CN115071922B - Buoyancy range-increasing underwater vehicle and application method thereof - Google Patents
Buoyancy range-increasing underwater vehicle and application method thereof Download PDFInfo
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- CN115071922B CN115071922B CN202210746646.9A CN202210746646A CN115071922B CN 115071922 B CN115071922 B CN 115071922B CN 202210746646 A CN202210746646 A CN 202210746646A CN 115071922 B CN115071922 B CN 115071922B
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- buoyancy
- underwater vehicle
- driving device
- control system
- side plate
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- 238000000034 method Methods 0.000 title claims abstract description 9
- 230000006835 compression Effects 0.000 claims description 10
- 238000007906 compression Methods 0.000 claims description 10
- 239000002775 capsule Substances 0.000 claims description 9
- 239000012530 fluid Substances 0.000 claims description 8
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 5
- 230000001276 controlling effect Effects 0.000 claims description 3
- 238000007599 discharging Methods 0.000 claims description 3
- 230000005484 gravity Effects 0.000 claims description 3
- 230000001105 regulatory effect Effects 0.000 claims description 3
- 230000005611 electricity Effects 0.000 claims description 2
- 230000003116 impacting effect Effects 0.000 description 3
- 238000013461 design Methods 0.000 description 2
- 238000005265 energy consumption Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000006467 substitution reaction Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 125000003003 spiro group Chemical group 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
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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
Abstract
The invention relates to the technical field of underwater vehicles, in particular to a buoyancy extended range type underwater vehicle and a use method thereof, wherein the buoyancy extended range type underwater vehicle comprises a control system, an underwater vehicle body, a buoyancy driving device and a locking mechanism for locking the buoyancy driving device, the locking mechanism is fixedly connected to the vehicle body, the control system is electrically connected with the locking mechanism, and the control system controls the locking mechanism to lock or release the buoyancy driving device; when the buoyancy driving device is used, the buoyancy driving device connected to the underwater vehicle body can increase the range of the underwater vehicle body, when the buoyancy driving device drives the underwater vehicle body to reach the vicinity of a target object, the control system controls the locking mechanism to release the buoyancy driving device, the buoyancy driving device is separated from the underwater vehicle body, and the influence of the buoyancy driving device on the running speed of the underwater vehicle body before the underwater vehicle body impacts the target object is avoided.
Description
Technical Field
The invention relates to the technical field of underwater vehicles, in particular to a buoyancy range-increasing underwater vehicle and a use method thereof.
Background
The underwater vehicle is a vehicle which sails under water, ocean resource development is increasingly important, the underwater vehicle is valued by various countries, the common underwater vehicle is provided with an autonomous underwater vehicle and a torpedo, and the autonomous underwater vehicle can be used for anti-submarine combat, water mine combat, reconnaissance and monitoring and logistical support in military; torpedo is mainly used for military attack on hostile targets. The remote attack capability of the underwater vehicle is an important parameter for measuring the performance quality of the underwater vehicle, however, the autonomous underwater vehicle and the torpedo have limited cruising capability by means of a self-contained driving device, and are difficult to meet the remote cruising requirement.
The buoyancy driving principle is applied to the design of the underwater vehicle, so that the energy consumption can be greatly reduced, the cruising ability is improved, and the most successful design case for improving the cruising ability of the upper and lower vehicles by utilizing the buoyancy driving principle is an underwater glider. The underwater glider adopts a buoyancy driving system to provide a driving force for floating or sinking, and can realize thousands of kilometers of continuous sailing by utilizing the low energy consumption characteristic of buoyancy driving.
However, when the buoyancy driving device on the glider is applied to the autonomous underwater vehicle or the torpedo, although the range of the autonomous underwater vehicle or the torpedo can be increased, the buoyancy driving device can reduce the running speed of the autonomous underwater vehicle or the torpedo before impacting the target object, so that the attack force of the autonomous underwater vehicle or the torpedo is weakened and even intercepted by an adversary in advance.
