CN116946335A - Umbrella wing type self-holding underwater vehicle - Google Patents

Abstract

The application provides an umbrella wing type self-sustaining underwater vehicle which has two modes of motion and power generation, and comprises a body, a hydrofoil, a water bag, a buoyancy adjusting module, a posture adjusting module, a folding and unfolding module and a power module, wherein the water bag, the buoyancy adjusting module and the posture adjusting module are all arranged in the body, the folding and unfolding module is arranged at the tail part of the body, the power module is arranged at the rear part of the folding and unfolding module, and the hydrofoil is circumferentially arranged at the outer side of the body; the hydrofoil can be switched between a folded state and an unfolded state under the cooperation of the buoyancy adjusting module and the folding and unfolding module, the hydrofoil is folded and attached to the body to reduce navigation resistance in a movement mode, and the hydrofoil is unfolded to be umbrella-shaped in a power generation mode to capture wave energy to supply energy to the underwater vehicle; the application solves the problem of energy supply of the underwater vehicle, solves the problem of large-scale posture adjustment of the vehicle in a power generation mode and a movement mode, and has smart structural design and strong practicability.

Description

Umbrella wing type self-holding underwater vehicle

Technical Field

The application relates to the technical field of ocean exploration equipment, in particular to an umbrella wing type self-sustaining underwater vehicle, and especially relates to an umbrella wing type self-sustaining underwater vehicle based on wave energy power generation.

Background

The China is a large ocean country and has rich ocean biological resources. However, due to the long-term extensive development of marine economy in China, the pressure of marine ecological environment is high, the problem of environmental destruction is outstanding, the offshore environmental protection is enhanced, the balance of marine health is maintained, and in this form, many aircrafts applied to marine environmental detection are developed.

However, the existing aircraft still has a plurality of defects, which are specifically expressed as follows:

1. the prior art mostly cannot realize autonomous movement, and most of attached carriers are ocean equipment such as buoys and the like which do not have a moving function and do not have multiple operation modes.

2. The prior art has no natural frequency characteristic of a limiting device, so that the wave energy power generation principle is different, and the problem that the small-size floating wave energy power generation device captures the large-period wave energy cannot be solved.

3. Most of the wave energy power generation devices of the same type in the prior art do not have a centroid adjusting function, a buoyancy adjusting function and a line-driven folding and unfolding function.

In view of the above drawbacks of the prior art, there is a need to design a new aircraft to address the above drawbacks.

Disclosure of Invention

Aiming at the defects in the prior art, the application aims to provide an umbrella wing type self-supporting underwater vehicle.

The application provides an umbrella wing type self-sustaining underwater vehicle, which has two modes of motion and power generation, and comprises a body, a hydrofoil, a water bag, a buoyancy adjusting module, a posture adjusting module, a folding and unfolding module and a power module, wherein the water bag, the buoyancy adjusting module and the posture adjusting module are all arranged in the body, the folding and unfolding module is arranged at the tail part of the body, and the power module is arranged at the rear part of the folding and unfolding module;

the center of mass of the aircraft can be adjusted through the gesture adjusting module, and the buoyancy of the aircraft can be adjusted through the cooperation of the buoyancy adjusting module and the water bag;

the hydrofoil is of a multi-link structure, a plurality of hydrofoils are uniformly arranged along the circumferential direction of the fuselage, the hydrofoils can be driven to switch between a folded state and an unfolded state under the cooperation of the buoyancy adjusting module and the folding and unfolding module,

in a movement mode, the hydrofoils are in a folding state so that a plurality of hydrofoils are folded and attached to the fuselage, the aircraft keeps a horizontal posture, and any one or any multiple actions or states of rest, floating, submerging, steering, advancing and retreating can be realized by adjusting the mass center and buoyancy of the aircraft;

the center of mass and buoyancy of the aircraft are adjusted to enable the center of buoyancy of the aircraft to be higher than the center of mass on the plumb line, so that the buoyancy and gravity form a restoring couple, the aircraft can be adjusted to be in a vertical posture from the horizontal posture, the hydrofoil is adjusted to be in an unfolding state from a folding state at the moment, the hydrofoil can swing up and down under the action of wave energy, and then the wave energy power generation system of the hydrofoil can be driven to generate power, and the aircraft is in a power generation mode.

Preferably, the natural frequency of the aircraft in the rolling and pitching directions can be changed by changing the centroid position of the aircraft, so that the natural frequency of the aircraft can be matched with the wave frequency of the water area, and the power generation efficiency is improved.

Preferably, the ratio of the length of the aircraft to the wavelength of the generated wave condition ranges from 1:2 to 1:12, and the wave period of the generated wave condition applicable to the aircraft ranges from 2s to 8s.

