CN117963112A - Underwater landing system and landable underwater glider - Google Patents
Underwater landing system and landable underwater glider Download PDFInfo
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- CN117963112A CN117963112A CN202410122604.7A CN202410122604A CN117963112A CN 117963112 A CN117963112 A CN 117963112A CN 202410122604 A CN202410122604 A CN 202410122604A CN 117963112 A CN117963112 A CN 117963112A
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Abstract
The invention discloses an underwater landing system and a landable underwater glider. The underwater landing system comprises a hydraulic system and a support adjusting mechanism, wherein the hydraulic system comprises a power element, a hydraulic support mechanism and a control element. The hydraulic support mechanism adopts a piston type double-acting three-stage telescopic hydraulic cylinder, has a compact structure and can stably support the underwater glider to reside on the seabed. The power element provides power; the control element controls the hydraulic cylinder to stretch and retract, so that the underwater resident posture of the glider can be accurately adjusted. The supporting and adjusting mechanism adopts a screw nut mechanism, has the advantages of large contraction force, convenient control and self locking, can safely and reliably control the rotation of the hydraulic supporting mechanism, and ensures the fluid performance in a gliding working mode while realizing the landing function of the glider. The landable underwater glider comprises the underwater landing system and can be freely switched between a water-bottom resident state and an underwater glider state. The invention has the characteristics of miniaturization, strong adaptability and strong practicability.
Description
Technical Field
The invention relates to the technical field of novel ocean unmanned aircrafts, in particular to an underwater landing system and an underwater glider capable of landing.
Background
In order to better develop and utilize marine resources, long-term detection of marine environments in a wide range and at specific locations is required. The underwater glider is an unmanned underwater vehicle which realizes heave motion in sea water by means of buoyancy state change, converts buoyancy into horizontal driving force by utilizing wings, changes motion gesture and heading by adopting a gravity center adjusting method, moves in a zigzag track in the ocean, has the advantages of long endurance, high efficiency-cost ratio and the like, is suitable for developing three-dimensional continuous ocean observation activities with large range and long time sequence, and has wide application prospect in the field of ocean observation.
However, the conventional underwater glider cannot realize long-time detection on a specific place, and even if the hybrid driving underwater glider provided with a plurality of propellers can realize temporary fixed-point detection by means of control of the plurality of propellers, the conventional underwater glider is in a dynamic balance state, and a large amount of energy is required to be consumed, so that the purpose of long-time detection cannot be achieved. However, when the underwater glider is provided with the landing mechanism to enable the underwater glider to stay at the water bottom through the landing mechanism, the underwater glider is in a static balance state, and the fixed-point control can be realized without consuming energy, so that the task of long-term fixed-point detection can be realized. The landable underwater glider can realize fixed-point long-term detection of the marine environment through the underwater landing state on one hand, and can finish the large-range and long-time-sequence three-dimensional continuous marine observation activity of the general underwater glider on the other hand.
However, the underwater glider still has a plurality of defects in realizing an underwater landing scheme through the existing submersible landing mechanism at present: 1. the fixed frame type supporting structure can realize the function of residing in the water, but can not be retracted, can produce very big adverse effect to the appearance and hydrodynamic layout of the underwater glider, is not suitable for being installed on the underwater glider, in addition, although the anchoring type residing mechanism can be installed on the underwater glider, but the anchor chain system can not bear pressure, the glider is suspended in the water, the posture is unstable, the detection effect is influenced, and the practicability is not strong. 2. The fixed frame type supporting structure can not change the submarine residence posture of the underwater glider through changing the supporting structure, and the environmental adaptability is not strong. 3. The anchors of the anchoring type residence mechanism are generally large in size, and are not beneficial to achieving miniaturization.
Disclosure of Invention
The invention aims to: the invention aims to provide an underwater landing system and an underwater glider capable of landing, which are miniaturized, strong in adaptability and strong in practicability.
The technical scheme is as follows: the underwater landing system comprises a bracket, a hydraulic system and a support adjusting mechanism, wherein the hydraulic system comprises a power element, a hydraulic support mechanism, a control element and a storage element for storing hydraulic oil.
The hydraulic support mechanism comprises at least one group of support components, the support components comprise hydraulic cylinders, the top ends of the hydraulic cylinders are hinged in the support, the output ends of the hydraulic cylinders are movable rods coaxially connected with the hydraulic cylinders, and the tops of the movable rods are provided with pistons and extend and retract along the length extending direction of the hydraulic cylinders; the power element provides power to extract or withdraw the hydraulic oil; the control element controls the movable rod to stretch and retract relative to the hydraulic cylinder by controlling the flow direction of hydraulic oil.
The support adjusting mechanism comprises a connecting rod and a power mechanism, one end of the connecting rod is hinged to the hydraulic cylinder, the other end of the connecting rod is hinged to the power mechanism, and the power mechanism provides power to enable the connecting rod to move so as to drive the support assembly to rotate out or retract relative to the support by taking the joint of the hydraulic cylinder and the support as a fulcrum.
Further, the power mechanism is a screw-nut mechanism and comprises a screw rod, a screw nut and an adjusting motor; the screw rod is a self-locking trapezoidal screw rod, and one end of the screw rod is connected with and driven by an adjusting motor; the screw rod nut is sleeved on the screw rod and hinged with the connecting rod; the adjusting motor drives the screw rod to rotate, so that the screw rod nut is driven to move along the length extending direction of the screw rod, the connecting rod is driven to move, and the hydraulic cylinder is driven to rotate.
Further, the screw nut mechanism further comprises a guide rod, a fixed side supporting unit and a supporting side supporting unit;
One end of the screw rod is a supporting side and is provided with a supporting side supporting unit, and the other end of the screw rod is a fixed side fixed by two self-sealing radial ball bearings which are installed back to back and is provided with a fixed side supporting unit; the adjusting motor is arranged on the fixed side of the screw rod; the guide rod passes through the screw rod nut and is parallel to the screw rod, one end of the guide rod is fixed on the support side support unit, and the other end of the guide rod is fixed on the fixed side support unit.
Further, the hydraulic support mechanism further comprises a hinge head and a hinge seat, the top end of the hydraulic cylinder is hinged with the bracket through the hinge head and the hinge seat, the hinge head is in double ears, and the hinge seat is in three ears.
Further, the piston divides the hydraulic cylinder into a rod cavity and a rodless cavity which are not communicated with each other, the rodless cavity is provided with a first oil port, and the rod cavity is provided with a second oil port; and simultaneously, the hydraulic oil is pumped out or injected from the rod cavity through the second oil port so as to drive the movable rod to extend or retract.
