installed to the afterbody of glider main part, and flexible tail fin drive arrangement is equipped with the drive assembly who is used for driving flexible skin wobbling stretch-draw subassembly in the flexible skin including the flexible skin that is the tail fin shape, and flexible skin passes through the tail fin connecting piece and installs in the tail end of glider main part, be equipped with in the afterbody of glider main part and be used for driving the stretch-draw subassembly.
Description
Technical Field
The invention belongs to the technical field of underwater vehicles, and particularly relates to a flexible tail fin hybrid-driven underwater glider.
Background
The underwater glider can realize heave by adjusting buoyancy, vertical motion is converted into horizontal motion by matching with the lift force of the horizontal wing, the built-in attitude adjusting mechanism is adopted to change the attitude so as to realize gliding motion, long time sequence and large-range observation and detection can be carried out on a complex marine environment, important functions are played in a global marine observation and detection system, and the underwater glider has the advantages of long voyage, good concealment and the like.
Because the underwater glider has low self navigation speed and poor self maneuverability and ocean current resistance, various hybrid driving underwater gliders are researched and developed, and one of the hybrid driving underwater gliders is a tail fin hybrid driving underwater glider. At present, most of tail fin hybrid-driven underwater gliders adopt rigid tail fins, such as bionic underwater gliders disclosed by patent CN106005323A, and few of them are additionally provided with flexible fins behind the tail fins, such as fishtail type ornithopter hybrid underwater gliders disclosed by patent CN104386228A, but even if the flexible fins are additionally arranged, the tail fins are still poor in flexibility, and are not beneficial to long-time and large-range operation of the underwater gliders.
In the field of bionic robot fish, although a plurality of flexible tail fin structures are provided, the whole structure has the problems of large volume and complex driving of a driving structure, if a similar driving structure is adopted on an underwater glider, the underwater glider inevitably occupies other spaces except the tail part, and the underwater glider is not suitable for the small-volume and light-weight underwater glider.
Disclosure of Invention
Aiming at the defects of the conventional tail fin hybrid-driven underwater glider, the invention provides the flexible tail fin hybrid-driven underwater glider, the tail fin is flexible, the tail fin driving control mechanism is small in size and light in weight, the tail fin driving control mechanism can be completely installed on the tail part, the space except the tail part is not occupied, and the swinging amplitude and the frequency of the flexible tail fin can be accurately controlled.
In order to achieve the purpose, the invention adopts the technical scheme that:
the flexible tail fin hybrid-driven underwater glider comprises a glider main body, wherein the head part of the glider main body is used as the front part, the tail part is used as the back part, the top part is used as the upper part, and the bottom part is used as the lower part; the tail of the glider main body is provided with a flexible tail fin driving device, the flexible tail fin driving device comprises a flexible skin in the shape of a tail fin, the flexible skin is arranged at the tail end of the glider main body through a tail fin connecting piece, a tensioning assembly used for driving the flexible skin to swing is arranged in the flexible skin, and a driving assembly used for driving the tensioning assembly is arranged in the tail of the glider main body; the tensioning assembly comprises a plurality of groups of upright rods which are arranged in pairs, each upright rod is arranged along the up-down direction, two upright rods in the same group are respectively attached to the left side surface and the right side surface of the flexible skin, and the plurality of groups of upright rods are distributed in the flexible skin along the front-back direction; in two adjacent groups of the upright rods, two upright rods which are positioned on different sides and in different groups are hinged with a transverse stay bar; the group of upright posts positioned at the forefront are fixedly connected to the tail fin connecting piece, the group of upright posts are fixed upright posts, and the other groups of upright posts are movable upright posts; a driven spring in a tensioning state and a transmission part for connecting the driving assembly are connected between the two movable vertical rods in the same group, and the transmission part corresponding to each movable vertical rod comprises a first driving spring and a second driving spring in the tensioning state and a rigid rope; the first driving spring is connected to the movable vertical rod positioned on the left side surface, and the second driving spring is connected to the movable vertical rod positioned on the right side surface; the middle part of the rigid rope is positioned in the tail part of the glider main body; the left end of the rigid rope corresponding to each group of the movable vertical rods sequentially penetrates through the tail fin connecting piece and all the vertical rods which are positioned in front of the group of the movable vertical rods and on the left side surface from front to back, and is connected with the first driving spring; the right end of the rigid rope corresponding to each group of the movable vertical rods sequentially penetrates through the tail fin connecting piece and all the vertical rods which are positioned in front of the group of the movable vertical rods and positioned on the right side face from front to back, and is connected with the second driving spring; the drive assembly comprises a waterproof motor and a wire guider arranged on an output shaft of the waterproof motor, the wire guider comprises a plurality of reels coaxially arranged with the output shaft of the waterproof motor, the number of the reels is consistent with that of the rigid ropes, one reel is wound at the middle part of each rigid rope, and the radius of the reel corresponding to the rigid rope connected with the movable vertical rod is gradually increased from front to back.
