CN117963118A - Underwater vehicle capable of switching swing modes - Google Patents
Underwater vehicle capable of switching swing modes Download PDFInfo
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- CN117963118A CN117963118A CN202410361812.2A CN202410361812A CN117963118A CN 117963118 A CN117963118 A CN 117963118A CN 202410361812 A CN202410361812 A CN 202410361812A CN 117963118 A CN117963118 A CN 117963118A
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- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 110
- 230000007246 mechanism Effects 0.000 claims abstract description 13
- 238000007789 sealing Methods 0.000 claims description 14
- 229920000049 Carbon (fiber) Polymers 0.000 claims description 4
- 239000004917 carbon fiber Substances 0.000 claims description 4
- 239000011152 fibreglass Substances 0.000 claims description 4
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 claims description 4
- 238000004891 communication Methods 0.000 claims description 2
- 238000010521 absorption reaction Methods 0.000 claims 1
- 241000251468 Actinopterygii Species 0.000 abstract description 13
- 239000011664 nicotinic acid Substances 0.000 abstract description 12
- 230000009182 swimming Effects 0.000 abstract description 10
- 230000003068 static effect Effects 0.000 abstract description 4
- 241001125840 Coryphaenidae Species 0.000 abstract description 3
- 210000000006 pectoral fin Anatomy 0.000 description 8
- 241001481833 Coryphaena hippurus Species 0.000 description 5
- 230000005484 gravity Effects 0.000 description 4
- 238000005192 partition Methods 0.000 description 4
- 238000010009 beating Methods 0.000 description 3
- 230000008859 change Effects 0.000 description 3
- 238000005096 rolling process Methods 0.000 description 3
- 230000007613 environmental effect Effects 0.000 description 2
- 239000011521 glass Substances 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
- 125000006850 spacer group Chemical group 0.000 description 2
- 241000276694 Carangidae Species 0.000 description 1
- 238000007599 discharging Methods 0.000 description 1
- 238000009413 insulation Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 239000011241 protective layer Substances 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 238000005070 sampling Methods 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H1/00—Propulsive elements directly acting on water
- B63H1/30—Propulsive elements directly acting on water of non-rotary type
- B63H1/36—Propulsive elements directly acting on water of non-rotary type swinging sideways, e.g. fishtail type
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/14—Control of attitude or depth
- B63G8/22—Adjustment of buoyancy by water ballasting; Emptying equipment for ballast tanks
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Ocean & Marine Engineering (AREA)
- Toys (AREA)
Abstract
The invention relates to the field of underwater bionic aircrafts, in particular to an underwater aircrafts capable of switching swing modes, which comprises a head, a rotatable part and a multi-joint flexible propeller, wherein the head, the rotatable part and the multi-joint flexible propeller are sequentially connected; the multi-joint flexible propeller can swing back and forth under water to generate propelling force; the inside of rotatable portion is equipped with rotatable portion cavity, be equipped with mode switching mechanism in the rotatable portion cavity. The balance weights at two sides of the rotatable part are adjusted through the mode switching mechanism, so that the multi-joint flexible propeller can roll by 90 degrees, and the swing waveforms of the tail parts of different fishes or dolphins can be simulated according to the needs under the left-right or up-down swing propulsion modes so as to adapt to the needs of different sea conditions and improve the propulsion efficiency; the underwater vehicle can also float or submerge, thereby realizing the submarine landing seat bottom and offshore bottom 'creeping' operation under static or low swimming speed.
Description
Technical Field
The invention relates to the field of underwater bionic vehicles, in particular to an underwater vehicle capable of switching swing modes.
Background
With the increasing demands of ocean resource development, environmental monitoring and the like, new ocean equipment is being developed in various countries to strengthen monitoring and protection capabilities. These equipment needs to have the ability to perform tasks quickly, maneuver, underwater and under ice. The tuna mode has high swimming efficiency, good maneuverability and small environmental disturbance, and is suitable for an underwater unmanned aircraft. The thrust is mainly from a reverse karman vortex street formed by tail swing, and the tail arm and the tail fin are required to move regularly. The mode has wide application in the aspects of marine reconnaissance, rescue and the like.