Further, the power element is a hydraulic power system, and the hydraulic power system comprises a hydraulic motor and a hydraulic pump; the storage element is an oil tank, and an oil filter is arranged in the oil tank; the control element comprises a plurality of hoses, a flow dividing valve, an electromagnetic reversing valve, an overflow valve and a pipe joint for guiding the flow of hydraulic oil; the hydraulic motor drives the hydraulic pump to extract the hydraulic oil from the oil tank, and the control element controls the flow direction of the hydraulic oil.
Further, the supporting component is a piston type double-acting three-stage telescopic hydraulic cylinder; the movable rod comprises a secondary hydraulic cylinder, a tertiary hydraulic cylinder and a tertiary piston rod which are sequentially sealed and sleeved; and the first oil port is arranged at the upper end of the primary hydraulic cylinder, and the second oil port is arranged at the lower end of the primary hydraulic cylinder.
The support assembly further comprises a first oil way and a second oil way; the first oil way is arranged in the shell of the secondary hydraulic cylinder, one end of the first oil way is communicated with the interior of the primary hydraulic cylinder, and the other end of the first oil way is communicated with the interior of the secondary hydraulic cylinder; the second oil way is arranged inside the three-stage hydraulic cylinder shell, one end of the second oil way is communicated with the inside of the second-stage hydraulic cylinder, and the other end of the second oil way is communicated with the inside of the three-stage hydraulic cylinder.
Further, one end of the three-stage piston rod, which is far away from the primary hydraulic cylinder, is provided with a spherical supporting piece.
The technical scheme is as follows: the invention discloses a landable underwater glider with an underwater landing system, which comprises a glider shell, a vertical rudder, a buoyancy adjusting system, a control system, a detection system, a power propulsion system, a gesture adjusting system and a pressure-resistant cabin, wherein the buoyancy adjusting system, the control system, the detection system, the power propulsion system, the gesture adjusting system and the pressure-resistant cabin are arranged in the glider shell.
When the underwater stay state, the supporting component extends outwards from the shell, the movable rod stretches, and posture transformation is carried out by adjusting the stretching degree of the supporting component.
When the underwater glide state is achieved, the supporting component is retracted into the shell, the movable rod is contracted, and posture is changed through the posture adjusting system and the buoyancy adjusting system.
Further, two sets of supporting components are arranged at the bottom of the glider shell symmetrically, and when the glider is in a water bottom resident state, the movable rods of the four supporting components extend downwards simultaneously and support the glider.
The beneficial effects are that: the invention has the following remarkable effects: 1. miniaturization: on one hand, the screw nut mechanism with the self-locking function is adopted to adjust the rotation of the supporting component, and the screw nut mechanism has the advantages of large contraction force, simple structure and convenient control, and can safely and reliably control the rotation of the supporting component; on one hand, the supporting component adopts a retractable hydraulic cylinder mode, the total stroke of the telescopic hydraulic cylinder is the sum of the strokes of the sleeves of all stages, so that the stroke can be quite long, when the telescopic hydraulic cylinder does not work, the inner wall of a piston rod of a previous stage of the multistage hydraulic cylinder is a cylinder barrel of a next stage of hydraulic cylinder, the telescopic hydraulic cylinder is sequentially sleeved, the telescopic hydraulic cylinder is very compact in structure, the length of the whole hydraulic cylinder can be shortened, the telescopic hydraulic cylinder is suitable for being installed in a glider in a small space, and the telescopic hydraulic cylinder is compact and miniaturized; 2. the adaptability is strong: the supporting component adopts a retractable hydraulic cylinder form, the underwater resident posture of the glider can be accurately adjusted by adjusting the length of the hydraulic cylinder, the environment adaptability and the detection performance of the glider when the glider is resided in the underwater are improved, and the environment adaptability is strong. 3. The practicability is strong: the hydraulic support assembly can provide enough supporting force to ensure that the glider stably resides in the water, and the support assembly can be driven by the supporting and adjusting mechanism to rotate, so that the shape of the underwater glider is not changed while the landing function of the glider is realized, and the excellent fluid performance in the glider working mode is ensured.
Drawings
FIG. 1 is a schematic view of a submarine residence state of an underwater glider;
FIG. 2 is a schematic view of an underwater landing system configuration;
FIG. 3 is a schematic diagram of a hydraulic power system;
FIG. 4 is a schematic diagram of the structure of the fuel tank;
FIG. 5 is a schematic view of the structure of the support assembly in a contracted state;
FIG. 6 is a schematic view of a support adjustment mechanism;
FIG. 7 is a schematic diagram of the control principle of the hydraulic system;
Fig. 8 is a schematic view of an underwater glide state of the underwater glider.
Detailed Description
The invention is further elucidated below in connection with the drawings and the detailed description.
In the drawing the view of the figure, 1 is a glider shell, 2 is a vertical rudder, 3 is a left side underwater landing system, 4 is a right side underwater landing system, 5 is a head pressure-resistant cabin, 6 is a control system pressure-resistant cabin, 7 is a posture adjustment system pressure-resistant cabin, 8 is a tail pressure-resistant cabin, 9 is a left side buoyancy adjustment system, 10 is a right side buoyancy adjustment system, 11 is a support adjustment mechanism, 12 is a hydraulic power system, 13a is a front support component, 13b is a rear support component, 14 is an oil tank, 15 is a hydraulic motor, 16 is a coupling, 17 is a hydraulic pump, 18 is an overflow valve, 19 is a first three-position four-way electromagnetic reversing valve, 20 is a second three-position four-way electromagnetic reversing valve, 21 is an oil filter, 22 is an oil tank shell, 23 is an oil tank cover, 24 is a steel pipeline, 25 is a hydraulic mounting bracket, 26 is a hydraulic power system sealed cabin shell, 26a watertight connector mounting hole, 27 is a hydraulic cylinder the movable rod 40, the rod cavity 271, the rodless cavity 272, the articulated joint 28, the first-stage cylinder front end cover 29, the hinge seat 30, the first-stage hydraulic cylinder 31, the second-stage hydraulic cylinder 32 (first-stage piston rod), the third-stage hydraulic cylinder 33 (second-stage piston rod), the third-stage piston rod 34, the support member 35, the first-stage cylinder rear end cover 36, the second-stage cylinder rear end cover 37, the third-stage cylinder rear end cover 38, the shaft elastic retainer 39, the first oil port 29a, the second oil port 31a, the first oil path 32a, the second oil path 33a, the O-shaped sealing rings 41-48, the sealing felt rings 49, the sealing gaskets 51-56, the deep groove ball bearings 57, the self-sealing ball bearings 58, the screw rods 61, the screw nuts 62, the guide rods 63, the fixed-side supporting units 64, the supporting-side supporting units 66, the hinge seat 67, the connecting rods, the motor sealing cabin is characterized in that the coupling is 68, the adjusting motor is 69, the first flow dividing valve is 71, the second flow dividing valve is 72, the third flow dividing valve is 73, the fourth flow dividing valve is 74, the fifth flow dividing valve is 75, the first pipe joint is 81, the second pipe joint is 82, the third pipe joint is 83, the fourth pipe joint is 84, the fifth pipe joint is 85, the sixth pipe joint is 86, the shaft sleeve is 91, the flange is 92, the mounting nut is 93, the motor sealing cabin shell is 94, the watertight connector hole is 94a, the motor sealing cabin end cover is 95, the support is 96, and the flange is 97.
