CN112874737A - Underwater glider - Google Patents

Abstract

The invention discloses an underwater glider, which comprises a glider body, a gravity center adjusting mechanism, a variable wing mechanism and a buoyancy adjusting mechanism, wherein the gravity center adjusting mechanism, the variable wing mechanism and the buoyancy adjusting mechanism are arranged on the glider body; after the glider rotates to a specific position, the glider is locked through a locking mechanism, so that the glider keeps a fixed posture relative to the machine body; the glider wing is in a furled state, the horizontal plane projection area is reduced, and the integral transportation is facilitated. When the glide vane is unfolded at a small angle, the sweep angle is increased, the aspect ratio and the resistance are reduced, the lift force is increased, the stress point moves backwards, the glide angle is increased, the glide vane can glide in a narrow space, and the probability of collision with an obstacle is reduced. When the gliding wing is unfolded at a large angle, the backswept angle is reduced, the aspect ratio and the resistance are increased, the lift force is reduced, the force bearing point of the lift force moves forwards, and the gliding angle and the gliding distance are increased.

Description

Underwater glider

Technical Field

The invention belongs to the technical field of underwater vehicles, and particularly relates to an underwater glider.

Background

The underwater glider is an autonomous underwater vehicle, obtains propelling force by utilizing net buoyancy and attitude angle adjustment, has extremely low energy consumption, consumes a small amount of energy only when the net buoyancy and the attitude angle are adjusted, has the cruising ability of several months and can reach the voyage of thousands of kilometers. At present, the research and design of the form of the glider of the underwater glider is a main research direction for the technical development of the underwater glider. The existing underwater glider mainly comprises a shell, wherein the shell sequentially comprises a head part, a gravity center adjusting bin, a buoyancy adjusting bin and a tail part; the gravity center adjusting bin is internally provided with a gravity center adjusting structure, and the buoyancy adjusting bin is internally provided with a buoyancy adjusting mechanism. The two gliding wings are symmetrically arranged on the outer wall surface of the gravity center adjusting bin. In general, a glider includes a body and a glider independently fixed to each other, and a glider integrated with the body and the glider. Namely, the glider is detachably arranged on the center-of-gravity adjusting bin, and the glider is formed on the center-of-gravity adjusting bin.

In the transportation process of the underwater gliders in the two forms, the gliders with the fusion type gliders occupy large volume and are inconvenient to transport; fixed glider of glider in the transportation, need earlier dismantle the glider from the focus regulation storehouse, and glider and fuselage separately transport, though transport shared space under, nevertheless need be equipped with specialized tool and dismantle and install the glider, when treating to transport to the destination, again with the glider installation on the fuselage, lead to transportation work volume big.

When the glider is put in water and recovered from the water, the wingspan area of the whole glider is large, a plurality of suspension arms are needed to be adopted to respectively suspend and transfer the two gliders and the whole machine body, the length of each suspension arm is longer than the length of the corresponding glider or the length of the machine body, the longer the length of the suspension arm is, the greater the difficulty in hoisting the glider is, and the greater the recovery difficulty of the corresponding glider is. In addition, the glider has a larger wingspan area, is more impacted by water flow underwater, has higher probability of being impacted by marine organisms, and is not suitable for working in a narrow and long sea ditch or submerged reef group due to a large wingspan structure, so that the application range of the glider is limited.

Disclosure of Invention

Therefore, the technical problem to be solved by the invention is that the glider wing of the existing underwater glider is in a large wingspan structure, occupies a large space, is inconvenient to transport, is thrown and recovered underwater, is easy to be impacted and has a limited application range.

To this end, the invention provides an underwater glider comprising

The aircraft comprises an aircraft body, and a gravity center adjusting mechanism, a variable wing mechanism and a buoyancy adjusting mechanism which are arranged on the aircraft body in sequence;

the variable wing mechanism comprises two gliding wings which are symmetrically distributed; the two gliders are respectively and rotatably arranged on the transition bin of the machine body through two hinges and can rotate relative to the axis of the machine body under the pushing of the driving mechanism; a first end of any one of the gliders is positioned in the transition bin, and a second end opposite to the first end extends out of the transition bin;

and a locking mechanism which is arranged on the transition bin and can apply locking force to the glider to ensure that the glider keeps a first state of a fixed posture relative to the machine body, and the locking force is cancelled to ensure that the glider is in a rotatable second state.

Optionally, the above underwater glider, the drive mechanism comprises

The two first sliding parts are arranged in the transition bin, driven by the first driving assembly and can move back and forth in a direction perpendicular to the axis of the machine body, wherein the two first sliding parts are close to or far away from each other; one ends, far away from each other, of the two first sliding pieces are hinged to the first ends of the two gliding wings respectively;

when any one first sliding piece slides, axial thrust is applied to the first end, so that the corresponding gliding wings are driven to rotate around the first hinge shafts on the transition bin in a linkage manner; in a first state, the locking mechanism applies the locking force to the first drive assembly.