Preferably, the buoyancy adjusting module can charge air in the sealed cabin of the machine body into an air bag of the hydrofoil based on an air pressure loop, and the air bag is matched with a steel wire rope which can be driven to retract and be connected with the hydrofoil by the retracting module, so that the hydrofoil floats upwards and is retracted under the buoyancy effect.

Preferably, the hydrofoil comprises a head connecting piece, a hydrofoil cabin body, a wave energy power generation system, a hydrofoil cover plate, a first connecting rod, a second connecting rod, a tail connecting piece, a head air bag, a middle air bag and a tail air bag, wherein the head connecting piece and the tail connecting piece are respectively connected with the head and the tail of the hydrofoil cabin body, and the wave energy power generation system is arranged in the hydrofoil cabin body; the head air bag, the middle air bag and the tail air bag are sequentially connected through an air pipe and are uniformly distributed in the hydrofoil cabin body and used for providing buoyancy for the hydrofoil;

the hydrofoil cover plate is arranged on the outer surface of the hydrofoil cabin body and used for fixing the position of the air bag; the hydrofoil is hinged to a first sealing flange of the fuselage by means of a head connection so that the hydrofoil can oscillate reciprocally about the hinge with respect to the fuselage.

Preferably, the wave energy power generation system comprises a generator, a speed reducer and a commutator, wherein an output shaft of the generator is connected with an input end of the speed reducer through a coupler, and an output end of the speed reducer is connected with an input end of the commutator through a coupler; the output end of the reverser is hinged with a first connecting rod, the first connecting rod is hinged with a second connecting rod, and the second connecting rod is hinged with a second sealing flange of the machine body; the first connecting rod, the second connecting rod, the hydrofoil cabin body and the machine body form a four-connecting-rod mechanism together, when the hydrofoil swings reciprocally around the machine body, the first connecting rod swings reciprocally around the hydrofoil cabin body, the reverser is driven to rotate, and the generator is driven to rotate to generate electricity after being driven by the speed reducer.

Preferably, the attitude adjusting module adjusts the position of a counterweight on the fuselage so as to change the mass center position of the fuselage, wherein the mass of the counterweight is 15% -20% of the overall mass of the aircraft.

Preferably, the folding and unfolding module comprises a waterproof motor, an upper sealing flange, a folding and unfolding cabin section, a connecting flange, a waterproof motor bracket, a cover plate, a limit bracket, a winding wheel, a supporting flange, a connecting shaft and a steel wire rope;

the upper sealing flange is connected with a stern sealing cabin section of the machine body, the waterproof motor is arranged on the upper sealing flange through a waterproof motor bracket, an output shaft of the waterproof motor is connected with a winding wheel through a connecting shaft, the lower surface of the winding wheel is connected with a supporting flange, the supporting flange is arranged on the connecting flange, the upper surface of the winding wheel is connected with a cover plate, and a limiting bracket is arranged between the connecting flange and the cover plate; one end of the steel wire rope is connected to the winding wheel, and the other end of the steel wire rope is connected to the tail connecting piece of the hydrofoil.

Preferably, the upper sealing flange is connected with one side of the folding and unfolding cabin section, and the other side of the folding and unfolding cabin section is connected with the connecting flange; the bow seal cabin section, the first seal flange, the midship seal cabin section, the second seal flange, the stern seal cabin section and the upper seal flange of the fuselage integrally form a waterproof seal cabin which is used as a gas storage cabin of the buoyancy adjusting module pneumatic circuit.

Preferably, the power module is connected with the folding and unfolding module and comprises rudder blades, a waterproof steering engine and a propelling device;

the waterproof steering engine can adjust the attack angle of the rudder blade to realize steering and heave movement of the aircraft; the propulsion device is arranged at the tail of the aircraft and can provide thrust for the underwater aircraft.

Compared with the prior art, the application has the following beneficial effects:

1. according to the application, the foldable umbrella-shaped hydrofoil structure is arranged in the circumferential direction of the aircraft body, and the problems of large-range posture adjustment of the aircraft in a power generation mode and a movement mode are solved through the cooperation of the buoyancy adjustment module, the posture adjustment module and the folding module, so that the aircraft body and the hydrofoil can keep a horizontal posture in the movement mode, an umbrella-shaped arrangement mode can be kept in the power generation mode, the problem of energy supply of the underwater aircraft is solved, the underwater aircraft can capture wave energy to be converted into electric energy in a large wave period and under a random wave direction in the power generation mode, and additional navigation resistance is not added in the movement mode.

2. According to the application, the natural frequency characteristics of the aircraft in the pitching and rolling directions are limited, and the natural frequency is changed by the gesture adjusting module, so that the problem that the small-size floating wave energy power generation device cannot capture large-period wave energy is solved, the ratio range of the length of the aircraft to the wavelength of the generated wave condition can reach 1:2-1:12, and the practicability of the aircraft is greatly improved.