Referring to fig. 1,2 and 7, the invention discloses an underwater landing system and a landable underwater glider. And the underwater landing system and the landable underwater glider are completely sealed by the sealing piece, so that the buoyancy adjusting system can accurately adjust the buoyancy of the glider.
The underwater landing system comprises a bracket 96, a hydraulic system and a support adjusting mechanism 11, wherein the hydraulic system comprises a power element, a hydraulic support mechanism, a control element and a storage element for storing hydraulic oil.
The hydraulic support mechanism comprises at least one group of support components, the support components comprise a hydraulic cylinder 27 with the top end hinged in a bracket 96, the output end of the hydraulic cylinder 27 is a movable rod 40 coaxially connected with the hydraulic cylinder 27, and the top of the piston rod is provided with a piston and stretches along the length extending direction of the hydraulic cylinder; the power element provides power to extract or withdraw the hydraulic oil; the control element controls the extension and retraction of the movable rod 40 with respect to the hydraulic cylinder 27 by controlling the flow direction of the hydraulic oil.
The supporting and adjusting mechanism 11 comprises a connecting rod 67 and a power mechanism, one end of the connecting rod 67 is hinged to the hydraulic cylinder 27, the other end of the connecting rod 67 is hinged to the power mechanism, and the power mechanism provides power to enable the connecting rod 67 to move so as to drive the supporting component to rotate out or retract relative to the support 96 by taking the joint of the hydraulic cylinder 27 and the support 96 as a fulcrum.
Referring to fig. 1 to 2 and fig. 7 to 8, a landable underwater glider with the underwater landing system comprises a glider shell 1, a vertical rudder 2, a buoyancy adjusting system, a control system, a detection system, a power propulsion system, a posture adjusting system and a pressure-resistant cabin which are arranged in the glider shell 1, wherein the glider shell 1 comprises a bracket 96, and the landable underwater glider further comprises an underwater landing system carried on the bracket 96. The landable underwater glider is freely switched between a water-bottom resident state and an underwater glider state based on an underwater landing system, a buoyancy adjusting system and a posture adjusting system.
In the underwater resident state, the support member is extended to the outside of the housing 1, and the movable lever 40 is extended and posture is changed by adjusting the degree of extension and contraction of the support member. In the underwater glide state, the support assembly is retracted into the housing 1, and the movable rod 40 is retracted and posture is changed by the posture adjustment system and the buoyancy adjustment system. In this embodiment, two sets of support assemblies are symmetrically disposed at the bottom of the glider housing 1, and the movable rods 40 of the four support assemblies simultaneously extend downward and support the glider in the underwater parking state.
The invention is further described below.
In this embodiment, the landable underwater glider is provided with two sets of underwater landing systems, and the two sets of underwater landing systems are symmetrically arranged by taking the longitudinal section in the glider shell 1 as a symmetry plane, namely a left underwater landing system 3 and a right underwater landing system 4. Each underwater landing system is provided with two groups of support assemblies, and the two groups of support assemblies are oppositely arranged along the length extending direction, namely a front support assembly 13a and a rear support assembly 13b. Each group of support components is provided with a front end cover and a rear end cover.
Referring to fig. 2 and 6, the power mechanism is a screw nut mechanism, and includes a screw 61, a screw nut 62, and an adjusting motor 69. One end of the screw rod 61 is connected with an adjusting motor 69 and is driven by the adjusting motor 69. The screw nut 62 is sleeved on the screw 61 and hinged with the connecting rod 67. The adjusting motor 69 drives the screw rod 61 to rotate, so as to drive the screw rod nut 62 to move along the length extending direction of the screw rod 61, drive the connecting rod 67 to move, and further drive the hydraulic cylinder 27 to rotate. In the present embodiment, the lead screw nut mechanism further includes a guide rod 63, a fixed side support unit 64, and a support side support unit 65. One end of the screw rod 61 is a supporting side and is provided with a supporting side supporting unit 65, the other end is a fixed side fixed by two self-sealing radial ball bearings 58 installed back to back and is provided with a fixed side supporting unit 64, an adjusting motor 69 is arranged on the fixed side of the screw rod 61, a guide rod 63 penetrates through a screw nut 62 and is parallel to the screw rod 61, one end of the guide rod 63 is fixed on the supporting side supporting unit 65, and the other end of the guide rod 63 is fixed on the fixed side supporting unit 64. Specifically, the screw rod 61 is a self-locking trapezoidal screw rod, and can prevent the screw rod nut 62 from moving under the force transmitted by the connecting rod 67. In this embodiment, two support adjustment mechanisms 11 are provided in each underwater landing system to drive the front support assembly 13a and the rear support assembly 13b to rotate, respectively.
Furthermore, the screw nut mechanism provided by the invention further comprises a motor module with very high water tightness, and the motor module comprises the adjusting motor 69, a motor sealed cabin shell 94, a motor sealed cabin end cover 95, a flange 97 and a sealing piece. Wherein, regulating motor 69 passes through the screw to be installed on motor capsule end cover 95, and motor capsule end cover 95 passes through the screw to be installed on motor capsule casing 94, and motor capsule end cover 95 is sealed with motor capsule casing 94 through two O type sealing washer to guarantee sealed effect. The motor sealed cabin end cover 95 is connected with the bracket 96 through bolts, so that the installation of the whole motor sealed cabin is realized. And a through hole is formed in the middle of the motor sealed cabin end cover 95, so that a motor shaft extends out of the motor sealed cabin, the motor shaft is limited to the position on the motor sealed cabin end cover 95 through a flange 97, the flange 97 and the motor shaft are sealed through two sealing gaskets 49, and the flange 97 and the motor sealed cabin end cover 95 are sealed through sealing gaskets. The motor capsule housing 94 is provided with a watertight connector hole 94a for installing a watertight connector to realize the transmission of power and control information of the adjusting motor 69.