Disclosure of Invention
The technical problems to be solved by the invention are as follows: when the buoyancy driving device of the existing glider is applied to an autonomous underwater vehicle or a torpedo, the running speed of the underwater vehicle or the torpedo before impacting a target object is difficult to ensure under the premise of ensuring the cruising ability.
In order to solve the technical problems, the invention aims to provide a buoyancy extended range type underwater vehicle, which comprises a control system, an underwater vehicle body, a buoyancy driving device and a locking mechanism for locking the buoyancy driving device, wherein the locking mechanism is fixedly connected to the vehicle body, the control system is electrically connected with the locking mechanism, and the control system controls the locking mechanism to lock or release the buoyancy driving device.
As a preferable scheme, the locking mechanism comprises a connecting piece, wherein the lower end of the connecting piece is fixedly connected to the aircraft body, the upper end of the connecting piece is provided with a first groove, the buoyancy driving device is fixedly connected with a lug, and the lug is inserted into the first groove;
the side wall of the first groove is penetrated with a lock pin, one side of the bump opposite to the lock pin is provided with a jack, the first end of the lock pin penetrates out of the side wall of the first groove and is inserted into the jack, the second end of the lock pin is connected with a telescopic driving device for driving the first end of the lock pin to retract into the side wall of the first groove, and the telescopic driving device is electrically connected with the control system.
Preferably, an elastic compression member is disposed in the first groove, one end of the elastic compression member abuts against the bottom wall of the first groove, and the other end of the elastic compression member abuts against the end face of the end, away from the buoyancy driving device, of the protruding block.
Preferably, the buoyancy driving device comprises a buoyancy adjusting device and a horizontal wing arranged on the buoyancy adjusting device, and the horizontal wing is positioned at the rear side of the gravity center of the buoyancy extended range underwater vehicle.
Preferably, the horizontal wing comprises a center plate, a left side plate inserted at the left side of the center plate and a right side plate inserted at the right side of the center plate; the middle part of the lower end of the central plate is fixedly connected to the buoyancy regulating device, the central plate is provided with a hollow cavity, a first telescopic driving mechanism and a second telescopic driving mechanism are fixed in the hollow cavity, and the first telescopic driving mechanism and the second telescopic driving mechanism are electrically connected with the control system; one end of the left side plate positioned in the center plate is connected with the output end of the first telescopic driving mechanism, and one end of the right side plate positioned in the center plate is connected with the output end of the second telescopic driving mechanism.
As a preferred scheme, the first telescopic driving mechanism comprises a first motor fixedly connected in the hollow cavity, a first screw rod extending leftwards is connected to an output shaft of the first motor in a rotation stopping way, a second groove with an opening facing right is formed in one end of the left side plate, which is positioned in the central plate, a first nut is fixedly connected to an opening of the second groove, and the first nut is in threaded connection with the first screw rod;
the second telescopic driving mechanism comprises a second motor fixedly connected in the hollow cavity, an output shaft of the second motor is connected with a second screw rod extending rightwards in a rotation stopping way, one end of the right side plate positioned in the central plate is provided with a third groove with an opening facing leftwards, the opening of the third groove is fixedly connected with a second nut, and the second nut is in threaded connection with the second screw rod;
the first motor and the second motor are electrically connected with the control system.
Preferably, the buoyancy adjusting device comprises a shell and a bag body fixedly connected to the outer side of the shell, a power mechanism for filling or discharging fluid into or from the bag body is arranged in the shell, the density of the fluid is smaller than that of water, and the power mechanism is electrically connected with the control system.
As the preferred scheme, the inner chamber of casing is the column, the first end of inner chamber be equipped with the opening of bag body intercommunication, the middle part sliding connection of inner chamber has the piston, the second end of inner chamber is fixed with the third motor, the third motor with control system electricity is connected, the output shaft of third motor ends to change and is connected with the third screw rod, third screw rod spiro union has the third nut, the third nut with piston fixed connection.
The application method of the buoyancy extended range underwater vehicle comprises the following steps:
step S1, connecting a buoyancy driving device on an underwater vehicle body through a locking mechanism;
s2, conveying the underwater vehicle body to the vicinity of a target object through the buoyancy driving device;
and S3, controlling the locking mechanism to release the buoyancy driving device through the control system, and driving the underwater vehicle body to rapidly attack the target object by using the driving device of the underwater vehicle body.