Optionally, the underwater glider as described above, the first drive assembly comprising

The second sliding part is arranged in the transition bin;

the driver is used for driving the second sliding piece to perform reciprocating linear sliding along the axis direction of the machine body;

the first sliding rail extends along the sliding direction of the first sliding part and is arranged on the second sliding part; the two first sliding parts are slidably arranged on the first sliding rails;

any first extending part of the first sliding part extending out of the first sliding rail is rotatably arranged on the corresponding first end; in a first state, the locking mechanism applies the locking force to the second slider.

Optionally, in the above-mentioned underwater glider, the driver includes a first rotating electrical machine disposed in the transition bin, and a gear fixed to a rotating shaft of the first rotating electrical machine, a rack is disposed on a side wall of the second sliding member, and the rack of the second sliding member is engaged with the gear.

Optionally, in the above-mentioned underwater glider, the first driving assembly further includes a second slide rail disposed in the transition bin and extending along a sliding direction of the second sliding member, and the second sliding member is slidably disposed on the second slide rail.

Optionally, the above underwater glider, the locking mechanism comprises

A brake block disposed facing a side surface of the second slider; the brake block is driven by a second driving component and can reciprocate towards one side surface close to or far away from the second sliding piece;

in a first state, the brake shoe is tightly abutted on the second slider, and a static friction force is applied to the second slider as the locking force; in a second state, the brake block is separated from the second slide;

and a tension spring which applies a continuous tension to the brake pad on a side away from the second slider so that the brake pad tends to be maintained in the second state.

Optionally, in the underwater glider described above, a notch groove extending in a sliding direction of the second slider is provided on a surface of the second slider facing the brake pad;

in a first state, the braking end of the brake block, which faces one side of the notch groove, is inserted into the notch groove, and the end surface of the braking end is tightly abutted against the bottom of the notch groove; in a second state, the braking end exits the notch groove.

Optionally, in the underwater glider, two groove walls of the notch groove are inclined first slope surfaces, so that the notch of the notch groove is flared in a direction from the groove bottom to the notch; second slope surfaces matched with the first slope surfaces are respectively arranged on two opposite side walls of the braking end;

the second driving component drives the brake block to reciprocate so as to drive the brake end to move into or out of the notch groove in a linkage manner.

Optionally, in the underwater glider, the second driving assembly includes a second rotating electrical machine disposed in the transition bin, and a cam fixed to a rotating shaft of the second rotating electrical machine, an outer peripheral wall surface of the cam is in fit abutment with the brake block, and the cam is driven by the second rotating electrical machine to rotate so as to drive the brake block to reciprocate;

the locking mechanism further comprises a third slide rail which is arranged on the bottom plate in the transition bin and extends along the sliding direction of the brake block; and the brake block is provided with a matching part, and the matching part is slidably arranged on the third slide rail.

Optionally, the underwater glider further comprises a bottom plate and a top plate arranged in the transition bin;

the gliders are rotatably arranged on the top plate and the bottom plate and clamped between the bottom plate and the top plate;

the top plate is provided with a yielding area; the locking mechanism and the driving mechanism are arranged on the bottom plate and distributed in the yielding area.

The technical scheme of the invention has the following advantages:

1. the invention provides an underwater glider which comprises a glider body, and a gravity center adjusting mechanism, a variable wing mechanism and a buoyancy adjusting mechanism which are sequentially arranged on the glider body; the variable wing mechanism comprises two gliding wings which are symmetrically distributed; the two gliders are respectively and rotatably arranged on the transition bin of the machine body through two hinges and can rotate relative to the axis of the machine body under the pushing of the driving mechanism; a first end of any one of the gliders is positioned in the transition bin, and a second end opposite to the first end extends out of the transition bin; the locking mechanism is arranged on the transition bin, can apply locking force to the glider to enable the glider to keep a first state of a fixed posture relative to the machine body, and can cancel the locking force to enable the glider to be in a rotatable second state.

The underwater glider with the structure is characterized in that a variable wing mechanism is arranged between a gravity center adjusting mechanism and a buoyancy adjusting mechanism, two gliders in the variable wing mechanism are rotatably arranged on a transition bin, a driving mechanism drives the gliders to rotate, so that the sweepback angle and the aspect ratio of the gliders are changed, and the wingspan area of the gliders is changed. After the glider rotates to a specific position, the glider is locked through the locking mechanism, so that the glider is kept fixed relative to the machine body. The underwater glider reduces the horizontal plane projection area in the folding state of the glider wings, is convenient for integral transportation, and reduces the difficulty of putting and recovering. The state that glider was expanded at the glide wing small-angle under water, the sweepback angle increases, and the aspect ratio reduces, and the resistance reduces, and lift grow and stress point move backward, increase glide angle can glide in narrow and small space, reduces the probability with the barrier collision. When the underwater glider is in a large-angle unfolding state of the gliding wing, the sweepback angle is reduced, the aspect ratio is increased, the resistance is increased, the lift force is reduced, the lift force stress point moves forwards, and the gliding angle and the gliding distance are increased.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.