In this embodiment, the screw rod 61 is connected to the adjusting motor 69 through the coupling 68, the left end of the screw rod 61 is mounted on the supporting side supporting unit 65 through the self-sealing single-row deep groove ball bearing 57 and the elastic collar 39 for shaft, and the right end of the screw rod 61 is mounted on the fixed side supporting unit 64 through the two self-sealing radial ball bearings 58, the shaft sleeve 91 and the flange 92 which are symmetrically mounted back to back. Two self-sealing radial ball bearings 58 mounted symmetrically back-to-back can provide a large axial force to the screw 61, preventing axial movement of the screw 61. The left end of the guide rod 63 is connected to the support-side supporting unit 65 by a screw thread, and the right end is connected to the fixed-side supporting unit 64 by a mounting nut 93. The screw nut 62 is connected with the screw 61 through a trapezoid threaded hole, the screw nut 62 is connected with the guide rod 63 through a common through hole, the guide rod 63 plays a role in guiding and preventing rotation of the screw nut 62, and the lower end of the screw nut 62 is connected with the connecting rod 67 through the hinge seat 66 so as to support the rotation of the assembly through movement of the screw nut 62.
Referring to fig. 2, 5 and 7, the hydraulic support mechanism is further provided with a hinge head 28 and a hinge seat, and is hinged with the bracket 96 at the top end of the hydraulic cylinder 27 through the hinge head 28 and the hinge seat, and the rotation of the support assembly can be realized through the rotation of the hinge head 28. And the hinge joint 28 is binaural-shaped, and the hinge base is three-ear-shaped. The multi-lug connection structure can increase the rigidity of the connection of the support component, and further improve the structural stability of the hydraulic support mechanism.
To reduce the disturbance of the underwater landing system by the underwater environment, a hydraulic oil circuit is connected to the hydraulic cylinder 27 (primary hydraulic cylinder 31). The piston is arranged at the top of the movable rod, the piston divides the hydraulic cylinder 27 into a rod cavity 271 and a rodless cavity 272 which are not communicated with each other, the rodless cavity 272 is provided with a first oil port 29a, and the rod cavity 271 is provided with a second oil port 31a. Hydraulic oil is injected or withdrawn from the rod-less chamber 272 through the first oil port 29a, and simultaneously, the hydraulic oil is withdrawn or injected from the rod-less chamber 271 through the second oil port 31a to drive the extension or retraction of the movable rod 40.
Referring to fig. 3 to 4, the power element is a hydraulic power system 12, the hydraulic power system 12 includes a hydraulic motor 15 and a hydraulic pump 17, and the hydraulic pump 17 converts mechanical energy into hydraulic energy to provide pressure oil for the system. The storage element is a tank 14, and an oil filter 21 is provided in the tank 14. The control elements include a plurality of hoses, diverter valves, electromagnetic directional valves, relief valves 18, and pipe joints for directing the flow of hydraulic oil. The hydraulic motor 15 drives the hydraulic pump 17 to draw hydraulic oil from the oil tank 14, and the flow direction of the hydraulic oil is controlled by a control element. In this embodiment, the hose is a high pressure hose, so that the pipe moves along with the support assembly when the support assembly rotates. The fuel tank 14 includes a fuel tank cap 23 and a fuel tank case 22, the fuel tank cap 23 is mounted on the fuel tank case 22 by screws, and a space between the fuel tank cap 23 and the fuel tank case 22 is sealed by a gasket. The hydraulic power system 12 also includes a coupling 16, a hydraulic mounting bracket 25, a hydraulic power system seal pod housing 26, and a hydraulic power system seal pod cover. The splitter valves are at least five, namely a first splitter valve 71, a second splitter valve 72, a third splitter valve 73, a fourth splitter valve 74 and a fifth splitter valve 75, and each splitter valve is provided with a plurality of outlets and inlets. The electromagnetic directional valve adopts three-position four-way electromagnetic directional valves and is provided with two electromagnetic directional valves, namely a first three-position four-way electromagnetic directional valve 19 and a second three-position four-way electromagnetic directional valve 20, which are respectively connected with the front supporting component 13a and the rear supporting component 13 b. The pipe joints are provided with at least six pipe joints, namely a first pipe joint 81, a second pipe joint 82, a third pipe joint 83, a fourth pipe joint 84, a fifth pipe joint 85 and a sixth pipe joint 86.
The oil filter 21 is mounted at the bottom of the oil tank 14 and is fixed to the oil tank cover 23 via a steel pipe 24 and a first pipe joint 81. The hydraulic motor 15 is connected to a hydraulic pump 17 via a coupling 16. The hydraulic pump 17 is provided with an oil inlet and an oil outlet, and the oil inlet of the hydraulic pump 17 is connected with the oil filter 21 through a first diverter valve 71, a second diverter valve 72, a third diverter valve 73, a high-pressure hose, a first pipe joint 81, and a second pipe joint 82. The oil outlet of the hydraulic pump 17 is connected with a fourth diverter valve 74. The overflow valve 18 is provided with an oil inlet and an oil return port, and the oil inlet of the overflow valve 18 is connected with the first outlet of the fourth flow dividing valve 74, and the oil return port of the overflow valve 18 is connected with the oil filter 21 through the second flow dividing valve 72, the first flow dividing valve 71, the first pipe joint 81 and the second pipe joint 82. The relief valve 18 mainly plays roles of constant pressure relief, pressure stabilization, system unloading and safety protection. The first three-position four-way electromagnetic directional valve 19 and the second three-position four-way electromagnetic directional valve 20 are identical and are provided with an oil inlet P, a working port A, a working port B and an oil return port T. The second outlet of the fourth flow dividing valve 74 is connected with the inlet of the fifth flow dividing valve 75, the first outlet of the fifth flow dividing valve 75 is connected with the oil inlet P of the first three-position four-way electromagnetic directional valve 19, and the second outlet of the fifth flow dividing valve 75 is connected with the oil inlet P of the second three-position four-way electromagnetic directional valve 20. The working port A of the first three-position four-way electromagnetic directional valve 19 is connected with the first oil port 29a of the front support component 13a through a high-pressure hose and a sixth pipe joint 86; the working port B of the first three-position four-way electromagnetic directional valve 19 is connected with the second oil port 31a of the front support component 13a through a high-pressure hose and a fifth pipe joint 85; the oil return port T of the first three-position four-way electromagnetic directional valve 19 is connected to the oil filter 21 through a high-pressure hose, a first split valve 71, a second split valve 72, a third split valve 73, a second pipe joint 82, and a first pipe joint 81. The working port A of the second three-position four-way electromagnetic directional valve 20 is connected with the first oil port 29a of the rear supporting component 13B through a pipeline and a third pipe joint 83, the working port B of the second three-position four-way electromagnetic directional valve 20 is connected with the second oil port 31a of the rear supporting component 13B through a pipeline and a fourth pipe joint 84, and the oil port T of the second three-position four-way electromagnetic directional valve 20 is connected with the oil filter 21 through a pipeline, a first flow dividing valve 71, a second pipe joint 82 and a first pipe joint 81.