In the step S2, the vertical inclination angle of the buoyancy extended range underwater vehicle is adjusted by adjusting the lengths of the left side plate and the right side plate extending out of the central plate; and adjusting the transverse inclination angle of the buoyancy extended-range underwater vehicle by adjusting the difference value between the length of the left side plate extending out of the central plate and the length of the right side plate extending out of the central plate.
Compared with the prior art, the invention has the beneficial effects that:
the buoyancy extended range type underwater vehicle comprises a control system, an underwater vehicle body, a buoyancy driving device and a locking mechanism for locking the buoyancy driving device, wherein the locking mechanism is fixedly connected to the vehicle body, the control system is electrically connected with the locking mechanism, and the control system controls the locking mechanism to lock or release the buoyancy driving device; when the buoyancy driving device is used, the buoyancy driving device connected to the underwater vehicle body can increase the range of the underwater vehicle body, and when the buoyancy driving device drives the underwater vehicle body to reach the vicinity of a target object, the control system controls the locking mechanism to release the buoyancy driving device, and the buoyancy driving device is separated from the underwater vehicle body, so that the influence of the buoyancy driving device on the running speed of the underwater vehicle body before the underwater vehicle body impacts the target object is avoided; therefore, the buoyancy extended range type underwater vehicle can ensure the running speed of the underwater vehicle or the torpedo before impacting the target object on the premise of ensuring the cruising ability.
Drawings
FIG. 1 is a schematic view of a buoyancy driven device mounted on an underwater vehicle body;
FIG. 2 is a schematic view of the buoyancy drive device separated from the underwater vehicle body;
FIG. 3 is an enlarged view of a portion of FIG. 2 at A;
FIG. 4 is a cross-sectional view of the horizontal fin with the left and right side panels in a contracted state;
FIG. 5 is a cross-sectional view of the horizontal fin with the left and right side panels in an extended state;
FIG. 6 is a schematic structural view of a buoyancy adjustment device;
in the figure, 1, an underwater vehicle body; 2. a buoyancy driving device; 21. buoyancy adjusting device; 211. a housing; 212. a bladder; 213. a piston; 214. a third motor; 215. a third screw; 216. a third nut; 22. a horizontal wing; 221. a center plate; 222. a left side plate; 2221. a second groove; 223. a right side plate; 2231. a third groove; 224. a first telescopic drive mechanism; 2241. a first motor; 2242. a first screw; 2243. a first nut; 225. a second telescopic driving mechanism; 2251. a second motor; 2252. a second screw; 2253. a second nut; the method comprises the steps of carrying out a first treatment on the surface of the 3. A latch mechanism; 31. a connecting piece; 311. a first groove; 32. a bump; 321. a jack; 33. a locking pin; 34. an elastic compression member.
Detailed Description
The following describes in further detail the embodiments of the present invention with reference to the drawings and examples. The following examples are illustrative of the invention and are not intended to limit the scope of the invention.
In the description of the present invention, it should be understood that the directions or positional relationships indicated by the terms "upper", "lower", "left", "right", "top", "bottom", etc. are based on the directions or positional relationships shown in the drawings, are merely for convenience of describing the present invention and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present invention. It should be understood that the terms "first," "second," and the like are used herein to describe various information, but such information should not be limited to these terms, which are used merely to distinguish one type of information from another. For example, a "first" message may also be referred to as a "second" message, and similarly, a "second" message may also be referred to as a "first" message, without departing from the scope of the invention.