CN115230925A discloses a flexible underwater bionic propeller with a digital control variable waveform, which adopts the principle of rigid forced motion, and by precisely fitting the fish body wave, the propeller is controlled to simulate the motion of the fish body, and high-efficiency karman vortex street reverse vortex thrust is generated, so that the wave movement of the propeller is in the optimal propulsion efficiency range. However, the numerically controlled variable-waveform multi-joint flexible underwater bionic propeller can only simulate the propelling mode of left-right swinging of the tail of a fish body, but cannot simulate the propelling mode of up-down swinging of the tail of a dolphin and the like, and has the limitation of simulating different propelling modes.
CN104724269a discloses a space maneuvering tail pendulum propulsion device, CN111319742B discloses a parallel space tail pendulum propulsion device, and although the two propulsion devices can realize the transformation of the tail fin water-beating angle, the whole tail part of the device can not simulate the swinging waveform of the tail part of a carangidae or dolphin, and the vortex quantity and strength of the reverse karman vortex street generated by the device can not be controlled through the tail swinging amplitude and phase, so that the device is not truly bionic propulsion.
In addition, existing AUVs are often unable to hover or land on the seabed for sampling, while subsea robots lack high maneuverability in the water. Accordingly, various countries are working on developing a new type of underwater vehicle that is efficient, mobile, and capable of landing on the sea floor and "creeping" near the ground.
Disclosure of Invention
The invention aims to provide an underwater vehicle capable of switching swinging modes, wherein the balance weights at two sides of a rotatable part are regulated through a mode switching mechanism, so that a multi-joint flexible propeller can roll by 90 degrees, and swinging waveforms of tail parts of different fishes or dolphins can be simulated according to requirements in a left-right or up-down swinging propulsion mode so as to adapt to the requirements of different sea conditions and improve the propulsion efficiency; the water sucking and draining device drives the two counterweight water tanks to simultaneously feed water or discharge water, so that the underwater vehicle can float upwards or submerge, and accordingly, the seabed landing and the offshore seabed 'creeping' operation can be realized at a static or low swimming speed, and the application scene is wide.
In order to achieve the above object, the present invention provides an underwater vehicle capable of switching a swing mode, comprising a head, a rotatable portion and a multi-joint flexible propeller, which are sequentially connected, wherein the rotatable portion can roll relative to the head, and the multi-joint flexible propeller is fixedly connected with the rotatable portion; the multi-joint flexible propeller can swing back and forth under water to generate propelling force; the inside of rotatable portion is equipped with rotatable portion cavity, be equipped with mode shifter in the rotatable portion cavity, mode shifter includes counter weight water tank and drainage device, the counter weight water tank is equipped with one respectively in the both sides of rotatable portion cavity, the counter weight water tank is through the external intercommunication of water sucking and draining mouth with rotatable portion cavity, drainage device is used for providing power for the counter weight water tank absorbs water or drains.
When the propulsion mode of the underwater vehicle needs to be switched, the water suction and drainage device drives the water inlet of the counterweight water tank on one side and the water drainage of the counterweight water tank on the other side, the gravity of unequal water volumes of the counterweight water tanks on the two sides generates rolling moment on the rotatable part, and the rotatable part and the multi-joint flexible propeller are driven to roll by 90 degrees relative to the head, so that the switching between the left-right swing propulsion mode and the up-down swing propulsion mode is realized.
The water sucking and draining device drives the two counterweight water tanks to simultaneously feed water or discharge water, so that the underwater vehicle can float upwards or submerge.