Drawings

Other features, objects and advantages of the present application will become more apparent upon reading of the detailed description of non-limiting embodiments, given with reference to the accompanying drawings in which:

FIG. 1 is a schematic view of the structure of an aircraft in a power generation mode;

FIG. 2 is a schematic view of the structure of the vehicle in a sport mode;

FIG. 3 is a schematic view of the structure of an aircraft interior;

FIG. 4 is a schematic view of the structure of a hydrofoil;

FIG. 5 is a schematic view of the structural arrangement of the leading, middle and trailing airbags within the hydrofoil chamber;

FIG. 6 is a partially enlarged schematic illustration of the portion B of FIG. 5;

FIG. 7 is a schematic diagram of a buoyancy adjustment module;

FIG. 8 is a schematic diagram of the principle of water inlet and outlet of the water bag;

FIG. 9 is a schematic illustration of the control of the connection of the air bag to the fuselage air bag in the hydrofoil;

FIG. 10 is a schematic diagram of a configuration of a posture adjustment module;

FIG. 11 is a schematic view of the internal structure of the folding module;

FIG. 12 is a schematic side view of a folding module;

FIG. 13 is a schematic cross-sectional view of a folded module cross-section;

FIG. 14 is a schematic diagram of a power module;

fig. 15 is a schematic diagram of the process of transitioning the aircraft from the sport mode to the generation mode and back to the sport mode.

The figure shows:

fuselage 1

Fore seal cabin segment 11

First sealing flange 12

Midship seal cabin section 13

Second sealing flange 14

Stern seal section 15

Hydrofoil 2

Head connector 21

Hydrofoil nacelle 22

The wave energy power generation system 23 hydrofoil cover plate 24 first connecting rod 25 second connecting rod 26 tail connecting piece 27 head airbag 28 middle airbag 29 tail airbag 210 generator 211 speed reducer 212 commutator 213 water bag 3 buoyancy adjusting module 4 upper supporting plate 41 flowmeter 42 liquid pump 43 liquid electromagnetic valve 44 middle supporting plate 45 air pump 46 air electromagnetic valve 47 lower supporting plate 48 lower supporting plate 49 upper supporting plate 410 gesture adjusting module 5 head supporting plate 51 servo motor 52 motor supporting plate 53 optical axis 54

Weight 57 of weight bearing plate 56 of screw 55

Screw support plate 58

Battery pack upper bracket 59

Lithium battery pack 510

Battery pack lower support 511

Tail support plate 512

Carbon fiber pipe 513

Folding and unfolding module 6

Waterproof motor 61

Upper sealing flange 62

Folding cabin 63

Connecting flange 64

Waterproof motor support 65

Cover plate 66

Spacing support 67

Reel 68

Support flange 69

Connecting shaft 610

Wire rope 611

Power module 7

Rudder blade 71

Nacelle section 72

Cage 73

Waterproof steering engine 74

Propulsion device 75

Detailed Description

The present application will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the present application, but are not intended to limit the application in any way. It should be noted that variations and modifications could be made by those skilled in the art without departing from the inventive concept. These are all within the scope of the present application.

Example 1:

the application relates to an umbrella wing type self-holding underwater vehicle, which has two modes of motion and power generation, and comprises a body 1, a hydrofoil 2, a water bag 3, a buoyancy adjusting module 4, a posture adjusting module 5, a folding and unfolding module 6 and a power module 7, wherein the water bag 3, the buoyancy adjusting module 4 and the posture adjusting module 5 are all arranged in the body 1, the folding and unfolding module 6 is arranged at the tail part of the body 1, and the power module 7 is arranged at the rear part of the folding and unfolding module 6; the center of mass of the aircraft can be adjusted by the gesture adjusting module 5, and the buoyancy of the aircraft can be adjusted by the cooperation of the buoyancy adjusting module 4 and the water bag 3; the hydrofoil 2 is of a multi-link structure, a plurality of hydrofoils 2 are uniformly arranged along the circumferential direction of the fuselage 1, and the hydrofoil 2 can be driven to switch between a folded state and an unfolded state under the cooperation of the buoyancy adjusting module 4 and the folding and unfolding module 6. The aircraft keeps a horizontal posture in a movement mode, the hydrofoil 2 is in a folding state, the hydrofoils 2 are folded and attached to the aircraft body 1, so that the aircraft is integrally in a shuttle shape, resistance is reduced in underwater navigation, and any one or any multiple actions or states of static, floating, diving, steering, advancing and retreating can be realized by adjusting the mass center of the aircraft and the buoyancy power module 7, so that different task demands of the aircraft can be met.