As shown in fig. 1 to 6, a preferred embodiment of the buoyancy extended range underwater vehicle of the present invention comprises a control system, an underwater vehicle body 1, a buoyancy driving device 2 and a locking mechanism 3 for locking the buoyancy driving device 2, wherein the locking mechanism 3 is fixedly connected to the vehicle body 1, the control system is electrically connected with the locking mechanism 3, and the control system controls the locking mechanism 3 to lock or unlock the buoyancy driving device 2. When the buoyancy driving device 2 is used, the buoyancy driving device 2 connected to the underwater vehicle body 1 can increase the range of the underwater vehicle body 1, when the buoyancy driving device 2 drives the underwater vehicle body to reach the vicinity of a target object, the control system controls the locking mechanism to release the buoyancy driving device 2, the buoyancy driving device 2 is separated from the underwater vehicle body 1, and the influence of the buoyancy driving device 2 on the running speed of the underwater vehicle before the underwater vehicle impacts the target object is avoided
As shown in fig. 2 and 3, the latch mechanism 3 includes a connecting member 31, a lower end of the connecting member 31 is fixedly connected to the aircraft body 1, a first groove 311 is disposed at an upper end of the connecting member 31, the buoyancy driving device 2 is fixedly connected with a bump 32, and the bump 32 is inserted into the first groove 311; the side wall of the first groove 311 is penetrated with a lock pin 33, one side of the projection 32 opposite to the lock pin 33 is provided with a jack 321, a first end of the lock pin 33 penetrates out of the side wall of the first groove 311 and is inserted into the jack 321, a second end of the lock pin 33 is connected with a telescopic driving device for driving the first end of the lock pin 33 to retract into the side wall of the first groove 311, and the telescopic driving device is electrically connected with a control system.
When the buoyancy driving device 2 is installed, the control system controls the telescopic driving device to retract the first end of the lock pin 33 into the side wall of the first groove 311; after the bump 32 is installed in place, the control system controls the telescopic driving device to enable the first end of the lock pin 33 to extend out of the side wall of the first groove 311, so that the bump 32 is clamped in the first groove 311; when the buoyancy driving device 2 needs to be separated, the control system controls the telescopic driving device to retract the first end of the lock pin 33 into the side wall of the first groove 311; the side wall of the connecting piece 31 is provided with a receiving groove for installing a telescopic driving device, the driving device is installed in the receiving groove, in this embodiment, the telescopic driving device is an electromagnetic lock driving device, and in other embodiments, the telescopic driving device is an electric telescopic rod.
In this embodiment, in order to ensure that the buoyancy driving device 2 can be smoothly separated from the underwater vehicle body 1 after the first end of the lock pin 33 is retracted into the first groove 311 in the side wall of the first groove 311, an elastic compression member 34 is disposed at the bottom of the first groove 311, one end of the elastic compression member 34 abuts against the bottom wall of the first groove 311, and the other end of the elastic compression member 34 abuts against the end face of the end of the bump 32 away from the buoyancy driving device 2.
In this embodiment, the buoyancy driving device 2 includes a buoyancy adjusting device 21 and a horizontal wing 22 provided on the buoyancy adjusting device 21, the horizontal wing 22 being located at the rear side of the center of gravity of the buoyancy-extended-range underwater vehicle. When the buoyancy extended-range underwater vehicle sinks, under the action of the horizontal wings 22, the resistance of the rear half part of the buoyancy extended-range underwater vehicle is greater than that of the front half part, so that the head of the buoyancy extended-range underwater vehicle tilts downwards, and the buoyancy extended-range underwater vehicle moves forwards while moving downwards; when the buoyancy extended-range underwater vehicle floats upwards, the rear half of the buoyancy extended-range underwater vehicle is subjected to larger resistance than the front half under the action of the horizontal wings 22, so that the head of the buoyancy extended-range underwater vehicle is inclined upwards, and the buoyancy extended-range underwater vehicle moves forwards while moving upwards.