Preferably, the flexible skin is made of rubber or silica gel, the flexible skin is connected with the movable vertical rod in a vulcanization bonding mode, and the flexible skin is connected with the tail fin connecting piece in a vulcanization bonding mode.
Preferably, the flexible skeg driving device further comprises a support assembly for supporting the flexible skin, the support assembly being disposed within the flexible skin, the support assembly comprising a first support rod and a second support rod; one end of the first supporting rod is connected to the upper end of the movable vertical rod and extends upwards, and the other end of the first supporting rod is connected to the inner side of the flexible skin; one end of the second supporting rod is connected to the lower end of the movable vertical rod and extends downwards, and the other end of the second supporting rod is connected to the inner side of the flexible skin.
Preferably, the first supporting rod and the second supporting rod are both connected to the last group of movable vertical rods.
Preferably, the first supporting rods and the second supporting rods are multiple, the first supporting rods are connected to different movable vertical rods respectively, and the second supporting rods are connected to different movable vertical rods respectively.
Preferably, the tail fin connector is an annular connector, the center line of the annular connector is arranged along the front-back direction, and the rigid rope passes through the through hole of the annular connector.
As preferred, the glider main part is including the pressure casing that is the tube-shape, the central line of pressure casing sets up along the fore-and-aft direction, both ends sealing connection has front end housing and rear end cap respectively around the pressure casing, the left and right sides of pressure casing is connected with the wing respectively, the front side of front end housing is connected with preceding kuppe in order to form the prelude of glider main part, the rear side of rear end cap is connected with back kuppe in order to form the afterbody of glider main part, the tail fin connecting piece connect in the rear end of back kuppe, drive assembly install in the back kuppe.
Preferably, a waterproof motor fixing frame is arranged in the rear air guide sleeve, the waterproof motor fixing frame is fixedly connected to the rear end cover, and the waterproof motor is fixedly installed on the waterproof motor fixing frame.
As preferred, be equipped with buoyancy drive arrangement in the glider main body, buoyancy drive arrangement includes that inside splendid attire has the outer oil bag of interior oil tank, volume expansion, be used for with oil pump in the interior oil tank goes into the oil pump of outer oil bag with connect in the driving motor of oil pump, interior oil tank, oil pump and driving motor all set up in the pressure-resistant casing, outer oil bag set up in the back kuppe, the entry end and the exit end of oil pump respectively through oil transportation oil circuit connect in interior oil tank and outer oil bag, still the intercommunication has the oil return circuit between interior oil tank and the outer oil bag, the oil return circuit is equipped with one-way solenoid valve.
Preferably, be equipped with attitude control device, master control set, task load, load rejection device and antenna in the glider main body, attitude control device and master control set up in the pressure-resistant casing, task load set up in the preceding fairing and follow the top of preceding fairing exposes, load rejection device set up in the preceding fairing and follow the bottom of preceding fairing exposes, the antenna connect in the rear end cap is followed the top of back fairing stretches out.