Further, the center of mass and the buoyancy of the aircraft are adjusted to enable the center of buoyancy of the aircraft to be higher than the center of mass on the plumb line, so that the buoyancy and the gravity form a restoring couple, the aircraft can be adjusted from a horizontal posture to a vertical posture, the hydrofoil 2 is adjusted to be in an unfolding state from a folding state at the moment, under the action of wave energy, the hydrofoil 2 can swing up and down, and then the wave energy power generation system 23 of the hydrofoil 2 can be driven to generate power, and at the moment, the aircraft is in a power generation mode, and electric energy is stored for the aircraft.

According to the application, the natural frequency of the aircraft in the rolling and pitching directions can be changed by changing the centroid position of the aircraft, so that the natural frequency of the aircraft is matched with the wave frequency of a water area where the aircraft is located, and the generation efficiency is improved.

In practical application, the buoyancy adjusting module 4 can charge the air in the sealed cabin of the body into the air bag of the hydrofoil 2 based on the air pressure loop and is matched with the steel wire rope 611 which can be driven to be folded and unfolded and is connected with the connecting rod structure by the folding and unfolding module 6, so that the hydrofoil 2 floats and unfolds under the buoyancy effect.

Example 2:

this embodiment is a preferable example of embodiment 1.

The embodiment provides an umbrella wing type self-holding underwater vehicle, which has two modes of movement and power generation, as shown in fig. 1 and 2, the hydrofoils 2 in the embodiment are 4 groups, the 4 groups of hydrofoils 2 are uniformly distributed along the circumferential direction of the body 1, a folding module 6 is arranged at the tail part of the body 1, and a power module 7 is arranged at the rear part of the folding module 6 as shown in fig. 3.

As shown in fig. 3, the fuselage 1 comprises a bow seal cabin section 11, a first seal flange 12, a midship seal cabin section 13, a second seal flange 14 and a stern seal cabin section 15, wherein the bow seal cabin section 11 and the midship seal cabin section 13 are connected through the first seal flange 12, and the midship seal cabin section 13 and the stern seal cabin section 15 are connected through the second seal flange 14; sealing rings are arranged on the first sealing flange 12 and the second sealing flange 14 so as to realize waterproof sealing of the joint of each cabin section.

As shown in fig. 4 and 5, the hydrofoil 2 comprises a head connecting piece 21, a hydrofoil cabin 22, a wave power generation system 23, a hydrofoil cover plate 24, a first connecting rod 25, a second connecting rod 26, a tail connecting piece 27, a head air bag 28, a middle air bag 29 and a tail air bag 210, wherein the head connecting piece 21 and the tail connecting piece 27 are respectively connected with the head and the tail of the hydrofoil cabin 22, and the wave power generation system 23 is arranged inside the hydrofoil cabin 22; the front airbag 28, the middle airbag 29 and the tail airbag 210 are arranged in the hydrofoil cabin 22 and are connected in series through air pipes to provide buoyancy for the hydrofoil 2; the hydrofoil cover plate 24 is arranged on the outer surface of the hydrofoil cabin 22 and is used for fixing each air bag and placing the air bag; the hydrofoil 2 is hinged with the first sealing flange 12 through a head connecting piece 21, and the hydrofoil 2 can swing reciprocally relative to the machine body 1 around the hinged position; in particular, the outer surface of the hydrofoil compartment 22 has a circular arc-shaped cross section, and 4 groups of hydrofoils 2 circumferentially arranged on the fuselage 1 are attached to the fuselage 1 after folding and keep the overall device in a cylindrical shape.

Further, as shown in fig. 4, 5 and 6, the wave power generation system 23 includes a generator 211, a speed reducer 212 and a commutator 213, wherein an output shaft of the generator 211 is connected with an input end of the speed reducer 212 through a coupling, and an output end of the speed reducer 212 is connected with an input end of the commutator 213 through a coupling; the output end of the reverser 213 is connected with a first rod piece 25, the first connecting rod 25 is hinged with a second connecting rod 26, and the second connecting rod 26 is hinged with a second sealing flange 14 at the machine body 1; the first connecting rod 25, the second connecting rod 26, the hydrofoil cabin 22 and the machine body 1 together form a four-bar mechanism, when the hydrofoil 2 swings reciprocally around the machine body 1, the first connecting rod 25 swings reciprocally around the hydrofoil cabin 22, the reverser 213 is driven to rotate, the generator 211 is driven to rotate to generate electricity after being driven by the speed reducer 212, the reverser 213 is of a driving structure in meshed fit with two bevel gears, for example, the two bevel gears are a first bevel gear and a second bevel gear respectively, the second bevel gear is sleeved on a main shaft of the speed reducer 212, the first bevel gear and the second bevel gear are vertically meshed and arranged, and when the first rod 25 swings reciprocally, the first bevel gear can be driven to rotate reciprocally and the second bevel gear to rotate, and then the engine 211 is driven to rotate to generate electricity, so that electric power conversion is realized. It should be noted that the commutator 213 may also adopt a structure in the prior art to solve the commutation function.