Further, as shown in fig. 4 and 5, in order to facilitate adjustment of the inclination angle of the buoyancy-increasing underwater vehicle when it floats up or sinks down, the horizontal wing 22 includes a center plate 221, a left side plate 222 inserted at the left side of the center plate 221, and a right side plate 223 inserted at the right side of the center plate 221; the middle part of the lower end of the central plate 221 is fixedly connected to the buoyancy regulating device 21, the central plate 221 is provided with a hollow cavity, a first telescopic driving mechanism 224 and a second telescopic driving mechanism 225 are fixed in the hollow cavity, and the first telescopic driving mechanism 224 and the second telescopic driving mechanism 225 are electrically connected with a control system; one end of the left side plate 222 located in the center plate 221 is connected to the output end of the first telescopic driving mechanism 224, and one end of the right side plate 223 located in the center plate 221 is connected to the output end of the second telescopic driving mechanism 225. The inclination angle of the buoyancy-increasing underwater vehicle when floating or sinking can be increased by increasing the length of the left side plate 222 extending out of the center plate 221 and the length of the right side plate 223 extending out of the center plate 221, and the transverse inclination angle of the buoyancy-increasing underwater vehicle can be adjusted by adjusting the difference value between the length of the left side plate 222 extending out of the center plate 221 and the length of the right side plate 223 extending out of the center plate 221, so that the posture of the buoyancy-increasing underwater vehicle can be flexibly adjusted.
Specifically, the first telescopic driving mechanism 224 includes a first motor 2241 fixedly connected in the hollow cavity, an output shaft of the first motor 2241 is in anti-rotation connection with a first screw 2242 extending leftwards, one end of the left side plate 222 located in the central plate 221 is provided with a second groove 2221 with an opening facing right, an opening of the second groove 2221 is fixedly connected with a first nut 2243, and the first nut 2243 is in screw connection with the first screw 2242; the second telescopic driving mechanism 225 comprises a second motor 2251 fixedly connected in the hollow cavity, a second screw 2252 extending rightward is connected to an output shaft of the second motor 2251 in a rotation stopping manner, a third groove 2231 with an opening facing left is arranged at one end of the right side plate 223 positioned in the central plate 221, a second nut 2253 is fixedly connected to an opening of the third groove 2231, and the second nut 2253 is in screw connection with the second screw 2252; the first motor 2241 and the second motor 2251 are both electrically connected to the control system. Wherein, in order to ensure the connection strength between the left side plate 222 and the central plate 221, a left side cavity wall of the hollow cavity of the central plate 221 is provided with a first guide post extending leftwards and rightwards, and the outer side surface of the left side plate 222 is provided with a first guide slot, wherein the first guide post is guided in the first guide slot; in order to ensure the connection strength between the right side plate 223 and the center plate 221, a second guide post extending leftwards and rightwards is arranged on the right side cavity wall of the hollow cavity of the center plate 221, and a second guide slot is arranged on the outer side surface of the right side plate 223 and is guided into the second guide slot.
In this embodiment, as shown in fig. 6, the buoyancy adjusting device 21 includes a housing 211 and a capsule 212 disposed outside the housing 211, a power mechanism for filling or discharging fluid into or from the capsule 212 is disposed in the housing 211, the fluid has a density smaller than that of water, and the power mechanism is electrically connected to the control system. The buoyancy force applied to the capsule 212 is adjusted by adjusting the fluid quantity in the capsule 212 through the power mechanism, so that the floating or sinking of the buoyancy-increasing underwater vehicle is realized.
Specifically, the fluid in the capsule 212 is oil or gas, the inner cavity of the housing 211 is columnar, the first end of the inner cavity is provided with an opening communicated with the capsule 212, the middle part of the inner cavity is slidably connected with a piston 213, the second end of the inner cavity is fixedly provided with a third motor 214, the third motor 214 is electrically connected with the control system, the output shaft of the third motor 214 is in rotation stopping connection with a third screw 215, the third screw 215 is in threaded connection with a third nut 216, and the third nut 216 is fixedly connected with the piston 213.
The application method of the buoyancy extended range underwater vehicle comprises the following steps:
step S1, connecting a buoyancy driving device 2 to an underwater vehicle body 1 through a locking mechanism 3;
step S2, conveying the underwater vehicle body 1 to the vicinity of a target object through the buoyancy driving device 2;
and S3, controlling the locking mechanism 3 to loosen the buoyancy driving device 2 through the control system, and driving the underwater vehicle body 1 to attack the target object rapidly by using the driving device of the underwater vehicle body 1.