Specifically, the hydraulic motor 15, the hydraulic pump 17, the overflow valve 18, the first three-position four-way electromagnetic directional valve 19, and the second three-position four-way electromagnetic directional valve 20 are connected to the hydraulic mounting bracket 25 through bolts. The hydraulic mounting bracket 25 is mounted by screws into the hydraulic power system capsule housing 26. And the hydraulic power system sealed cabin shell 26 is provided with a water-tight connector mounting hole 26a, the hydraulic power system sealed cabin shell 26 and the hydraulic power system 12 sealed cabin cover are connected through screws at the mounting hole, and the hydraulic power system sealed cabin shell 26 and the cabin cover are sealed through a sealing gasket.
As shown in fig. 7, a schematic diagram of the operating principle of the hydraulic power system 12 is shown. The operation of the hydraulic power system 12 will now be described by way of example with reference to the support assembly 13 a. The hydraulic motor 15 and the hydraulic pump 17 are used as driving elements of the hydraulic power system 12, the oil filter 21 is used for filtering hydraulic oil, one end of an oil outlet of the hydraulic pump 17 is communicated with the overflow valve 18 through a flow dividing valve and used for adjusting the limiting pressure of the hydraulic power system 12 and simultaneously playing a role of safety overflow. When the front support assembly 13a is required to extend, the oil inlet P of the first three-position four-way electromagnetic directional valve 19 is communicated with the working port A, the oil outlet T is communicated with the working port B, hydraulic oil enters the rodless cavity 272 of the front support assembly 13a through the oil inlet P and the working port A under the action of the hydraulic pump 17, hydraulic oil in the rod cavity 271 returns to the oil tank 14 through the working port B and the oil return port T, and the front support assembly 13a extends. When the front support assembly 13a is required to retract, the oil inlet P of the first three-position four-way electromagnetic directional valve 19 is communicated with the working port B, the oil outlet T is communicated with the working port A, hydraulic oil enters the rod cavity 271 of the front support assembly 13a through the oil inlet P and the working port B under the action of the hydraulic pump 17, hydraulic oil in the rod cavity 272 returns to the oil tank 14 through the working port A and the oil return port T, and the support assembly is shortened.
Referring to fig. 2 and 5, the present invention further provides a high-efficiency support assembly, which is a piston-type double-acting three-stage telescopic hydraulic cylinder. The hydraulic cylinder 27 is a primary hydraulic cylinder 31, and the movable rod 40 comprises a secondary hydraulic cylinder 32, a tertiary hydraulic cylinder 33 and a tertiary piston rod 34 which are sequentially and hermetically sleeved. Namely, the primary hydraulic cylinder 31 is a cylinder barrel of the secondary hydraulic cylinder 32, the secondary hydraulic cylinder 32 is used as a piston rod of the primary hydraulic cylinder 31 and is used as a cylinder barrel of the tertiary hydraulic cylinder 33, the tertiary hydraulic cylinder 33 is used as a piston rod of the secondary hydraulic cylinder 32 and is used as a cylinder barrel of the tertiary piston rod 34, and the tertiary piston rod 34 is used as a piston rod of the tertiary hydraulic cylinder 33. The support assembly further includes a first oil passage 32a, a second oil passage 33a. The first oil passage 32a is provided inside the housing of the secondary hydraulic cylinder 32. And the first oil passage 32a has one end communicating with the inside of the primary hydraulic cylinder 31 and the other end communicating with the inside of the secondary hydraulic cylinder 32. The second oil passage 33a is provided inside the housing of the three-stage hydraulic cylinder 33. And the second oil passage 33a has one end communicating with the inside of the secondary hydraulic cylinder 32 and the other end communicating with the inside of the tertiary hydraulic cylinder 33. In this embodiment, in each support assembly, the primary hydraulic cylinder 31, the secondary hydraulic cylinder 32, the tertiary hydraulic cylinder 33, and the tertiary piston rod 34 are provided with a front end cover and a rear end cover. The first oil port 29a is arranged on the front end cover 29 of the primary hydraulic cylinder 31 of the support assembly, and the second oil port 31a is arranged on the lower end of the primary hydraulic cylinder 31. The end of the tertiary piston rod 34 remote from the primary hydraulic cylinder 31 is provided with a spherical support 35. The support piece 35 is in threaded connection with the three-stage piston rod 34, when the hydraulic support mechanism works, the support piece 35 is in contact with the ground, and the hydraulic support mechanism is designed into a spherical shape, so that the contact area with the water bottom can be increased, the pressure intensity is reduced, and the landing performance of the support mechanism is improved.
Also, for a clearer and more detailed description, the above-described support assembly is described in the following manner. The support assembly comprises a primary piston assembly, a secondary piston assembly and a tertiary piston assembly which are sequentially and hermetically sleeved, and the primary piston assembly comprises a primary hydraulic cylinder 31, a secondary hydraulic cylinder 32, a primary cylinder front end cover 29, a primary cylinder rear end cover 36 and a sealing element. The secondary piston assembly includes a secondary hydraulic cylinder 32, a tertiary hydraulic cylinder 33, a primary cylinder rear end cap 36, a secondary cylinder rear end cap 37, and seals. The tertiary piston assembly includes a tertiary hydraulic cylinder 33, a tertiary piston rod 34, a support 35, a secondary cylinder rear end cap 37, a tertiary cylinder rear end cap 38, and a seal. The inner wall of the cylinder barrel of the primary hydraulic cylinder 31 is a cylinder barrel of a primary piston assembly, the front end of the outer wall of the secondary hydraulic cylinder 32 is used as a primary piston rod of the primary piston assembly, and the primary piston rod and the cylinder barrel of the primary hydraulic cylinder 31 are sealed through O-shaped sealing rings. The inner wall of the primary piston rod is a cylinder barrel of the secondary piston assembly, the outer wall of the tertiary hydraulic cylinder 33 is used as a secondary piston rod of the secondary piston assembly, and the secondary piston rod and the cylinder barrel of the secondary hydraulic cylinder 32 are sealed through an O-shaped sealing ring. The inner wall of the secondary piston rod is a cylinder barrel of the tertiary piston assembly, the outer wall of the tertiary piston rod 34 is used as a piston of the tertiary piston assembly, and the tertiary piston rod 34 and the cylinder barrel of the tertiary hydraulic cylinder 33 are sealed through an O-shaped sealing ring.