Compared with the prior art, the invention has the advantages and beneficial effects that:
1. according to the flexible tail fin hybrid-driven underwater glider, in the flexible tail fin driving device, the tail fins are flexible skins, and compared with rigid tail fins, the flexible tail fin hybrid-driven underwater glider has better flexibility and is beneficial to improving the maneuverability of the underwater glider;
2. the flexible tail fin hybrid driving underwater glider provided by the invention has the advantages that the swinging of the tail fin is controlled by the tension assembly and the driving assembly, the tension assembly can be driven by matching a waterproof motor with the wire guide during control, the driving assembly is small in size and light in weight, can be completely installed at the tail part, and does not occupy other spaces except the tail part;
3. according to the flexible tail fin hybrid-driven underwater glider, the tail fin has higher structural strength and mass ratio through the arranged tensioning assembly, the rigidity of the tail fin can be changed by changing the rigidity of the first driving spring, the second driving spring and the driven spring in the tensioning assembly so as to meet different pushing requirements, and the flexible tail fin hybrid-driven underwater glider is wide in application range and high in flexibility;
4. according to the flexible tail fin hybrid-driven underwater glider, the swinging frequency and amplitude of the tail fin can be accurately controlled by controlling the variables such as the rotating speed and the rotating quantity of the waterproof motor, so that the tail fin has the capability of simulating the motion law of fishes at high precision, and the high-efficiency propulsion of the tail fin is realized;
5. the flexible tail fin hybrid-driven underwater glider provided by the invention has the advantages of high maneuverability, long voyage, low noise, large-depth operation and the like.
Drawings
Fig. 1 is a schematic external structural view of a flexible tail fin hybrid-driven underwater glider according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of an internal structure of a flexible tail fin hybrid-driven underwater glider according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of a flexible tail fin driving device in a flexible tail fin hybrid-driven underwater glider according to an embodiment of the present invention;
FIG. 4 is a cross-sectional view of the flexible tail fin drive taken along a plane of symmetry of the hybrid driven underwater glider with flexible tail fins;
FIG. 5 is a schematic diagram of a tension assembly in the flexible skeg drive;
FIG. 6 is a schematic diagram of a wire guide of the flexible tail fin drive apparatus;
FIG. 7 is a schematic view of the assembly of a tension assembly and a drive assembly in the flexible skeg drive;
FIG. 8 is a driving state diagram of the tension assembly in the flexible skeg driving device in an initial state;
FIG. 9 is a driving state diagram of a tension assembly in a flexible skeg drive in a swing state;
FIG. 10 is a schematic structural diagram of a buoyancy driving device in a flexible tail fin hybrid-driven underwater glider according to an embodiment of the present invention;
in the above figures: 1. a glider main body; 11. a front air deflector; 12. a front end cover; 13. a pressure-resistant housing; 14. a rear end cap; 15. a rear dome; 16. an airfoil; 2. a flexible tail fin drive; 21. a flexible skin; 22. a tail fin connector; 23. a drive assembly; 231. a waterproof motor; 232. a wire guide; 2321. a reel; 24. a waterproof motor fixing frame; 25. a tensioning assembly; 251. erecting a rod; 2511. fixing the vertical rod; 2512. a movable upright stanchion; 252. a transverse stay bar; 253. a passive spring; 254. a transmission member; 2541. a first active spring; 2542. a second active spring; 2543. a rigid cord; 26. a support assembly; 261. a first support bar; 262. a second support bar; 3. a buoyancy driving device; 31. an inner oil tank; 32. an outer oil pocket; 33. an oil pump; 34. a drive motor; 35. an oil delivery circuit; 36. an oil return path; 37. a one-way solenoid valve; 4. an attitude control device; 5. a master control device; 6. task load; 7. a load rejection device; 8. an antenna.
Detailed Description
The invention is described in detail below by way of exemplary embodiments. It should be understood, however, that elements, structures and features of one embodiment may be beneficially incorporated in other embodiments without further recitation.