As shown in fig. 7, the buoyancy adjusting module 4 comprises an upper support plate 41, a flow meter 42, a liquid pump 43, a liquid solenoid valve 44, a middle support plate 45, an air pump 46, an air solenoid valve 47, a lower support plate 48, a lower support frame 49 and an upper support frame 410, the water bag 3 is arranged inside the bow seal cabin section 11, and the buoyancy adjusting module 4 is connected with the second seal flange 14 through the lower support plate 48; the upper support plate 41 and the middle support plate 45 are connected by an upper support frame 410, and the middle support plate 45 and the lower support plate 48 are connected by a lower support frame 49; the flowmeter 42 is mounted on the upper support plate 41, the liquid pump 43 is mounted on the upper support frame 410, the liquid solenoid valve 44 is mounted on the middle support plate 45, and the air pump 46 and the gas solenoid valve 47 are mounted on the lower support plate 48.

As shown in fig. 8, according to the working principle of the hydraulic circuit related to the buoyancy adjusting module 4, the water bag 3, the flowmeter 42, the liquid pump 43, the hydraulic electromagnetic valve 44 and an external water source are sequentially connected in series through water pipes; the flowmeter 42, the liquid pump 43 and the hydraulic electromagnetic valve 44 are connected in parallel, and are respectively used for sucking water from an external water source by the water bag 3 and draining water from the water bag 3 to the external water source, and the flowmeter 42 is used for recording the water sucking and draining amount so as to change the mass and the mass center position of the machine body 1.

As shown in fig. 9, the air pressure loop working principle related to the buoyancy adjusting module 4 is that a sealed cabin body in the machine body 1 is used as an air storage cabin of the air pressure loop, and is connected with an air pump 46 and an air pressure electromagnetic valve 47 in series through an air pipe, and the air pressure electromagnetic valve 47 is connected with the head air bag 28 in series through the air pipe; the air pump 46 and the air pressure electromagnetic valve 47 are connected in parallel, and are respectively used for inflating the air bag at the hydrofoil position of the sealed cabin of the airplane and sucking air from the air bag at the hydrofoil position of the sealed cabin of the airplane, so that the buoyancy of the hydrofoil 2 is changed.

As shown in fig. 10, the posture adjustment module 5 includes a head support plate 51, a servo motor 52, a motor support plate 53, an optical axis 54, a screw 55, a weight support plate 56, a weight 57, a screw support plate 58, a battery upper bracket 59, a lithium battery pack 510, a battery lower bracket 511, a tail support plate 512, a carbon fiber pipe 513, and the posture adjustment module 5 is connected to the second sealing flange 14 at the main body 1 through the head support plate 51; specifically, the optical axes 54 are 3 in total, and both ends of the optical axes 54 are connected to the head support plate 51 and the tail support plate 512, respectively, and the motor support plate 53, the weight support plate 56, the battery upper bracket 59, and the battery lower bracket 511 are mounted on the optical axes 54.

Further, the servo motor 52 is mounted on the motor support plate 53, one side of the screw 55 is mounted on the servo motor 52, and the other side is mounted on the screw support plate 58; a weight support plate 56 is mounted on the optical axis 54 through a linear bearing, and on the screw 55 through a screw nut, and a weight 57 is mounted on the weight support plate 56; the lithium battery pack 510 is fixed between the battery pack upper bracket 59 and the battery pack lower bracket 511; the carbon fiber pipes 513 are arranged on the motor support plate 53 and the screw support plate 58 and are used for arranging circuits so as to realize communication and power supply between the front cabin section and the rear cabin section of the machine body; when the servo motor 52 drives the screw rod 55 to rotate, the counterweight 57 moves axially along the screw rod 54 to change the mass center position of the machine body 1, and particularly, the mass of the counterweight 57 is 15% -20% of the total mass of the device.

As shown in fig. 11, 12 and 13, the folding and unfolding module 6 comprises a waterproof motor 61, an upper sealing flange 62, a folding and unfolding cabin 63, a connecting flange 64, a waterproof motor bracket 65, a cover plate 66, a limit bracket 67, a winding wheel 68, a supporting flange 69, a connecting shaft 610 and a steel wire rope 611, and the folding and unfolding module 6 is connected with the stern sealing cabin 15 of the fuselage 1 through the upper sealing flange 62. The waterproof motor 61 is mounted on the upper sealing flange 62 through a waterproof motor bracket 65, and an output shaft of the waterproof motor 61 is connected with the reel 68 through a connecting shaft 610. The lower surface of the winding wheel 68 is connected with a supporting flange 69, the supporting flange 69 is arranged on the connecting flange 64, and the upper surface of the winding wheel 68 is connected with the cover plate 66, so that the axial positioning of the winding wheel 68 is realized; the limit bracket 67 is arranged between the connecting flange 64 and the cover plate 66; the wire 611 is connected at one end to the reel 68 and at the other end to the tail connector 27 of the hydrofoil 2.