Fig. 1 is a schematic structural view of an underwater glider provided in embodiment 1 of the present invention;

FIG. 2 is a schematic view of a portion of the underwater glider of FIG. 1 with the transition layer removed;

FIG. 3 is a schematic view of the structure of the glider and top plate, locking mechanism, drive mechanism and bottom plate of the underwater glider of FIG. 1;

FIG. 4 is an enlarged partial schematic view of FIG. 3;

FIG. 5 is a schematic structural view of the first sliding member shown in FIG. 3;

FIG. 6 is a schematic structural view of a second slider and a locking mechanism on a base plate;

fig. 7 is an exploded view of the second slider of fig. 6;

FIG. 8 is a schematic structural view of a brake shoe and a brake base of the locking mechanism of FIG. 3;

FIG. 9 is a schematic diagram of a second drive assembly of the locking mechanism of FIG. 3;

FIG. 10 is a schematic structural diagram of the first driving assembly of FIG. 3;

FIG. 11 is a schematic view of the top plate of FIG. 1;

FIG. 12 is a schematic structural view of the base plate of FIG. 1;

FIG. 13 is a schematic view of the glider of FIG. 1 with a portion of the housing removed;

description of reference numerals:

1-a fuselage; 11-a head; 12-a center of gravity adjustment bin; 13-a transition bin; 14-a buoyancy regulating bin; 15-tail; 16-beam axle;

2-a glider; 21-a first end; 22-a second end; 23-a first articulated shaft;

3-a center of gravity adjustment mechanism;

31-a top plate; 32-a bottom plate; 321-a first yield lane; 322-second yield lane; 33-a second slide rail; 34-a third slide rail;

4-a drive mechanism; 41-a first slide; 411 — first extension; 412-first connecting shaft; 413-connecting ring; 42-a second articulated shaft; 43-a second slide; 431-rack; 432-brake seat; 4321-a notch groove; 4322-first slope;

433-a support base; 44-a first rotating electrical machine; 45-gear; 46-a first slide rail;

5-a locking mechanism; 51-a brake pad; 511-second slope; 512-limit bump; 513 — a first step; 52-tension spring;

6-a second drive assembly; 61-a second rotating electrical machine; 62-a cam;

7-buoyancy regulating mechanism.

Detailed Description

The technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it should be understood that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

In addition, the technical features involved in the different embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.

Example 1

The embodiment provides an underwater glider, as shown in fig. 1 to 13, comprising a body 1, a gravity center adjusting mechanism 3, a variable wing mechanism and a buoyancy adjusting mechanism 7 which are arranged on the body in sequence; as shown in fig. 1, the fuselage 1 includes a head 11, a center-of-gravity adjustment cabin 12, a transition cabin 13, a buoyancy adjustment cabin 14, and a tail 15, which are sequentially disposed.

The variable wing mechanism comprises two gliders 2, a driving mechanism 4 and a locking mechanism 5. The two gliders 2 are symmetrically distributed, and the two gliders 2 are respectively and rotatably arranged on a transition bin of the machine body through two hinges and can rotate relative to the axis of the machine body 1 under the pushing of the driving mechanism 4; a first end 21 of any one of the gliders 2 is positioned in the transition bin 13, and a second end 22 opposite to the first end 21 extends out of the transition bin 13; the locking mechanism 5 is provided in the transition bin 13, and is capable of applying a locking force to the glider 2 to maintain the glider 2 in a fixed attitude with respect to the fuselage in a first state, and releasing the locking force to rotate the glider 2 in a second state.

The underwater glider with the structure is characterized in that a transition bin 13 is arranged between a gravity center adjusting bin 12 and a buoyancy adjusting bin 14, a variable wing mechanism is arranged between a gravity center adjusting mechanism 3 and a buoyancy adjusting mechanism 7, two gliders 2 in the variable wing mechanism are rotatably arranged on the transition bin 13, the driving mechanism 4 drives the gliders 2 to rotate, so that the sweepback angle and the aspect ratio of the gliders 2 are changed, and meanwhile, the wingspan area of the gliders 2 is changed. After the glider 2 is rotated to a specific position, the glider 2 is locked by a locking mechanism 5 so that the glider is fixed to the body. The underwater glider is in a folded state of the glider wings 2, so that the projection area of the horizontal plane is reduced, the whole transportation is facilitated, and the difficulty in putting and recovering is reduced. The state that glider was expanded at 2 low angles on the glide wing under water, the sweepback angle increases, and the aspect ratio reduces, and the resistance reduces, lift grow and stress point move backward, increase glide angle, can glide in narrow and small space, reduce the probability with the barrier collision. In the wide-angle unfolding state of the underwater glider on the glider wing 2, the sweepback angle is reduced, the aspect ratio is increased, the resistance is increased, the lift force is reduced, the lift force stress point moves forwards, the glide angle and the glide distance are increased, and the dynamic characteristic of the underwater glider is improved.

That is, the glider of the underwater glider of the embodiment has the deformable ability, and the occupied space in the transportation process can be effectively reduced without detaching the glider by folding the glider at both sides of the body, so that the transportation number of the underwater glider can be increased in the single transportation process, and the transportation efficiency can be improved; meanwhile, the angle of the glider wing relative to the axis of the airplane body is adjusted, the requirement for large size of a suspension arm and a hanging basket during throwing or recovering is reduced, the configuration of operators is reduced, the difficulty of throwing and recovering is reduced, and the throwing and recovering efficiency of the underwater glider is improved.