By means of the technical scheme, the underwater vehicle capable of switching the swing modes has at least the following advantages: (1) Compared with the mode switching mode in the prior art that only the tail fin water beating angle is changed, the balance weights on two sides of the rotatable part are adjusted through the mode switching mechanism, so that the multi-joint flexible propeller can roll by 90 degrees, swing waveforms of tail parts of different fishes or dolphins can be simulated according to requirements in a left-right or up-down swing propulsion mode, and the vortex quantity and the strength of reverse karman vortex street generated by the multi-joint flexible propeller can be controlled through the swing amplitude and the phase of the multi-joint flexible propeller so as to adapt to different sea condition requirements and improve propulsion efficiency. (2) The underwater vehicle capable of switching the swing modes has high underwater efficiency and good maneuverability, and the water sucking and draining device drives the two counterweight water tanks to simultaneously feed water or discharge water, so that the underwater vehicle can float or submerge, and the submarine landing and offshore bottom creeping operation can be realized at a static or low swimming speed, and the application scene is wide.
Preferably, the water sucking and draining device comprises a piston and a piston driving device, the piston is in sealing sliding fit with the counterweight water tank, a water cavity is formed between the piston and the counterweight water tank, the water cavity is communicated with the outside of the cavity of the rotatable part through a water sucking and draining port, and the piston driving device is used for driving the piston to move. In the technical scheme, the volume of the water cavity is consistent with the volume of water in the water cavity, so that the water in the water cavity can not change the gravity center due to movement in the water cavity in the process that the rotatable part rolls along the longitudinal axis of the underwater vehicle, and the precise control of the roll angle of the multi-joint flexible propeller can be ensured.
Further, the multi-joint flexible propeller comprises a bulkhead, a connecting rod, a numerical control electric cylinder and an elastic sealing skin, wherein the bulkhead is connected in series through the connecting rod, the front end of the connecting rod is rigidly connected with the front adjacent bulkhead, the rear end of the connecting rod is pivoted with the rear adjacent bulkhead through a pivot, the numerical control electric cylinder is arranged between the adjacent bulkhead, the front end of the numerical control electric cylinder is pivoted with the front adjacent bulkhead through the pivot, the rear end of the numerical control electric cylinder is pivoted with the rear adjacent bulkhead, and the elastic sealing skin is coated outside the bulkhead and forms a tail cavity inside the bulkhead. By adopting the technical scheme, the rear end of the connecting rod is pivoted with the rear adjacent partition frame through the pivot, and the front end of the numerical control electric cylinder is pivoted with the front adjacent partition frame through the pivot, so that the numerical control electric cylinder can not generate torque on the front adjacent partition frame when the numerical control electric cylinder stretches, the rotation angle of the partition frame can be accurately controlled, fish waves can be accurately fitted, and the propulsion efficiency of the underwater bionic propeller is improved.
Furthermore, in order to enable the underwater vehicle to adapt to water pressure changes under different water depths, a high-pressure air storage tank is arranged in the cavity of the rotatable part, the high-pressure air storage tank is connected with the cavity of the tail part through an air inlet valve, and the cavity of the tail part is connected with the outside of the cavity of the tail part through an air outlet valve. When the underwater vehicle submerges to deep water, an air inlet valve is opened, and a high-pressure air storage tank inputs air into a tail cavity to pressurize the tail cavity so as to keep the balance of the internal pressure and the external pressure of the elastic sealing skin; similarly, when the underwater vehicle floats to shallow water, the exhaust valve is opened, and the gas in the tail cavity is discharged.
Further, the multi-joint flexible propeller further comprises a tail fin and a tail fin steering engine, wherein the tail fin and the tail fin steering engine are arranged at the rear end of the tail end bulkhead, and the tail fin steering engine can drive the tail fin to swing relative to the tail end bulkhead.
Further, the top of the head is provided with a dorsal fin, and both sides of the head are provided with pectoral fins. When the propulsion mode is switched, the dorsal fin and the pectoral fin do not roll along with the rotatable part, and the integral streamline symmetrical appearance of the underwater vehicle can be maintained.
Further, a head cavity is arranged in the head, a mass center adjusting mechanism is arranged in the head cavity and comprises a pitching weight and a pitching weight driving device, and the pitching weight driving device is used for driving the pitching weight to move back and forth in the head cavity. The pitching weight driving device drives the pitching weight to move back and forth in the head cavity, so that the longitudinal distance between the center of mass and the buoyancy center of the underwater vehicle is changed, and the pitching angle of the underwater vehicle can be changed at a stop or low swimming speed.