In the description of the present invention, it should be noted that the terms indicating the orientation, such as "inside", "outside", "up", "down", "front", "back", and the like, with the head part of the glider body 1 being the front, the tail part being the back, the top part being the top, and the bottom part being the bottom, are only for convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
As shown in fig. 1-4, the embodiment of the invention relates to a flexible tail fin hybrid-driven underwater glider, which comprises a glider main body 1, wherein a flexible tail fin driving device 2 is installed at the tail part of the glider main body 1, the flexible tail fin driving device 2 comprises a flexible skin 21 in the shape of a tail fin, the flexible skin 21 is installed at the tail end of the glider main body 1 through a tail fin connecting piece 22, a tension assembly 25 for driving the flexible skin 21 to swing is arranged in the flexible skin 21, and a driving assembly 23 for driving the tension assembly 25 is arranged in the tail part of the glider main body 1; as shown in fig. 4 and 5, the tensioning assembly 25 includes a plurality of sets of upright posts 251 arranged in pairs, each upright post 251 is arranged along the up-down direction, two upright posts 251 of the same set are respectively attached to the left side surface and the right side surface of the flexible skin 21, and the plurality of sets of upright posts 251 are distributed in the flexible skin 21 along the front-back direction; in two adjacent groups of upright rods 251, two upright rods 251 positioned on different sides and in different groups are hinged with a transverse stay bar 252; the group of upright posts 251 positioned at the forefront are fixedly connected to the tail fin connecting piece 22, the group of upright posts 251 are fixed upright posts 2511, and the other groups of upright posts 251 are movable upright posts 2512; a passive spring 253 in a tensioning state and a transmission piece 254 for connecting the driving assembly 23 are connected between the two movable vertical rods 2512 in the same group, and the transmission piece 254 corresponding to each group of movable vertical rods 2512 comprises a first active spring 2541 and a second active spring 2542 in a tensioning state and a rigid rope 2543; the first active spring 2541 is connected to the movable vertical rod 2512 on the left side surface, and the second active spring 2542 is connected to the movable vertical rod 2512 on the right side surface; the middle of the rigid rope 2543 is located in the tail of the glider body 1; the left end of the rigid rope 2543 corresponding to each set of movable vertical rod 2512 sequentially passes through the tail fin connecting piece 22 and all vertical rods 251 positioned in front of the set of movable vertical rods 2512 and on the left side surface from front to back, and is connected with the first driving spring 2541; the right end of the rigid rope 2543 corresponding to each set of movable vertical rod 2512 sequentially passes through the tail fin connecting piece 22, all vertical rods 251 positioned in front of the set of movable vertical rods 2512 and on the right side surface from front to back, and is connected with the second driving spring 2542; as shown in fig. 4, 6 and 7, the driving assembly 23 includes a waterproof motor 231 and a thread guide 232 mounted on an output shaft of the waterproof motor 231, the thread guide 232 includes a plurality of reels 2321 coaxially disposed with the output shaft of the waterproof motor 231, the number of the reels 2321 corresponds to the number of the rigid cords 2543, the middle portion of each rigid cord 2543 passes around one of the reels 2321, and the radius of the corresponding reel 2321 of the rigid cord 2543 connected from the movable vertical rod 2512 arranged in the forward and backward direction is gradually increased.
As shown in fig. 8 to 9, in the flexible tail fin hybrid driven underwater glider, the flexible tail fin driving device 2 works according to the following principle: in the tensioning assembly 25, the passive spring 253 connected between each set of movable uprights 2512 and the first active spring 2541 and the second active spring 2542 in the transmission member 254 are under tension, so that the rigid rope 2543 can be tightly wound on the reel 2321 of the wire guide 232. When the waterproof motor 231 rotates forward to drive the wire guider 232 to rotate forward, the rigid rope 2543 rotates with the winding wheel 2321 of the wire guider 232, so that the right part of the rigid rope 2543 on the winding wheel 2321 is shortened, the left part of the rigid rope 2543 on the winding wheel 2321 is extended, because the second active spring 2542 connected with the right end of the rigid rope 2543 is in a tensioned state and can not be extended any more, the second active spring 2542 can apply a pulling force to the movable vertical rod 2512 on the right side connected with the second active spring, the movable vertical rod 2512 on the right side can only shift to the right side under the action of the supporting force of the cross brace 252, because the passive spring 253 between the movable vertical rod 2512 on the right side and the movable vertical rod 2512 on the left side is also in a tensioned state, the passive spring 253 can pull the movable vertical rod 2512 on the left side to shift to the right side, and simultaneously, because the radius of the winding wheel 2321 corresponding to the rigid rope 2543 connected, the offset of the tensioning assembly 25 is gradually increased from front to back, so that the tensioning assembly 25 is integrally bent towards the right side, and the tensioning assembly 25 further drives the flexible skin 21 to deform, so that the tail fin swings to the right. It can be appreciated that the left-hand swing of the tail fin can be achieved by the reverse rotation of the waterproof motor 231. Therefore, the waterproof motor 231 alternately rotates in the forward direction and the reverse direction to swing the tail fin back and forth, thereby driving the glider body 1 to move. According to different task requirements, the swinging frequency and amplitude of the tail fin can be accurately controlled by controlling the variables such as the rotating speed and the rotating quantity of the waterproof motor 231, and the maneuvering actions such as acceleration and turning of the underwater glider can be realized.