As shown in fig. 1, 2, 3 and 4, a top plate 31 and a bottom plate 32 are arranged in the transition bin 13, two gliders 2 are clamped between the top plate 31 and the bottom plate 32, each glider 2 is provided with a first hinge shaft 23, and the first hinge shafts 23 are arranged on the top plate 31 and the bottom plate 32 in a penetrating way, so that the gliders 2 are hinged with the top plate 31 and the bottom plate 32. The transition bin 13 comprises a first shell and a second shell which are buckled oppositely, the first hinge shaft 23 is positioned outside the transition bin 13, the top plate 31 and the bottom plate 32 are fixedly connected through a fastener, for example, the fastener is a screw or a screw, or a matching structure of a bolt and a nut, when the first shell and the second shell are buckled, the bottom plate 32 and the top plate 31 are clamped between the first shell and the second shell, and the glide wing is clamped between the top plate and the bottom plate, so that the glide wing 2 can be rotatably arranged on the transition bin 13.

Preferably, as shown in fig. 3 and 11, the middle part of the top plate 31 is provided with an abdicating area, the driving mechanism 4 and the locking mechanism 5 are both arranged on the bottom plate 32 and distributed in the abdicating area, and both the driving mechanism 4 and the locking mechanism 5 for driving the glider to rotate are hidden in the transition bin, so that the original streamline of the fuselage is maintained.

The two gliders 2 can be driven by a drive mechanism 4 to rotate synchronously. In order to make the structure inside the transition bin 13 compact, it is preferable that the two gliders 2 are driven to rotate synchronously by the same driving mechanism 4.

As shown in fig. 4, the driving mechanism 4 is one, and the driving mechanism 4 includes two first sliders 41 and a first driving assembly. The two first sliding parts 41 are arranged on the bottom plate 32 in the transition bin 13 and driven by the first driving component to perform reciprocating linear movement which is close to or far away from each other along the direction vertical to the axis of the machine body 1; the ends of the two first sliding members 41 remote from each other are hinged to the first ends 21 of the two gliders 2, respectively. For example, a second hinge shaft 42 is provided on the first end 21 of each of the gliders 2, and one end of the first slider 41 is hinged to the second hinge shaft 42 on the first end 21 of the respective glider 2.

In the driving mechanism 4 with this structure, when the first driving assembly drives the two first sliding members 41 to slide, the first sliding members 41 apply axial thrust to the first ends 21 of the corresponding gliders 2, for example, as shown in fig. 4, when the two first sliding members 41 slide away from each other, the left first sliding member 41 slides towards the left, and applies counterclockwise thrust to the first end 21 of the left glider 2 (abbreviated as the first glider 2) so as to drive the first glider 2 to rotate counterclockwise around its own first hinge shaft 23 in an interlocking manner; the right first slider 41 slides to the right, and applies a clockwise thrust to the first end 21 of the right glide wing 2 (abbreviated as the second glide wing 2) to link and drive the second glide wing 2 to rotate clockwise around its first hinge shaft 23. On the contrary, when the two first sliding parts 41 slide close to each other, the first sliding part 41 on the left side is linked to drive the first gliding wing 2 to rotate clockwise, and the first sliding part 41 on the right side drives the second gliding wing 2 to rotate anticlockwise, so that the two gliding wings 2 are synchronously close to or far away from the axis of the fuselage 1 towards the axis of the fuselage 1, and the wingspan area of the gliding wings 2 is changed.

As for the first driving assembly, preferably, as shown in fig. 4 and 10, the first driving assembly includes a second slider 43, a first driver, and a first slide rail 46; the second sliding part 43 is arranged on the bottom plate 32 in the transition bin 13; the first driver is arranged on the bottom plate 32 and used for driving the second sliding piece 43 to do reciprocating linear sliding along the axial direction of the machine body 1; the first slide rail 46 extends in the sliding direction of the first slider 41 and is provided on the second slider 43; the two first sliding parts 41 are slidably arranged on the first sliding rails 46; the first extending portions 411 of any one of the first sliding members 41 extending out of the first sliding rails 46 are rotatably disposed on the corresponding first ends 21; in the first state, the locking mechanism 5 applies a locking force to the second slider 43.

For example, the first driver is an air cylinder or other driver capable of performing telescopic motion, and since the two first sliding members 41 are slidably disposed on the first sliding rail 46, the first sliding rail 46 guides the sliding of the two first sliding members 41; meanwhile, the first sliding rail 46 is fixed on the second sliding member 43, and when the second sliding member 43 performs reciprocating linear sliding along the axis of the machine body 1, the first sliding rail 46 is driven to perform reciprocating linear sliding along the axis of the machine body 1 synchronously, so that the two first sliding members 41 are forced to perform linear movement along the axis of the machine body 1 synchronously along with the first sliding rail 46 while sliding on the first sliding rail 46.

That is, each first sliding member 41 has a first motion component in a direction perpendicular to the axis of the fuselage 1 and a second motion component in a direction along the axis of the fuselage 1, and the first sliding members 41 exert an axial thrust on the first ends 21 of the respective gliders 2 under the combination of the first motion component and the second motion component, and the first sliding members rotate around the second hinge shafts 42 to rotate the respective gliders 2 around their first hinge shafts 23 and revolve around the first hinge shafts 23, thereby synchronously rotating the two gliders 2 by one driving mechanism 4.