Wherein, the vertical inclination angle of the buoyancy-increasing underwater vehicle is adjusted by adjusting the lengths of the left side plate 222 and the right side plate 223 extending out of the center plate 221; the transverse inclination angle of the buoyancy-increasing underwater vehicle is adjusted by adjusting the difference in the lengths of the left side plate 222 and the right side plate 223 extending out of the center plate 221.
In summary, the buoyancy extended range type underwater vehicle comprises a control system, an underwater vehicle body 1, a buoyancy driving device 2 and a locking mechanism 3 for locking the buoyancy driving device 2, wherein the locking mechanism 3 is fixedly connected to the vehicle body 1, the control system is electrically connected with the locking mechanism 3, and the control system controls the locking mechanism 3 to lock or release the buoyancy driving device 2. When the buoyancy driving device 2 is used, the range of the underwater vehicle body 1 can be increased by the buoyancy driving device 2 connected to the underwater vehicle body 1, when the buoyancy driving device 2 drives the underwater vehicle body to reach the vicinity of a target object, the control system controls the locking mechanism to release the buoyancy driving device 2, the buoyancy driving device 2 is separated from the underwater vehicle body 1, and the influence of the buoyancy driving device 2 on the running speed of the underwater vehicle before the underwater vehicle impacts the target object is avoided.
The foregoing is merely a preferred embodiment of the present invention, and it should be noted that modifications and substitutions can be made by those skilled in the art without departing from the technical principles of the present invention, and these modifications and substitutions should also be considered as being within the scope of the present invention.
Claims (8)
1. The buoyancy extended range type underwater vehicle is characterized by comprising a control system, an underwater vehicle body (1), a buoyancy driving device (2) and a locking mechanism (3) for locking the buoyancy driving device (2), wherein the locking mechanism (3) is fixedly connected to the vehicle body (1), the control system is electrically connected with the locking mechanism (3), and the control system controls the locking mechanism (3) to lock or release the buoyancy driving device (2); the buoyancy driving device (2) comprises a buoyancy adjusting device (21) and a horizontal wing (22) arranged on the buoyancy adjusting device (21), wherein the horizontal wing (22) is positioned at the rear side of the gravity center of the buoyancy range-increasing underwater vehicle; the horizontal wing (22) comprises a central plate (221), a left side plate (222) inserted at the left side of the central plate (221) and a right side plate (223) inserted at the right side of the central plate (221); the middle part of the lower end of the central plate (221) is fixedly connected to the buoyancy regulating device (21), the central plate (221) is provided with a hollow cavity, a first telescopic driving mechanism (224) and a second telescopic driving mechanism (225) are fixed in the hollow cavity, and the first telescopic driving mechanism (224) and the second telescopic driving mechanism (225) are electrically connected with the control system; one end of the left side plate (222) positioned in the center plate (221) is connected with the output end of the first telescopic driving mechanism (224), and one end of the right side plate (223) positioned in the center plate (221) is connected with the output end of the second telescopic driving mechanism (225); adjusting the lengths of the left side plate (222) and the right side plate (223) extending out of the central plate (221) so as to adjust the vertical inclination angle of the buoyancy extended range underwater vehicle; the difference between the length of the left side plate (222) extending out of the center plate (221) and the length of the right side plate (223) extending out of the center plate (221) is adjusted to adjust the transverse dip angle of the buoyancy-increasing underwater vehicle.
2. The buoyancy-increasing underwater vehicle according to claim 1, wherein the locking mechanism (3) comprises a connecting piece (31), the lower end of the connecting piece (31) is fixedly connected to the vehicle body (1), a first groove (311) is formed in the upper end of the connecting piece (31), the buoyancy driving device (2) is fixedly connected with a protruding block (32), and the protruding block (32) is inserted into the first groove (311);
the utility model discloses a control system, including first recess (311) and flexible drive arrangement, wear to be equipped with in the lateral wall of first recess (311) lockpin (33), lug (32) with one side that lockpin (33) are opposite is equipped with jack (321), the first end of lockpin (33) is followed wear out in the lateral wall of first recess (311) and insert jack (321), the second end of lockpin (33) is connected with and is used for the drive the first end of lockpin (33) is retracted in the lateral wall of first recess (311), flexible drive arrangement with control system electricity is connected.