Above-mentioned flexible tail fin hybrid drive glider under water, in its flexible tail fin drive arrangement 2, the tail fin is flexible covering 21, compares in rigidity tail fin, has better flexibility, is favorable to improving the mobility of glider under water. Above-mentioned flexible tail fin hybrid drive glider under water, the swing of its tail fin is controlled through stretch-draw subassembly 25 and drive assembly 23, and through a waterproof motor 231 and wire guide 232 cooperation can realize the drive to stretch-draw subassembly 25 during the control, its drive assembly 23 is small, light in weight, can install in the afterbody completely, does not occupy other spaces except the afterbody. Above-mentioned flexible tail fin hybrid drive glider under water, through the stretch-draw subassembly 25 that sets up, makes its tail fin have higher structural strength and mass ratio, through the rigidity that changes first initiative spring 2541, second initiative spring 2542 and passive spring 253 in the stretch-draw subassembly 25, can change the rigidity of tail fin in order to satisfy different promotion demands, application scope is wide, the flexibility is strong. Above-mentioned flexible tail fin hybrid drive glider under water, through variables such as the rotational speed of control waterproof motor 231, rotation volume, but the swing frequency and the range of accurate control tail fin for its tail fin possesses the ability of high accuracy simulation fish motion law, has realized imitating the tail fin with high efficiency and has impeld. In a word, the flexible tail fin hybrid-driven underwater glider has the advantages of high maneuverability, long endurance, low noise, large-depth operation and the like.
As shown in fig. 5, in the tensioning assembly 25, for the movable vertical rods 2512, it should be noted that the number of the groups of the movable vertical rods 2512 is not limited to 3 groups provided in the present embodiment, and those skilled in the art can specifically set the number of the groups of the movable vertical rods 2512 according to the swinging requirement of the tail fin. Regarding the transverse supporting rods 252, it should be noted that, in order to make the structure of the tensioning assembly 25 more stable, it is preferable that there are two transverse supporting rods 252 hinged between every two vertical rods 251, one transverse supporting rod 252 is hinged between the upper ends of the two vertical rods 251, and the other transverse supporting rod 252 is hinged between the lower ends of the two vertical rods 251; it is understood that the number of the transverse supporting rods 252 hinged between each two vertical rods 251 is not limited to two in the present embodiment, and those skilled in the art can specifically set the number of the transverse supporting rods 252 connected between each two vertical rods 251 according to the requirement of the stability of the tension structure. For the passive springs 253 connected between each group of the movable vertical rods 2512, it should be noted that, in order to make the structure of the tensioning assembly 25 more stable, preferably, two passive springs 253 connected between each group of the movable vertical rods 2512 are provided, and two axial ends of the passive springs 253 are respectively connected to the two movable vertical rods 2512 through strings; it is understood that the number of the passive springs 253 connected between each set of the movable vertical rods 2512 is not limited to two in the present embodiment, and those skilled in the art can specifically set the number of the passive springs 253 connected between each set of the movable vertical rods 2512 according to the requirement of the stability of the tension structure. The transmission members 254 connected between each set of movable vertical rods 2512 can be provided in a plurality according to the driving requirement by those skilled in the art. For the first active spring 2541 and the second active spring 2542, it should be noted that one axial end of the first active spring 2541 is connected to the movable vertical rod 2512 located on the left side surface through a string, and the other axial end thereof is connected to the left end of the rigid string 2543, one axial end of the second active spring 2542 is connected to the movable vertical rod 2512 located on the right side surface through a string, and the other axial end thereof is connected to the right end of the rigid string 2543.