Further, the upper sealing flange 62 is connected with one side of the folding and unfolding cabin 63, and the other side of the folding and unfolding cabin 63 is connected with the connecting flange 64; the bow seal cabin section 11, the first seal flange 12, the midship seal cabin section 13, the second seal flange 14, the stern seal cabin section 15 and the upper seal flange 62 integrally form a waterproof seal cabin which serves as a gas storage cabin of the air pressure loop of the buoyancy adjusting module 4.

The working principle of the folding and unfolding module is as follows: one end of the steel wire rope 611 is connected to the winding wheel 68, and after passing through the limiting support 67 and the holes on the folding and unfolding cabin section 63, the other end of the steel wire rope 611 is connected to the tail connecting piece 27 of the hydrofoil 2, four groups of hydrofoils 2 are respectively connected to one steel wire rope 611, and the four groups of steel wire ropes 611 are arranged in a staggered mode in space. When the hydrofoil 2 is folded, the waterproof motor 61 drives the winding wheel 68 to rotate to retract the steel wire rope 611, and the hydrofoil 2 is pulled to be folded to a given position; when the hydrofoil 2 is unfolded, the waterproof motor 61 drives the winding wheel 68 to pay out the steel wire rope 611, and the hydrofoil 2 is gradually unfolded under the action of buoyancy.

The power module 7 comprises rudder blades 71, a tail cabin section 72, a retainer 73, a waterproof steering engine 74 and a propulsion device 75, as shown in fig. 14, the power module 7 is connected with the connecting flange 64 of the folding and unfolding module 6 through the tail cabin section 72, and the retainer 73 is fixedly connected inside the tail cabin section 72; the waterproof steering engine 74 is fixedly connected to the retainer 73, an output shaft of the waterproof steering engine 74 is connected with the rudder blade 71, and the waterproof steering engine 74 is driven to adjust the attack angle of water on the rudder blade 71 so as to realize steering and heave movement of the aircraft; a propulsion device 75 is fixedly attached to the aft section 72 for providing thrust to the underwater vehicle.

The working principle of the application is as follows:

there are two modes of operation for aircraft, including a sport mode and a generation mode.

In the sport mode, the aircraft remains in a horizontal position, with the hydrofoils 2 folded around and conforming to the fuselage 1, as shown in fig. 2. The center of mass of the aircraft is regulated by the attitude regulating module 5, the buoyancy is regulated by the buoyancy regulating module 4 and the water bag 3, and the basic functions of floating, diving, steering, advancing, retreating and the like are realized by matching with the power module 7, meanwhile, the aircraft can be regulated to be in a static state for completing corresponding tasks.

In the power generation mode, the aircraft is positioned on the water surface and keeps a vertical posture, as shown in fig. 1, the surrounding hydrofoils 2 relatively swing around the aircraft body 1 under wave excitation, the rotary motion is transmitted to the reverser 210 through the first connecting rod 25 and the second connecting rod 26, and the rotary motion is transmitted to the generator 28 through the speed reducer 29 to realize power generation, so that the lithium battery pack 510 of the aircraft is charged and supplied with energy; when in power generation, the hydrofoil 2 adopts a floating pendulum power generation principle, the machine body 1 adopts a gravity pendulum power generation principle, and the hydrofoil can show excellent wave energy power generation performance under large-period waves in a smaller size; meanwhile, the position of the mass center of the device is changed by adjusting the gesture adjusting module 5, and then the natural frequency of the device in the rolling and pitching directions is changed, so that the power generation wave condition adapted to the device is changed, the ratio range of the length of the underwater vehicle to the wavelength of the power generation wave condition can reach 1:2-1:12, and the underwater vehicle with the length of 3m can generate power under the condition of 2 s-6 s of wave period.

When the aircraft needs to switch the working modes, the working method is as shown in fig. 15:

the vehicle remains in a horizontal attitude, in a sport mode.

The buoyancy adjusting module 4 discharges water in the head water bladder 3 of the fuselage 1 to the outside based on a hydraulic circuit, and the attitude adjusting module 5 moves the counterweight 57 toward the stern of the aircraft so that the center of buoyancy of the aircraft is higher than the centroid position on the plumb line, and the buoyancy and gravity form a restoring couple, forcing the aircraft to maintain the vertical attitude.