Further preferably, as shown in fig. 5, in order to facilitate the connection between the first extension 411 of the first slider 41 and the second hinge shaft 42 of the corresponding glider, the first extension 411 and the main body of the first slider 41 are vertically distributed, and a first connecting shaft 412 parallel to the main body is disposed on the first extension 411, one end of the first connecting shaft 412 is inserted and fixed on the first extension 411, and the other end is disposed with a connecting ring 413, and is sleeved on the second hinge shaft 42 through the connecting ring 413, so as to realize the rotatable connection between the first slider 41 and the second hinge shaft 42.

Of course, as a variation, the above-mentioned first connecting shaft 412 and connecting ring 413 may not be provided, and the first extension 411 may be directly rotatably fitted over the second hinge shaft 42.

As for the first driver, preferably, as shown in fig. 10, the first driver includes a first rotating motor 44 provided in the transition bin 13, a gear 45 fixed on a rotating shaft of the first rotating motor 44, and a rack 431 provided on a side wall of the second slider 43, the rack 431 being engaged with the gear 45. When the first rotating motor 44 rotates, the gear 45 is driven to rotate so as to drive the rack 431 fixed on the second sliding member 43 to move, so as to drive the second sliding member 43 to linearly slide in a reciprocating manner along the axial direction of the machine body 1.

Further preferably, as shown in fig. 12, a second abdicating channel 322 is provided on the bottom plate 32, the first rotating electric machine 44 is fixedly provided on the bottom of the bottom plate 32, the rotating shaft of the first rotating electric machine 44 is inserted into the inner hole of the gear 45 through the second abdicating channel 322, the gear 45 is located above the bottom plate 32, the second sliding member 43 is provided on the top surface of the bottom plate 32, and the gear 45 is engaged with the rack 431 of the second sliding member 43, so that the driving mechanisms 4 are compactly distributed on the bottom plate 32.

More preferably, a second slide rail 33 extending along the sliding direction of the second sliding member 43 is disposed on the top surface of the bottom plate 32, the second sliding member 43 is slidably disposed on the second slide rail 33, and the second slide rail 33 guides the sliding of the second sliding member 43.

As shown in fig. 6 and 7, the second sliding member 43 includes at least one sliding block in addition to the rack 431, the rack 431 is fixed on one side end of the sliding block, the other side end of the sliding block is provided with a brake base 432, a support base 433 is arranged on the top of the sliding block, the brake base 432 and the rack 431, and the first sliding rail 46 is fixed on the support base 433.

For example, the support base 433 is shaped like a Chinese character 'jing', a vertical part shaped like a Chinese character 'jing' is along the axial direction of the body 1, a horizontal part shaped like a Chinese character 'jing' is along the axial direction perpendicular to the body 1, and the first slide rail 46 is fixed to the horizontal part shaped like a Chinese character 'jing'. Certainly, the supporting seat 433 may also be in a cross shape or a straight shape, when the supporting seat 433 is in a straight shape, the first sliding rail 46 is fixed on the supporting seat 433, and a portion of the first sliding rail 46 extending out of the supporting seat 433 is suspended and distributed in the transition bin 13.

Or, the supporting base 433 may not be provided, and the length of the slider may be directly extended, so that the first slide rail 46 is fixed to the slider.

In the first state of the locking mechanism 5, the locking mechanism 5 applies a locking force to the brake shoe 432 of the second slider 43; in the second state, the locking mechanism 5 releases the locking force.

Specifically, as shown in fig. 6, 8 and 9, the locking mechanism 5 includes a brake block 51, a tension spring and the second driving assembly 6. Wherein the brake block 51 is disposed facing one side surface of the second slider 43; the brake block 51 is driven by the second driving assembly 6 to reciprocate toward a side surface close to or far away from the second slider 43; in the first state, the braking end of the brake shoe 51 is in close contact with the second slider 43, and the brake shoe 51 applies a static friction force as a locking force to the second slider 43; in the second state, the brake block 51 is separated from the second slider 43; the tension spring applies a continuous pulling force to the brake shoe 51 on the side away from the second slider 43, so that the brake shoe 51 tends to be held in the second state.

When the glider wing 2 rotates to the proper position and the locking mechanism 5 is required to limit the rotation of the glider wing 2, the second driving member 6 applies a driving force to the brake block 51, and after overcoming the continuous tension of the tension spring, the brake block 51 is driven to slide toward the second slider 43, the braking end of the brake block 51 is tightly abutted against one side surface of the second slider 43, for example, the braking end is abutted against one side surface of the brake base 432, the static friction between the brake block 51 and the second slider 43 is used as a locking force to limit the static sliding of the second slider 43, and the first slider 41 cannot be driven to drive the glider wing 2 to rotate, thereby realizing the function of limiting the rotation of the glider wing 2 to the proper position. When it is necessary to release the rotation restriction of the glider 2, and conversely, the second driving unit 6 removes the driving force of the second slider 43, the brake pad 51 is driven to move away from the brake base 432 by the continuous tension of the tension spring, and is separated from the brake base 432, so that the support brake pad 51 and the second slider 43 are kept separated to be in the second state, and the rotation restriction of the glider 2 is released. Through the locking mechanism 5 of static friction force, the deformable glider wing realizes electrodeless self-locking in the variable stroke.