In the primary piston assembly, the primary cylinder front end cover 29 has sealing and mounting functions. The first-stage hydraulic cylinder front end cover 29 and the first-stage hydraulic cylinder barrel are connected through pins, and a sealing gasket and an O-shaped sealing ring are designed at the joint of the first-stage hydraulic cylinder front end cover 29 and the first-stage hydraulic cylinder barrel 31 so as to prevent hydraulic oil from leaking. In addition, the primary cylinder front end cover 29 is connected to the joint 28 by a bolt, the joint 28 is connected to the hinge base by a bolt type rolling hinge pin, and the hinge is mounted on the bracket 96 by a bolt. The primary cylinder front end cover 29 effects rotation of the support assembly by rotation of the hinge joint 28. The first stage cylinder rear end cap 36 has guiding, sealing and mounting functions. The primary cylinder rear end cap 36 has a guiding function for the secondary hydraulic cylinder 32. Two sealing grooves are formed in the inner side of the first-stage hydraulic cylinder rear end cover 36, so that the first-stage hydraulic cylinder rear end cover 36 and the second-stage hydraulic cylinder 32 are sealed through two O-shaped sealing rings. The rear end cover 36 of the primary hydraulic cylinder and the cylinder barrel of the primary hydraulic cylinder 31 are connected through pins and sealed through a sealing gasket. The first-stage cylinder rear end cover 36 is connected with the hinge base 30 through bolts, and the hinge base 30 is connected with the connecting rod 67 of the supporting and adjusting mechanism 11 through a hinge pin so as to realize the rotation control of the supporting assembly.
In the secondary piston assembly, the primary cylinder rear end cap 36 serves as a front end cap of the secondary piston assembly, and the secondary cylinder rear end cap 37 has guiding and sealing functions. The secondary cylinder rear end cover 37 has a guiding function on a secondary piston rod, two sealing grooves are formed in the inner side of the secondary cylinder rear end cover 37, so that sealing between the secondary cylinder rear end cover 37 and the secondary piston rod is achieved through two O-shaped sealing rings, and the secondary cylinder rear end cover 37 and the primary piston rod (the secondary hydraulic cylinder 32) are connected through pins and sealed through sealing gaskets.
In the tertiary piston assembly, the secondary cylinder rear end cover 37 serves as a front end cover of the tertiary piston assembly, and the tertiary cylinder rear end cover 38 has guiding and sealing functions. The three-stage cylinder rear end cover 38 has a guiding function on the three-stage piston rod 34, two sealing grooves are formed in the inner side of the three-stage cylinder rear end cover 38 so as to seal the three-stage cylinder rear end cover 38 and the three-stage piston rod 34 through two O-shaped sealing rings, and the three-stage cylinder rear end cover 38 and the two-stage piston rod (the three-stage hydraulic cylinder 33) are connected through pins and sealed through sealing gaskets.
The first oil passage 32a and the second oil passage 33a are provided to achieve communication of the entire oil passages. The first oil path 32a is arranged inside the shell of the secondary hydraulic cylinder 32, and an oil port at the upper end of the first oil path 32a is arranged outside the secondary hydraulic cylinder 32 so as to be communicated with a second oil port 31a on the cylinder barrel of the primary hydraulic cylinder 31. The lower end oil port of the first oil passage 32a is located inside the housing of the second hydraulic cylinder 32 so as to communicate with the oil port of the second oil passage 33 a. The second oil path 33a is arranged inside the three-stage hydraulic cylinder 33 housing, and an oil port at the upper end of the second oil path 33a is arranged outside the three-stage hydraulic cylinder 33 housing so as to be communicated with an oil port at the lower end of the first oil path 32a, and an oil port at the lower end of the second oil path 33a is arranged inside the three-stage hydraulic cylinder 33 housing so as to be communicated with a space outside the three-stage piston rod 34. In addition, the outer sides of the secondary hydraulic cylinder 32, the tertiary hydraulic cylinder 33 and the tertiary piston rod 34 are provided with steps so as to control the maximum extending position of the piston and ensure the communication of the oil paths in the piston rod.
The description of the supporting component of the piston type double-acting three-stage telescopic hydraulic cylinder is finished. The effective area of the primary piston rod is larger than that of the secondary piston rod, and the effective area of the secondary piston rod is larger than that of the tertiary piston rod 34. The following are the functions and features of the support assembly. When the piston rod extends, the hydraulic pump 17 presses pressure oil into the rodless cavity 272 through the first oil port 29a of the front end cover of the primary hydraulic cylinder 31, so that the piston can extend smoothly, the primary piston rod extends preferentially, the secondary piston rod extends secondarily, and the tertiary piston rod 34 extends finally. When retracting, the hydraulic pump 17 presses pressure oil into the outer sides (namely the rod cavity 271) of the cylinder walls of the primary piston rod, the secondary piston rod and the tertiary piston rod 34 through the second oil port 31a of the primary hydraulic cylinder 31 and the oil way in the hydraulic cylinder shell, so that the piston can be ensured to retract smoothly. And tertiary piston rod 34 is preferably retracted, secondary piston rod, primary piston rod last retracted. The total stroke of the three-stage telescopic hydraulic cylinder is the sum of the strokes of the sleeves of all stages, and when the telescopic hydraulic cylinder stretches out, the stroke can be quite long; when the hydraulic cylinder does not work, the inner wall of the piston of the previous stage of the multi-stage hydraulic cylinder is a cylinder barrel of the next stage of hydraulic cylinder, and the hydraulic cylinder is formed by sequentially sleeving the cylinder barrels, so that the hydraulic cylinder is very compact in structure, the length of the whole hydraulic cylinder can be shortened, and the occupied space is small. The supporting component adopts the hydraulic principle to provide enough supporting force to ensure that the glider stably resides in the water bottom, and simultaneously can accurately adjust the gesture of the glider by adjusting the telescopic length of the hydraulic cylinder, so that the environment adaptability and the detection performance of the glider are improved when the glider resides in the water bottom.