The buoyancy regulating module 4 fills the air in the sealed cabin of the machine body into the air bags in the hydrofoils 2 based on the air pressure loop, the folding and unfolding module 6 releases the steel wire rope 611, and the four groups of hydrofoils 2 float and unfold under the combined action of buoyancy and gravity; the buoyancy regulating module 4 fills water into the water sac 3 at the head of the machine body 1 based on a hydraulic circuit, the four groups of hydrofoils 2 are tilted upwards, the folding and unfolding module 6 continues to pay out the steel wire rope 611, and the swing of the hydrofoils 2 in the process of limiting the power generation mode by the length of the steel wire rope 611 is avoided; the buoyancy adjusting module 4 discharges water in the head water bladder 3 of the fuselage 1 to the outside based on a hydraulic circuit, and the aircraft maintains a vertical posture in a power generation mode.

The buoyancy regulating module 4 fills water into the water sac 3 at the head of the machine body 1 based on a hydraulic circuit, four groups of hydrofoils are tilted upwards, the steel wire rope 611 is tensioned, and the steel wire rope 611 is prevented from being wound when the folding and unfolding module 6 is retracted.

The buoyancy regulating module 4 fills the hydrofoil 2 air bag into the sealed cabin of the fuselage 1 based on the air pressure loop, the gesture regulating module 5 moves the counterweight 57 towards the bow of the aircraft, and the folding and unfolding module 6 withdraws the steel wire rope 611.

The buoyancy regulating module 4 fills water into the water pocket 3 at the head of the fuselage 1 based on a hydraulic circuit, and the aircraft keeps a horizontal posture and enters a movement mode.

In the description of the present application, it should be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are merely for convenience in describing the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present application.

The foregoing describes specific embodiments of the present application. It is to be understood that the application is not limited to the particular embodiments described above, and that various changes or modifications may be made by those skilled in the art within the scope of the appended claims without affecting the spirit of the application. The embodiments of the application and the features of the embodiments may be combined with each other arbitrarily without conflict.

Claims (10)

1. The umbrella wing type self-holding underwater vehicle is characterized by comprising a motion mode and a power generation mode, wherein the umbrella wing type self-holding underwater vehicle comprises a body (1), a hydrofoil (2), a water sac (3), a buoyancy adjusting module (4), a posture adjusting module (5), a folding and unfolding module (6) and a power module (7), wherein the water sac (3), the buoyancy adjusting module (4) and the posture adjusting module (5) are all arranged in the body (1), the folding and unfolding module (6) is arranged at the tail part of the body (1), and the power module (7) is arranged at the rear part of the folding and unfolding module (6);

the center of mass of the aircraft can be adjusted through the gesture adjusting module (5), and the buoyancy of the aircraft can be adjusted through the cooperation of the buoyancy adjusting module (4) and the water bag (3);

the hydrofoil (2) is of a multi-link structure, a plurality of hydrofoils (2) are uniformly arranged along the circumferential direction of the machine body (1), the hydrofoil (2) can be driven to switch between a folded state and an unfolded state under the cooperation of the buoyancy adjusting module (4) and the folding and unfolding module (6),

in a movement mode, the hydrofoils (2) are in a folding state, so that a plurality of the hydrofoils (2) are folded and attached to the fuselage (1), the aircraft keeps a horizontal posture, and any one or any multiple actions or states of rest, floating, submerging, steering, advancing and retreating can be realized by adjusting the mass center and buoyancy of the aircraft;

the center of mass and buoyancy of the aircraft are adjusted to enable the center of buoyancy of the aircraft to be higher than the center of mass on the plumb line, so that the buoyancy and gravity form a restoring couple, the aircraft can be adjusted to be in a vertical posture from the horizontal posture, the hydrofoil (2) is adjusted to be in an unfolding state from a folding state, the device is umbrella-shaped, the aircraft is in a power generation mode, and under the action of waves, the hydrofoil (2) can swing up and down, so that the wave energy power generation system (23) of the hydrofoil (2) can be driven to generate power.

2. The umbrella wing type self-sustaining underwater vehicle according to claim 1, wherein in the power generation mode, the natural frequency of the vehicle in the rolling and pitching directions can be changed by changing the centroid position of the vehicle, so that the natural frequency of the vehicle can be matched with the wave frequency of the water area where the vehicle is located, and the power generation efficiency is improved.

3. The umbrella wing type self-supporting underwater vehicle according to claim 1, wherein the ratio of the length of the vehicle to the wavelength of the power generation wave condition ranges from 1:2 to 1:12, and the wave period of the power generation wave condition applicable to the vehicle ranges from 2s to 8s.

4. The umbrella wing type self-sustaining underwater vehicle according to claim 1, wherein the buoyancy adjusting module (4) can charge the air in the sealed cabin of the body into the air bag of the hydrofoil (2) based on the air pressure loop and is matched with the steel wire rope (611) which can be driven to retract and be connected with the hydrofoil by the retracting module (6) so that the hydrofoil (2) floats upwards and is retracted under the buoyancy effect.