Preferably, as shown in fig. 8, a side surface of the second slider 43 facing the brake pad 51 is provided with a slit groove 4321 extending in a sliding direction thereof; namely, the notch groove 4321 is formed on the surface of the brake base 432 facing the brake block 51, and in the first state, the braking end of the brake block 51 is inserted into the notch groove 4321, and the end surface of the braking end is tightly abutted against the groove bottom of the notch groove 4321, so that the static friction force of the braking end on the groove bottom of the notch groove 4321 is further ensured, and the braking effect is achieved; in the second state, the braking end exits the notch 4321.

Further preferably, two groove walls of the notch groove 4321 are inclined first slope surfaces 4322, so that the notch of the notch groove 4321 flares in a direction from the groove bottom to the notch; two opposite side walls of the braking end are respectively provided with a second slope surface 511 matched with the first slope surface 4322; the bottom plate 32 is provided with a first abdicating channel 321, and the second driving component 6 is arranged on the bottom plate 32 and moves in the first abdicating channel 321 to drive the brake block 51 to reciprocate, so as to drive the brake end to move into or out of the notch 4321 in a linkage manner.

Because the first slope surface 4322 and the second slope surface 511 are inclined surfaces, when the second driving assembly 6 moves upwards, the second slope surface 511 of the driving brake block 51 slides upwards along the surface of the first slope surface 4322, so that the braking end extends into the notch groove 4321; conversely, when the second driving member 6 moves downward and the upward driving force to the brake block 51 is removed, the brake block 51 is pulled to slide downward along the first slope 4322 under the biasing force of the tension spring, so that the braking end is withdrawn from the notch 4321.

As shown in fig. 6, a first fixing column is disposed on the top of the brake pad 51, a second fixing column is disposed on the bottom plate 32, and two ends of the tension spring 52 are respectively fixed on the first fixing column and the second fixing column. When the second driving unit 6 drives the brake pad 51 to move toward the brake base 432, the tension spring 52 is charged with energy in a tensile manner, and when the second driving unit 6 cancels the driving force to the brake pad 51, the tension spring 52 releases the energy to move the brake pad 51 away from the brake base 432, thereby resetting the brake pad 51.

As for the second driving assembly 6, as shown in fig. 9, the second driving assembly 6 includes a second rotating motor 61 disposed on the bottom of the bottom plate 32, and a cam 62 fixed on the rotating shaft of the second rotating motor 61, the outer peripheral wall of the cam 62 is in fit abutment with the brake block 51, and the cam 62 is driven by the second rotating motor 61 to rotate in the second escape channel 322 to drive the brake block 51 to make the above-mentioned reciprocating motion.

As a modification of the second driving assembly 6, the second driving assembly 6 may also be a cylinder, and a telescopic shaft of the cylinder passes through the second abdicating channel 322 and then abuts against the brake block 51.

As shown in fig. 9, the brake pad 51 is further provided with a first step 513, and the first fixing column is fixed on a step surface of the first step 513, so as to facilitate the installation of the first fixing column. Preferably, the bottom of the brake pad 51 is provided with a limiting protrusion 512 protruding downwards, the limiting protrusion 512 is located between the cam 62 and the brake base 432, and when the braking end of the brake pad 51 extends into the notch groove 4321, the limiting protrusion 512 abuts against the notch of the notch groove 4321 of the brake base 432; on the contrary, when the second rotating electrical machine 61 continues to rotate, after the protruding portion of the cam goes beyond the highest point, the upward driving force applied to the brake block 51 is cancelled, at this time, under the action of the tension spring 52, the brake block 51 is reset, and when the limit protrusion 512 abuts against the side wall of the cam, the brake block 51 is reset to the right position, so that the setting of the limit protrusion 512 plays a role in limiting the movement stroke of the brake block 51 extending into or exiting from the notch 4321.

As shown in fig. 6, a third slide rail 34 extending in the sliding direction of the brake block 51 is further provided on the bottom plate 32; the brake block 51 is provided with a matching part which is slidably arranged on the third slide rail 34 and plays a role in guiding the sliding of the brake block 51, so that the brake end of the brake block 51 can be accurately inserted into the notch groove 4321 or withdrawn from the notch groove 4321.

As a modification, the locking mechanism 5 may also have other structures, and the self-locking is achieved without using static friction force, for example, the locking mechanism 5 includes a locking block and a cylinder for driving the locking block to perform telescopic motion, when the glider wing rotates in place, the locking block performs extension motion to be directly locked on the sliding path of the second sliding member, and locking force is applied to the second sliding member to limit the sliding of the second sliding member. Through setting up two latch segments, latch segment of butt respectively on the front end of second slider and end, under two latch segments cooperations, will restrict the slip of second slider. Of course, the locking block may directly act on the first slider to apply a locking force to the first slider to achieve a locking action on the first slider, or may also directly act on the glider to apply a locking force to the glider on its rotational path to restrain the glider on the fuselage.