In this embodiment, the glider housing 1 of the landable underwater glider is formed by wrapping a glider total support with a skin material, the glider total support includes the support 96 and the glider total support has a bionic wing shape. The underwater landing system, the buoyancy regulating system and the pressure cabin are all arranged on the glider main bracket. The buoyancy regulating system is provided with two buoyancy regulating systems, namely a left buoyancy regulating system 9 and a right buoyancy regulating system 10. The pressure-resistant cabin comprises a head pressure-resistant cabin 5, a control system pressure-resistant cabin 6, a posture adjusting system pressure-resistant cabin 7 and a tail pressure-resistant cabin 8. The detection system is arranged in the head pressure-resistant cabin 5, the control system is arranged in the control system pressure-resistant cabin 6, the gesture adjusting system is arranged in the gesture adjusting system pressure-resistant cabin 7, and the power propulsion system is arranged in the tail pressure-resistant cabin 8.
Based on the above, the landable underwater glider is provided with and can realize two working modes of underwater glider and underwater residence. In the underwater glider mode, the underwater landing system is in an inactive state, the supporting component is completely inside the glider shell 1, and the landable underwater glider is kept streamline. The floating and submerging of the underwater glider are realized by changing the buoyancy of the underwater glider through a buoyancy adjusting system, and the glide posture of the underwater glider during the floating and submerging is controlled by a posture adjusting system. In the underwater landing mode, the underwater landing system works, and the supporting and adjusting mechanism controls the supporting component to extend out of the inside of the glider shell 1, and meanwhile the supporting component contracts and extends to control the underwater landing posture of the glider. And when the glider is resided at the water bottom and the supporting component is in a vertical state, the acting force of the supporting and adjusting mechanism 11 on the connecting rod 67 and the screw nut 62 can be reduced. Two modes of operation of the landable underwater glider are further described below.
The underwater glider is changed from an underwater glide working mode to a submarine residence working mode and mainly comprises three stages of preparing landing, starting diving and adjusting the posture, and the specific working process is as follows:
In preparation for landing, the buoyancy regulating system discharges certain seawater, so that the glider changes from a negative buoyancy state when in diving to a zero buoyancy state, and the control system controls the opening of a shell hatch below the underwater landing system, and the supporting component is allowed to extend. Subsequently, the control system controls the adjusting motor 69 to work, the screw nut 62 moves leftwards under the action of the adjusting motor 69 and the screw 61, and the supporting assembly rotates out of the housing under the action of the screw nut 62, the hinge seat 66, the connecting rod 67 and the hinge seat 30. And a displacement sensor is arranged, the position of the screw nut 62 is monitored by the displacement sensor to control the rotation angle of the support assembly until the support assembly rotates to a vertical state, and the support adjusting mechanism 11 stops working. Then the hydraulic power system 12 works, the control system controls the oil inlet P of the three-position four-way electromagnetic reversing valve to be communicated with the working port A, the oil outlet T is communicated with the working port B, hydraulic oil enters the rodless cavity 272 of the supporting component through the oil inlet P, the working port A and the first oil port 29a under the action of the hydraulic motor 15 and the hydraulic pump 17, hydraulic oil in the rod cavity 271 returns to the oil tank 14 through the internal oil way 33a of the second-stage piston rod shell, the internal oil way 32a of the first-stage piston rod 32, the second oil port 31a, the working port B of the three-position four-way electromagnetic reversing valve and the oil return port T, the supporting component stretches, and the hydraulic power system 12 stops working after the hydraulic power system stretches to the longest.
In the starting submergence stage, the buoyancy regulating system sucks a small amount of seawater, so that the glider is changed from a zero-buoyancy state to a slight negative-buoyancy state, and the underwater glider slowly submerges under the action of the negative buoyancy until the glider lands on the water bottom.
In the attitude adjusting stage, the buoyancy adjusting system sucks a large amount of seawater until the buoyancy adjusting system is fully loaded, so that the glider is in a very large negative buoyancy state, and can stably stay under the water. And then, an attitude sensor in an attitude adjusting system monitors the attitude of the underwater glider, when the attitude needs to be adjusted, a control system controls a hydraulic system to work, the attitude of the glider is accurately adjusted by adjusting the expansion and contraction of a supporting component, and the environment adaptability and the detection performance of the glider when the glider resides in the water are improved.
The underwater glider is changed from a submarine residence working mode to an underwater gliding working mode and mainly comprises three stages of starting up, preparing to glide and floating up, wherein the specific working process is as follows:
In the starting up-floating stage, the buoyancy regulating system discharges a large amount of seawater, so that the glider is changed from a negative buoyancy state to a positive buoyancy state until the glider is separated from the water bottom.
In the stage of preparing to glide, the buoyancy regulating system sucks certain seawater, so that the glider changes from a positive buoyancy state to a zero buoyancy state when the glider is started to float upwards. Then the hydraulic power system 12 works, the control system controls the oil inlet P of the three-position four-way electromagnetic directional valve to be communicated with the working port B, the oil outlet T is communicated with the working port A, hydraulic oil enters the rod cavity 271 of the supporting component through the oil inlet P, the three-position four-way electromagnetic directional valve working port B, the second oil port 31a, the oil way 32a in the shell of the primary piston rod 32 and the oil way 33a in the shell of the secondary piston rod 33 under the action of the hydraulic motor 15 and the hydraulic pump 17, hydraulic oil in the rod cavity 272 returns to the oil tank 14 through the first oil port 29a, the oil return port T and the working port A, the supporting component contracts, and the hydraulic power system 12 stops working after the hydraulic power system contracts to the shortest. Then, the control system controls the adjusting motor 69 supporting the adjusting mechanism 11 to work, the screw nut 62 moves rightwards under the action of the adjusting motor 69 and the screw rod 61, the supporting component is turned into the glider shell 1 under the action of the screw nut 62, the hinge seat 66, the connecting rod 67 and the hinge seat 30, the position of the screw nut 62 is monitored by the displacement sensor to control the rotating angle of the supporting component until the supporting component is completely retracted into the shell, the supporting adjusting mechanism 11 stops working, and the control system controls the shell hatch below the underwater landing system to be closed, so that the glider keeps streamline.
In the floating and gliding stage, the buoyancy regulating system discharges seawater to enable the glider to be in a positive buoyancy state when upwards gliding, and then the posture regulating system regulates the gliding posture by regulating the gravity center position of the underwater glider, so that the glider stably and efficiently glides and floats upwards.