5. The umbrella wing type self-sustaining underwater vehicle according to claim 1, wherein the hydrofoil (2) comprises a head connector (21), a hydrofoil cabin (22), a wave power generation system (23), a hydrofoil cover plate (24), a first connecting rod (25), a second connecting rod (26), a tail connector (27), a head airbag (28), a middle airbag (29) and a tail airbag (210), the head connector (21) and the tail connector (27) are respectively connected with the head and the tail of the hydrofoil cabin (22), and the wave power generation system (23) is arranged inside the hydrofoil cabin (22); the front air bag (28), the middle air bag (29) and the tail air bag (210) are sequentially connected through air pipes and are uniformly distributed in the hydrofoil cabin body (22) for providing buoyancy for the hydrofoil (2);

the hydrofoil cover plate (24) is arranged on the outer surface of the hydrofoil cabin body (22) and is used for fixing the position of the air bag; the hydrofoil (2) is articulated with a first sealing flange (12) of the fuselage (1) by means of a head connection (21) so that the hydrofoil (2) can oscillate back and forth about the articulation relative to the fuselage (1).

6. The umbrella wing type self-sustaining underwater vehicle according to claim 5, wherein the wave energy power generation system (23) comprises a generator (211), a speed reducer (212) and a reverser (213), wherein an output shaft of the generator (211) is connected with an input end of the speed reducer (212) through a coupling, and an output end of the speed reducer (212) is connected with an input end of the reverser (213) through a coupling; the output end of the reverser (213) is hinged with a first connecting rod (25), the first connecting rod (25) is hinged with a second connecting rod (26), and the second connecting rod (26) is hinged with a second sealing flange (14) of the machine body (1); the first connecting rod (25), the second connecting rod (26), the hydrofoil cabin body (22) and the machine body (1) form a four-bar mechanism together, when the hydrofoil (2) swings reciprocally around the machine body (1), the first connecting rod (25) swings reciprocally around the hydrofoil cabin body (22), the reverser (213) is driven to rotate, and the generator (211) is driven to rotate to generate electricity after the reverser is driven by the speed reducer (212).

7. Umbrella wing type self-sustaining underwater vehicle according to claim 1, characterized in that the attitude adjusting module (5) changes the centroid position of the fuselage (1) by adjusting the position of its own counterweight (57) on the fuselage (1), wherein the mass of the counterweight (57) is 15% -20% of the overall mass of the vehicle.

8. The umbrella wing type self-sustaining underwater vehicle according to claim 1, wherein the folding and unfolding module (6) comprises a waterproof motor (61), an upper sealing flange (62), a folding and unfolding cabin section (63), a connecting flange (64), a waterproof motor bracket (65), a cover plate (66), a limit bracket (67), a winding wheel (68), a supporting flange (69), a connecting shaft (610) and a steel wire rope (611);

the upper sealing flange (62) is connected with a stern sealing cabin section (15) of the machine body (1), the waterproof motor (61) is installed on the upper sealing flange (62) through a waterproof motor bracket (65), an output shaft of the waterproof motor (61) is connected with a winding wheel (68) through a connecting shaft (610), the lower surface of the winding wheel (68) is connected with a supporting flange (69), the supporting flange (69) is installed on the connecting flange (64), the upper surface of the winding wheel (68) is connected with a cover plate (66), and a limiting bracket (67) is installed between the connecting flange (64) and the cover plate (66); one end of the wire rope (611) is connected to the reel (68), and the other end is connected to a tail connector (27) of the hydrofoil (2).

9. The umbrella wing type self-sustaining underwater vehicle according to claim 8, wherein the upper sealing flange (62) is connected with one side of the folding and unfolding cabin section (63), and the other side of the folding and unfolding cabin section (63) is connected with the connecting flange (64); the bow seal cabin section (11), the first seal flange (12), the midship seal cabin section (13), the second seal flange (14), the stern seal cabin section (15) and the upper seal flange (62) of the fuselage (1) integrally form a waterproof seal cabin which is used as a gas storage cabin of a gas pressure loop of the buoyancy adjusting module (4).

10. The umbrella wing type self-sustaining underwater vehicle according to claim 1, characterized in that the power module (7) is connected with the folding and unfolding module (6), the power module (7) comprises rudder blades (71), a waterproof steering engine (74) and a propulsion device (75);

the waterproof steering engine (74) can adjust the attack angle of the rudder blade (71) against water so as to realize steering and heave movement of the aircraft; the propulsion device (75) is arranged at the tail of the vehicle and is capable of providing thrust for the underwater vehicle.