As shown in fig. 1, the fuselage 1 further comprises a head 11 and a tail 15, the center of gravity adjusting bin 12 is arranged between the head 11 and the transition bin 13, and the buoyancy adjusting bin 14 is arranged between the transition bin 13 and the tail 15, so that the fuselage 1 is a revolving body as a whole, and the locking mechanism 5 and the driving mechanism 4 are both arranged in the transition bin 13, thereby realizing the function of the rotary deformation of the glider 2 and ensuring the streamline of the revolving body of the fuselage 1 as a whole.

As shown in fig. 13, the gravity center adjusting mechanism 3 in the underwater glider is arranged in the gravity center adjusting bin 12, the buoyancy adjusting mechanism 7 is arranged in the buoyancy adjusting bin 14, and the gravity center adjusting mechanism and the buoyancy adjusting mechanism 7 are both of the existing structures and will not be described again.

As for the connection mode of the center of gravity adjusting bin 12, the transition bin 13 and the buoyancy adjusting bin 14, as shown in fig. 2, a beam shaft 16 coaxial with the axis of the fuselage 1 is disposed between the center of gravity adjusting bin 12 and the buoyancy adjusting bin 14 to connect the center of gravity adjusting bin 12 and the buoyancy adjusting bin 14, two ends of the first shell and the second shell of the transition bin 13 are detachably disposed on the center of gravity adjusting bin 12 and the buoyancy adjusting bin 14, respectively, and the beam shaft 16 is inserted in the axial direction of the transition bin 13.

In addition, the underwater glider further comprises a controller, the controller is electrically connected with the first rotating motor 44 and the second rotating motor 61, and the controller controls whether the first rotating motor 44 rotates and the rotating speed and the rotating angle of the glider 2 according to the requirement of the glider 2; the controller controls whether the second rotary electric machine 61 is rotated and the speed of rotation according to whether the glider 2 is rotated in place, thereby functioning as the locking mechanism 5. Furthermore, a sensor for detecting whether an obstacle exists is arranged in the glider 2 or the buoyancy bin, and the controller can also control whether the glider 2 rotates and the rotating angle according to a detection signal of the sensor so as to adjust the wingspan area of the glider 2 when the glider slides underwater, so that the glider has certain impact buffering capacity, the impact probability is reduced, and the capacity of self-recovering the angle of the glider is improved.

The working process of the angle adjustment of the underwater glider is described by taking the best embodiment as an example:

the variable glider 2 mechanism operates such that the glider 2 rotates around the first hinge axis 23, the rotation angle is the included angle between the horizontal plane and the axis of the fuselage 1, the included angle varies within the range of 0-90 degrees, such as 0 degree, 30 degree, 60 degree and 90 degree, and the specific rotation angle is determined according to the requirement.

Angular motion of the glider 2 required to rotate: the underwater first rotating motor 44 drives the gear 45 to rotate, the gear 45 is meshed with the rack 431 on the second sliding part 43, and the gear 45 rotates to drive the second sliding part 43 to do linear motion along the axial direction of the machine body 1. A first slide rail 46 perpendicular to the axis of the body 1 is fixed to the second slide member 43. The linear sliding of the second sliding member 43 is converted into the linear movement of the first sliding member 41 on the first sliding rail 46, the first sliding member 41 applies a thrust to the second hinge shaft 42, the first sliding member 41 rotates around the second hinge shaft 42 and revolves around the first hinge shaft 23, and under the thrust, the glider 2 rotates around the first hinge shaft, so that the rotation of the glider 2 is realized. Wherein, the second articulated shaft 42 is a movable articulated shaft, and connects the gliding wing 2 and the first sliding part 41, the second articulated shaft 42 rotates around the first articulated shaft 23, the first articulated shaft 23 is fixed on the top plate 31 and the bottom plate 32, and connects the gliding wing 2 with the top plate 31 and the bottom plate 32.

The variable glider 2 mechanism is provided with a lock mechanism 5 for locking the position of the brake block 51 with respect to the body 1 so that the glider 2 is maintained at a predetermined angle with respect to the body. The operation of the locking mechanism 5 is as follows. The underwater second rotating motor 61 rotates to drive the cam to rotate, the cam rotates to push the brake block 51 to the position where the stroke of the brake block 51 in the direction perpendicular to the axis of the body 1 is maximum, the braking end of the brake block 51 is inserted into the notch 4321 of the brake base 432 to be pressed on the second sliding part 43, static friction force is generated to block the free sliding of the second sliding part 43, and therefore self-locking is achieved. When the self-locking is not performed, the second rotating motor 61 drives the cam to rotate, the maximum stroke of the cam is exceeded, the tension spring 52 pulls the brake block 51 to the minimum stroke in the direction vertical to the axis of the body 1, a gap is generated between the brake block 51 and the groove bottom of the notch groove 4321 of the second slider 43, and the first slider 41 can slide freely to drive the glider 2 to rotate.

It should be understood that the above examples are only for clarity of illustration and are not intended to limit the embodiments. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. And obvious variations or modifications therefrom are within the scope of the invention.