In the above-described drive unit 23, as shown in fig. 6, a catch groove is provided on the outer periphery of each of the reels 2321 of the wire guide 232, and the rigid rope 2543 is caught in the catch groove to ensure that the rigid rope 2543 rotates with the reels 2321.
For the flexible skin 21, it should be noted that, in this embodiment, the flexible skin 21 is made of rubber or silica gel, the flexible skin 21 and the movable vertical rod 2512 are bonded and connected through vulcanization, and the flexible skin 21 and the tail fin connecting member 22 are bonded and connected through vulcanization. The skin is made of rubber or silica gel, and can be bonded with the movable vertical rod 2512 and the tail fin connecting piece 22 into a whole after vulcanization to form an integral structure, so that the structural stability of the tail fin is improved.
As shown in fig. 4, in the present embodiment, the skeg connector 22 is a ring connector, the center line of which is arranged in the front-rear direction, and the rigid string 2543 passes through the through hole of the ring connector.
Further, in order to facilitate the flexible skin 21 to take the shape of a skeg, as shown in fig. 4, the flexible skeg driving apparatus 2 further includes a support assembly 26 for supporting the flexible skin 21, the support assembly 26 is disposed in the flexible skin 21, and the support assembly 26 includes a first support bar 261 and a second support bar 262; one end of the first support bar 261 is connected to the upper end of the movable vertical bar 2512 and extends upwards, and the other end is connected to the inner side of the flexible skin 21; the second support bar 262 has one end connected to the lower end of the movable vertical rod 2512 and extends downward, and the other end connected to the inside of the flexible skin 21. In this embodiment, the first supporting rods 261 and the second supporting rods 262 are multiple, the multiple first supporting rods 261 are respectively connected to different movable vertical rods 2512, and the multiple second supporting rods 262 are respectively connected to different movable vertical rods 2512. The first support rod 261 and the second support rod 262 are both provided in plural, which is more favorable for supporting the flexible skin 21 in the shape of the tail fin without hindering the swing of the tail fin. It will be appreciated that a person skilled in the art may also provide only one set of first and second support bars 261, 262, in which case the first and second support bars 261, 262 are preferably connected to the rearmost set of movable uprights 2512 in order to support the flexible skin 21 in the shape of a skeg.
To facilitate the mounting of the above-described flexible tail fin drive device 2 to the glider main body 1, as shown in fig. 1 and 2, in the present embodiment, the glider main body 1 comprises a cylindrical pressure casing 13, the center line of the pressure casing 13 is arranged along the front and back direction, the front end and the back end of the pressure casing 13 are respectively connected with a front end cover 12 and a back end cover 14 in a sealing mode, a pressure sealed cabin is formed between the pressure casing 13 and the front end cover 12 and between the pressure casing 13 and the back end cover 14 in a sealing mode through sealing rings, the left side and the right side of the pressure casing 13 are respectively connected with wings 16 through bolts, the front side of the front end cover 12 is connected with a front fairing 11 through bolts to form the head part of the glider main body 1, the back side of the back end cover 14 is connected with a back fairing 15 through bolts to form the tail part of the glider main body 1, a tail fin connecting piece 22 is connected to the back end of the back fairing 15 through bolts.
In order to facilitate installation of the waterproof motor 231, as shown in fig. 3, a waterproof motor fixing frame 24 is arranged in the rear air guide sleeve 15, the waterproof motor fixing frame 24 is connected to the rear end cover 14 through bolts, and the waterproof motor 231 is fixedly installed on the waterproof motor fixing frame 24.
Further, as shown in fig. 2 and 10, a buoyancy driving device 3 is arranged in the glider main body 1 to cooperate with the flexible tail fin driving device 2 to drive, the buoyancy driving device 3 includes an inner oil tank 31 containing oil therein, an outer oil bag 32 with an expandable volume, an oil pump 33 for pumping the oil in the inner oil tank 31 into the outer oil bag 32, and a driving motor 34 connected to the oil pump 33, the inner oil tank 31, the oil pump 33, and the driving motor 34 are all arranged in the pressure-resistant casing 13, the outer oil bag 32 is arranged in the rear air guide sleeve 15, an inlet end and an outlet end of the oil pump 33 are respectively connected to the inner oil tank 31 and the outer oil bag 32 through an oil conveying path 35, an oil returning path 36 is further communicated between the inner oil tank 31 and the outer oil bag 32, and the oil returning path 36 is provided with a one-way. It should be noted that, as shown in fig. 2, in the present embodiment, the outer oil bag 32 is specifically disposed in the waterproof motor fixing frame 24, and an oil delivery path 35 connected between the outer oil bag 32 and the oil pump 33 passes through the rear end cover 14.