The invention adopts a telescopic supporting component as a supporting mechanism, and designs a supporting adjusting mechanism 11 for rotating the supporting mechanism, so that the supporting component is completely positioned in the glider shell 1 when not in operation and extends out of the glider shell when in operation, thereby ensuring that the glider can safely and stably keep a sufficient distance from the water bottom. The support adjusting mechanism adopts a screw nut mechanism with a self-locking function, has the advantages of large contraction force, convenient control and self-locking, and can safely and reliably control the rotation of the hydraulic support mechanism. The hydraulic support mechanism adopts a retractable hydraulic cylinder form, has a compact structure, can be rotated by the support adjusting mechanism, and ensures the fluid performance in a gliding working mode while realizing the landing function of the glider. Meanwhile, the hydraulic support mechanism can provide enough support force to ensure that the glider stably resides on the seabed, the gesture of the glider is accurately adjusted by adjusting the telescopic length of the hydraulic cylinder, and the environment adaptability and the detection performance of the glider when the glider resides on the seabed are improved. The invention gives consideration to hydrodynamic performance of the underwater glider during gliding, and has the advantages of safe landing, stable operation, reliable operation and strong environmental adaptability during underwater exploration.
Claims (10)
1. The underwater landing system is characterized by comprising a bracket, a hydraulic system and a support adjusting mechanism, wherein the hydraulic system comprises a power element, a hydraulic support mechanism, a control element and a storage element for storing hydraulic oil;
The hydraulic support mechanism comprises at least one group of support components, the support components comprise hydraulic cylinders, the top ends of the hydraulic cylinders are hinged in the support, the output ends of the hydraulic cylinders are movable rods coaxially connected with the hydraulic cylinders, and the tops of the movable rods are provided with pistons and extend and retract along the length extending direction of the hydraulic cylinders; the power element provides power to extract or withdraw the hydraulic oil; the control element controls the movable rod to stretch and retract relative to the hydraulic cylinder by controlling the flow direction of hydraulic oil;
The support adjusting mechanism comprises a connecting rod and a power mechanism, one end of the connecting rod is hinged to the hydraulic cylinder, the other end of the connecting rod is hinged to the power mechanism, and the power mechanism provides power to enable the connecting rod to move so as to drive the support assembly to rotate out or retract relative to the support by taking the joint of the hydraulic cylinder and the support as a fulcrum.
2. The underwater landing system of claim 1, wherein the power mechanism is a screw nut mechanism comprising a screw, a screw nut, an adjustment motor; the screw rod is a self-locking trapezoidal screw rod, and one end of the screw rod is connected with and driven by an adjusting motor; the screw rod nut is sleeved on the screw rod and hinged with the connecting rod; the adjusting motor drives the screw rod to rotate, so that the screw rod nut is driven to move along the length extending direction of the screw rod, the connecting rod is driven to move, and the hydraulic cylinder is driven to rotate.
3. The underwater landing system of claim 2, wherein the lead screw nut mechanism further comprises a guide rod, a fixed side support unit, a support side support unit;
One end of the screw rod is a supporting side and is provided with a supporting side supporting unit, and the other end of the screw rod is a fixed side fixed by two self-sealing radial ball bearings which are installed back to back and is provided with a fixed side supporting unit; the adjusting motor is arranged on the fixed side of the screw rod; the guide rod passes through the screw rod nut and is parallel to the screw rod, one end of the guide rod is fixed on the support side support unit, and the other end of the guide rod is fixed on the fixed side support unit.
4. The underwater landing system of claim 1, wherein the hydraulic support mechanism further comprises a hinge head and a hinge base, the hydraulic cylinder top end is hinged to the bracket through the hinge head and the hinge base, the hinge head is of a double-lug type, and the hinge base is of a triple-lug type.
5. The underwater landing system of claim 1, wherein the piston divides the hydraulic cylinder into a rod-shaped cavity and a rodless cavity that are not communicated with each other, the rodless cavity is provided with a first oil port, and the rod-shaped cavity is provided with a second oil port; and simultaneously, the hydraulic oil is pumped out or injected from the rod cavity through the second oil port so as to drive the movable rod to extend or retract.
6. The underwater landing system of claim 1, wherein the power element is a hydraulic power system comprising a hydraulic motor, a hydraulic pump; the storage element is an oil tank, and an oil filter is arranged in the oil tank; the control element comprises a plurality of hoses, a flow dividing valve, an electromagnetic reversing valve, an overflow valve and a pipe joint for guiding the flow of hydraulic oil; the hydraulic motor drives the hydraulic pump to extract the hydraulic oil from the oil tank, and the control element controls the flow direction of the hydraulic oil.
7. The underwater landing system of claim 5, wherein the support assembly is a piston double-acting three-stage telescopic hydraulic cylinder; the movable rod comprises a secondary hydraulic cylinder, a tertiary hydraulic cylinder and a tertiary piston rod which are sequentially sealed and sleeved; the first oil port is arranged at the upper end of the primary hydraulic cylinder, and the second oil port is arranged at the lower end of the primary hydraulic cylinder;
The support assembly further comprises a first oil way and a second oil way; the first oil way is arranged in the shell of the secondary hydraulic cylinder, one end of the first oil way is communicated with the interior of the primary hydraulic cylinder, and the other end of the first oil way is communicated with the interior of the secondary hydraulic cylinder; the second oil way is arranged inside the three-stage hydraulic cylinder shell, one end of the second oil way is communicated with the inside of the second-stage hydraulic cylinder, and the other end of the second oil way is communicated with the inside of the three-stage hydraulic cylinder.
8. The underwater landing system of claim 7, wherein the end of the tertiary piston rod remote from the primary hydraulic cylinder is provided with a spherical support.
9. A landable underwater glider having an underwater landing system as claimed in any one of claims 1 to 8, comprising a glider housing, a vertical rudder, a buoyancy adjustment system, a control system, a detection system, a power propulsion system, a attitude adjustment system, a pressure cabin disposed within the glider housing, wherein the glider housing comprises the cradle therein, and the landable underwater glider further comprises the underwater landing system mounted to the cradle, the landable underwater glider being free to switch between a water-bottom-resident state and an underwater glider state based on the underwater landing system, the buoyancy adjustment system, the attitude adjustment system;
When the underwater resides, the supporting component extends outwards from the shell, the movable rod stretches, and the posture is changed by adjusting the stretching degree of the supporting component;
When the underwater glide state is achieved, the supporting component is retracted into the shell, the movable rod is contracted, and posture is changed through the posture adjusting system and the buoyancy adjusting system.
10. The landable underwater glider of claim 9, wherein the supporting members are arranged in pairs, two groups of supporting members are symmetrically arranged at the bottom of the glider housing, and the movable rods of the four supporting members simultaneously extend downwards and support the glider in the underwater resident state.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202410122604.7A CN117963112A (en) | 2024-01-29 | 2024-01-29 | Underwater landing system and landable underwater glider |
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| CN202410122604.7A CN117963112A (en) | 2024-01-29 | 2024-01-29 | Underwater landing system and landable underwater glider |
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| KR20150008575A (en) * | 2013-07-15 | 2015-01-23 | 대우조선해양 주식회사 | Landing system for submarine |
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