Claims (10)

1. An underwater glider is characterized by comprising

The aircraft comprises an aircraft body (1), and a gravity center adjusting mechanism (3), a variable wing mechanism and a buoyancy adjusting mechanism (7) which are arranged on the aircraft body in sequence;

the variable wing mechanism comprises two gliders (2) which are symmetrically distributed; the two gliders (2) are respectively and rotatably arranged on the transition bin of the fuselage through two hinges and can rotate relative to the axis of the fuselage (1) under the pushing of the driving mechanism (4); a first end (21) of any one of the gliders (2) is positioned in the transition bin (13), and a second end (22) opposite to the first end (21) extends out of the transition bin (13);

and the locking mechanism (5) is arranged on the transition bin (13) and can apply locking force to the glider (2) to ensure that the glider (2) is in a first state of keeping a fixed posture relative to the machine body and the glider (2) is in a rotatable second state by releasing the locking force.

2. An underwater glider according to claim 1, characterized in that the drive mechanism (4) comprises

The two first sliding pieces (41) are arranged in the transition bin (13), driven by the first driving assembly and can do reciprocating linear movement close to or far away from each other along the direction vertical to the axis of the machine body (1); one ends of the two first sliding pieces (41) which are far away from each other are respectively hinged on the first ends (21) of the two gliders (2);

when any one first sliding piece (41) slides, axial thrust is applied to the first end (21) to drive the corresponding glider wing (2) to rotate around a first hinge shaft on the transition bin (13) in a linkage manner; in a first state, the locking mechanism (5) applies the locking force to the first drive assembly.

3. The underwater glider of claim 2 wherein the first drive assembly comprises

A second slider (43) arranged in the transition bin (13);

the driver is used for driving the second sliding piece (43) to do reciprocating linear sliding along the axial direction of the machine body (1);

a first slide rail (46) extending in the sliding direction of the first slider (41) and provided on the second slider (43); the two first sliding parts (41) are arranged on the first sliding rail (46) in a sliding manner;

a first extending part of any first sliding part (41) extending out of the first sliding rail (46) is rotatably arranged on the corresponding first end (21); in a first state, the locking mechanism (5) exerts the locking force on the second slider (43).

4. An underwater glider according to claim 3, characterized in that the driver comprises a first rotating motor (44) arranged in the transition bin (13), a gear (45) fixed to a rotating shaft of the first rotating motor (44), a rack (431) provided on a side wall of the second slider (43), the rack (431) of the second slider (43) being arranged to mesh with the gear (45).

5. Underwater glider according to claim 3 or 4, characterized in that the first drive assembly further comprises a second slide rail (33) provided within the transition bin (13) extending in the sliding direction of a second slide (43), the second slide (43) being slidably provided on the second slide rail (33).

6. Underwater glider according to claim 3 or 4, characterized in that the locking mechanism (5) comprises

A brake block (51) provided facing one side surface of the second slider (43); the brake block (51) is driven by a second driving assembly (6) and can move back and forth towards one side surface close to or far away from the second sliding piece (43);

in the first state, the brake block (51) is tightly abutted on the second sliding piece (43), and static friction force is applied to the second sliding piece (43) and is used as the locking force; in a second state, the brake block (51) is separated from the second slider (43);

and a tension spring (52) which applies a continuous tension to the brake block (51) on the side away from the second slider (43) to tend to keep the brake block (51) in the second state.

7. Submarine glider according to claim 6, characterized in that the surface of the second slider (43) on the side facing the brake pads (51) is provided with a slit groove (4321) extending in the sliding direction thereof;

in a first state, the braking end of the brake block (51) facing one side of the notch groove (4321) is inserted into the notch groove (4321), and the end surface of the braking end is tightly abutted against the groove bottom of the notch groove (4321); in a second state, the detent end exits the notch groove (4321).

8. The underwater glider according to claim 7, characterized in that both groove walls of the breach groove (4321) present a first sloping surface (4322) inclined such that the notch of the breach groove (4321) is flared in the direction of groove bottom towards notch; two opposite side walls of the braking end are respectively provided with a second slope surface (511) matched with the first slope surface (4322);

the second driving component (6) drives the brake block (51) to move in a reciprocating mode so as to drive the brake end to move into or out of the notch groove (4321) in a linkage mode.

9. The underwater glider according to claim 8, wherein the second driving assembly (6) comprises a second rotating motor (61) arranged in the transition bin, and a cam (62) fixed on a rotating shaft of the second rotating motor (61), wherein the outer peripheral wall surface of the cam is in fit abutment with the brake block, and the cam (62) is driven by the second rotating motor (61) to rotate so as to drive the brake block (51) to reciprocate;

the locking mechanism (5) further comprises a third sliding rail (34) which is arranged on a bottom plate (32) in the transition bin and extends along the sliding direction of the brake block (51); the brake block (51) is provided with a matching part, and the matching part is slidably arranged on the third slide rail (34).

10. An underwater glider according to any of claims 2-4, further comprising a bottom plate (32) and a top plate (31) provided within the transition bin (13);

the gliders are rotatably arranged on the top plate (31) and the bottom plate (32) and clamped between the bottom plate (32) and the top plate (31);

the top plate (31) is provided with a yielding area; the locking mechanism (5) and the driving mechanism (4) are arranged on the bottom plate (32) and distributed in the yielding area.

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