The working principle of the buoyancy driving device 3 is as follows: the driving motor 34 drives the oil pump 33 to convey the oil in the inner oil tank 31 to the outer oil bag 32 through the oil conveying path 35, so that the outer oil bag 32 is expanded, the volume of the outer oil bag 32 is increased, the buoyancy of the underwater glider is increased, and when the buoyancy of the underwater glider is larger than the self gravity, the underwater glider floats upwards; when the underwater glider needs to be controlled to dive, the one-way electromagnetic valve 37 is opened, oil in the outer oil bag 32 is pressed back into the inner oil tank 31 through the oil return way 36 under the action of seawater pressure, the buoyancy of the underwater glider is reduced along with the reduction of the volume of the outer oil bag 32, and when the buoyancy of the underwater glider is smaller than the self gravity, the underwater glider dives; the wings 16 convert the vertical motion of the underwater glider into horizontal motion, thereby driving the underwater glider in motion.
Further, as shown in fig. 2, an attitude control device 4, a main control device 5, a mission load 6, a load rejection device 7, and an antenna 8 are provided in the glider main body 1, the attitude control device 4 and the main control device 5 are provided in the pressure-resistant casing 13, the mission load 6 is provided in the front cowl 11 and exposed from the top of the front cowl 11, the load rejection device 7 is provided in the front cowl 11 and exposed from the bottom of the front cowl 11, and the antenna 8 is connected to the rear cover 14 and protrudes from the top of the rear cowl 15. It should be noted that the attitude control device 4, the main control device 5, the task load 6, the load rejection device 7 and the antenna 8 are all existing devices in the field, and detailed descriptions of specific structures thereof are omitted here.
Claims (10)
1. Flexible tail fin hybrid drive glider under water, including the glider main part to the prelude of glider main part is preceding, the afterbody is back, the top is for upper and lower bottom, its characterized in that: the tail of the glider main body is provided with a flexible tail fin driving device, the flexible tail fin driving device comprises a flexible skin in the shape of a tail fin, the flexible skin is arranged at the tail end of the glider main body through a tail fin connecting piece, a tensioning assembly used for driving the flexible skin to swing is arranged in the flexible skin, and a driving assembly used for driving the tensioning assembly is arranged in the tail of the glider main body;
the tensioning assembly comprises a plurality of groups of upright rods which are arranged in pairs, each upright rod is arranged along the up-down direction, two upright rods in the same group are respectively attached to the left side surface and the right side surface of the flexible skin, and the plurality of groups of upright rods are distributed in the flexible skin along the front-back direction; in two adjacent groups of the upright rods, two upright rods which are positioned on different sides and in different groups are hinged with a transverse stay bar; the group of upright posts positioned at the forefront are fixedly connected to the tail fin connecting piece, the group of upright posts are fixed upright posts, and the other groups of upright posts are movable upright posts; a driven spring in a tensioning state and a transmission part for connecting the driving assembly are connected between the two movable vertical rods in the same group, and the transmission part corresponding to each movable vertical rod comprises a first driving spring and a second driving spring in the tensioning state and a rigid rope; the first driving spring is connected to the movable vertical rod positioned on the left side surface, and the second driving spring is connected to the movable vertical rod positioned on the right side surface; the middle part of the rigid rope is positioned in the tail part of the glider main body; the left end of the rigid rope corresponding to each group of the movable vertical rods sequentially penetrates through the tail fin connecting piece and all the vertical rods which are positioned in front of the group of the movable vertical rods and on the left side surface from front to back, and is connected with the first driving spring; the right end of the rigid rope corresponding to each group of the movable vertical rods sequentially penetrates through the tail fin connecting piece and all the vertical rods which are positioned in front of the group of the movable vertical rods and positioned on the right side face from front to back, and is connected with the second driving spring;
the drive assembly comprises a waterproof motor and a wire guider arranged on an output shaft of the waterproof motor, the wire guider comprises a plurality of reels coaxially arranged with the output shaft of the waterproof motor, the number of the reels is consistent with that of the rigid ropes, one reel is wound at the middle part of each rigid rope, and the radius of the reel corresponding to the rigid rope connected with the movable vertical rod is gradually increased from front to back.