3. The buoyancy-extended-range underwater vehicle according to claim 2, wherein an elastic compression member (34) is provided in the first groove (311), one end of the elastic compression member (34) abuts against a bottom wall of the first groove (311), and the other end of the elastic compression member (34) abuts against an end face of the one end of the bump (32) away from the buoyancy driving device (2).
4. The buoyancy extended range underwater vehicle according to claim 1, wherein the first telescopic driving mechanism (224) comprises a first motor (2241) fixedly connected in the hollow cavity, a first screw rod (2242) extending leftwards is connected to an output shaft of the first motor (2241) in a rotation stopping manner, a second groove (2221) with an opening facing right is formed in one end of the left side plate (222) positioned in the central plate (221), a first nut (2243) is fixedly connected to an opening of the second groove (2221), and the first nut (2243) is in threaded connection with the first screw rod (2242);
the second telescopic driving mechanism (225) comprises a second motor (2251) fixedly connected in the hollow cavity, a second screw rod (2252) extending rightward is connected to an output shaft of the second motor (2251) in a rotation stopping manner, a third groove (2231) with an opening facing left is formed in one end of the right side plate (223) positioned in the central plate (221), a second nut (2253) is fixedly connected to an opening of the third groove (2231), and the second nut (2253) is in threaded connection with the second screw rod (2252);
the first motor (2241) and the second motor (2251) are both electrically connected with the control system.
5. The buoyancy-extended-range underwater vehicle according to claim 1, wherein the buoyancy adjusting device (21) comprises a housing (211) and a capsule (212) fixedly connected to the outer side of the housing (211), a power mechanism for filling or discharging fluid into or from the capsule (212) is arranged in the housing (211), the fluid has a density smaller than that of water, and the power mechanism is electrically connected with the control system.
6. The buoyancy stroke-increasing underwater vehicle as claimed in claim 5 wherein said housing (211) has a cylindrical cavity, a first end of said cavity is provided with an opening in communication with said capsule (212), a piston (213) is slidably connected in the middle of said cavity, a third motor (214) is fixed at a second end of said cavity, said third motor (214) is electrically connected to said control system, a third screw (215) is connected to an output shaft of said third motor (214) in a rotation-stopping manner, a third nut (216) is screwed to said third screw (215), and said third nut (216) is fixedly connected to said piston (213).
7. A method of using the buoyancy-extended range underwater vehicle of any of claims 1 to 5, comprising the steps of:
step S1, connecting a buoyancy driving device (2) on an underwater vehicle body (1) through a locking mechanism (3);
s2, conveying the underwater vehicle body (1) to the vicinity of a target object through the buoyancy driving device (2);
and S3, controlling the locking mechanism (3) to release the buoyancy driving device (2) through the control system, and driving the underwater vehicle body (1) to rapidly attack the target object by using the driving device of the underwater vehicle body (1).
8. The method of using a buoyancy-extended-range underwater vehicle according to claim 7, wherein in the step S2, the vertical inclination angle of the buoyancy-extended-range underwater vehicle is adjusted by adjusting the lengths of the left side plate (222) and the right side plate (223) extending out of the center plate (221); the transverse inclination angle of the buoyancy-increasing underwater vehicle is adjusted by adjusting the difference between the length of the left side plate (222) extending out of the center plate (221) and the length of the right side plate (223) extending out of the center plate (221).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210746646.9A CN115071922B (en) | 2022-06-28 | 2022-06-28 | Buoyancy range-increasing underwater vehicle and application method thereof |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210746646.9A CN115071922B (en) | 2022-06-28 | 2022-06-28 | Buoyancy range-increasing underwater vehicle and application method thereof |
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| CN115071922A CN115071922A (en) | 2022-09-20 |
| CN115071922B true CN115071922B (en) | 2024-01-23 |
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Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
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| KR101507422B1 (en) * | 2013-10-11 | 2015-03-31 | 부경대학교 산학협력단 | Hybrid Autonomous Underwater Vehicle |
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