2. The flexible tail fin hybrid driven underwater glider of claim 1, wherein: the flexible skin is rubber or silica gel material, flexible skin and activity pole setting are through vulcanization processing adhesive connection, flexible skin and tail fin connecting piece are through vulcanization processing adhesive connection.
3. The flexible tail fin hybrid driven underwater glider of claim 1, wherein: the flexible tail fin driving device further comprises a supporting component for supporting the flexible skin, the supporting component is arranged in the flexible skin and comprises a first supporting rod and a second supporting rod; one end of the first supporting rod is connected to the upper end of the movable vertical rod and extends upwards, and the other end of the first supporting rod is connected to the inner side of the flexible skin; one end of the second supporting rod is connected to the lower end of the movable vertical rod and extends downwards, and the other end of the second supporting rod is connected to the inner side of the flexible skin.
4. The flexible tail fin hybrid driven underwater glider of claim 3, wherein: first bracing piece and second bracing piece all connect in a set of at the back movable pole setting.
5. The flexible tail fin hybrid driven underwater glider of claim 3, wherein: first bracing piece and second bracing piece are many, many first bracing piece connects respectively in the difference the activity pole setting, many the second bracing piece connects respectively in the difference the activity pole setting.
6. The flexible tail fin hybrid driven underwater glider of claim 1, wherein: the tail fin connecting piece is an annular connecting piece, the central line of the annular connecting piece is arranged along the front-back direction, and the rigid rope penetrates through the through hole of the annular connecting piece.
7. The flexible tail fin hybrid driven underwater glider of claim 1, wherein: the glider main part is including the withstand voltage casing that is the tube-shape, the central line of withstand voltage casing sets up along the fore-and-aft direction, both ends sealing connection respectively has front end housing and rear end cap around the withstand voltage casing, the left and right sides of withstand voltage casing is connected with the wing respectively, the front side of front end housing is connected with preceding kuppe in order to form the prelude of glider main part, the rear side of rear end cap is connected with back kuppe in order to form the afterbody of glider main part, the tail fin connecting piece connect in the rear end of back kuppe, drive assembly install in the back kuppe.
8. The flexible tail fin hybrid driven underwater glider of claim 7, wherein: and a waterproof motor fixing frame is arranged in the rear air guide sleeve, the waterproof motor fixing frame is fixedly connected with the rear end cover, and the waterproof motor is fixedly arranged on the waterproof motor fixing frame.
9. The flexible tail fin hybrid driven underwater glider of claim 7, wherein: the glider is characterized in that a buoyancy driving device is arranged in the glider body, the buoyancy driving device comprises an inner oil tank with oil inside the inner oil tank, an outer oil bag with an expandable volume, a driving motor connected with an oil pump, an inner oil tank, the oil pump and the driving motor are arranged in the pressure-resistant shell, the outer oil bag is arranged in the rear flow guide cover, the inlet end and the outlet end of the oil pump are connected with the inner oil tank and the outer oil bag through oil conveying paths respectively, an oil return path is communicated between the inner oil tank and the outer oil bag, and the oil return path is provided with a one-way electromagnetic valve.
10. The flexible tail fin hybrid driven underwater glider of claim 7, wherein: be equipped with attitude control device, master control set, task load, throw and carry device and antenna in the glider main body, attitude control device and master control set up in the pressure-resistant casing, the task load set up in the preceding fairing and follow the top of preceding fairing exposes, throw and carry the device set up in the preceding fairing and follow the bottom of preceding fairing exposes, the antenna connect in the rear end cap is followed the top of back fairing stretches out.
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| CN111959726B (en) | 2022-05-20 |
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