Preferably, the head and the rotatable part are made of glass fiber reinforced plastic or carbon fiber.
Drawings
Fig. 1 is a schematic structural view of a multi-joint flexible underwater bionic propeller in the prior art.
Fig. 2 is a front view of the underwater vehicle of embodiment 1 in which the swing mode is switchable.
Fig. 3 is a plan view of the underwater vehicle of embodiment 1 capable of switching the swing mode.
Fig. 4 is a perspective view of the multi-joint flexible pusher of example 1.
Fig. 5 is a schematic structural view of the multi-joint flexible propeller in embodiment 1.
Fig. 6 is a plan view of the underwater vehicle of embodiment 2 in which the swing mode is switchable.
In the figure: 1. the device comprises a sound insulation frame, 2, a connecting rod, 3, a numerical control electric cylinder, 4, an elastic sealing skin, 5, a journal bearing, 6, a tail fin, 7, a tail fin steering engine, 8, a head, 9, a pitching weight, 10, a permissible load, 11, inertial navigation, 12, a laser generator, 13, a pitching weight driving device, 14, a power supply, 15, a multi-beam detector, 16, a central controller, 17, a dorsal fin, 18, a dorsal fin steering engine, 19, an antenna, 20, a pectoral fin, 21, a pectoral fin steering engine, 22, a lateral sonar, 23, a lateral sight glass, 24, a head cavity, 25, a weight water tank, 26, a piston, 27, a piston driving device, 28, a water cavity, 29, a water sucking and draining port, 30, an underwater communication navigation system, 31, a pivot, 32, a tail cavity, 33, a high-pressure air storage tank, 34, an air inlet valve, 35, an air outlet valve, a 37, a water pump, 38, a rotatable part, 39 and a rotatable part cavity.
Detailed Description
According to the underwater vehicle capable of switching the swing modes, the balance weights at two sides of the rotatable part 38 are adjusted through the mode switching mechanism, so that the multi-joint flexible propeller is driven to roll by 90 degrees along a longitudinal axis (the longitudinal axis passes through the mass center of the underwater vehicle and is vertical to a vertical axis in the symmetry plane of the underwater vehicle), and swing waveforms of different fishes or dolphin tails can be simulated according to needs in a left-right or up-down swing propulsion mode, so that the requirements of different sea conditions are met, and the propulsion efficiency is improved; the water sucking and draining device drives the two counterweight water tanks to simultaneously feed water or discharge water, so that the underwater vehicle can float upwards or submerge downwards, and the seabed landing and offshore "creeping" operation can be realized under static or low swimming speed.
In order to better understand the above technical solutions, the following detailed description will refer to the accompanying drawings and specific embodiments.
Example 1
Fig. 2 to 5 show embodiment 1 of the present invention.
As shown in fig. 2 and 3, the present embodiment provides an underwater vehicle capable of switching swing modes, which includes a head 8, a rotatable portion 38 and a multi-joint flexible propeller connected in sequence, wherein the head 8 is used for simulating a fish head, and the multi-joint flexible propeller is used for simulating a fish tail.
The head 8 is made of glass fiber reinforced plastic or carbon fiber, a closed head cavity 24 is arranged in the head 8, and a mass center adjusting mechanism, an allowable load 10 reserved for a user, an inertial navigation 11, a laser generator 12, a power supply 14, a multi-beam detector 15 and a central controller 16 are arranged in the head cavity 24.
The center of the top of the head 8 is provided with a dorsal fin 17 and a dorsal fin steering engine 18, and the dorsal fin steering engine 18 can drive the dorsal fin 17 to swing relative to the head 8. The dorsal fin 17 is provided with an antenna 19 for transmitting and receiving signals. Both sides of the head 8 are provided with pectoral fins 20 and pectoral fin steering engines 21, and the pectoral fin steering engines 21 can drive the pectoral fins 20 to swing relative to the head 8. The two sides of the front part of the head part 8 are also provided with a lateral sonar 22 and a lateral sight glass 23.
The centroid adjustment mechanism comprises a pitch weight 9 and a pitch weight drive 13, the pitch weight drive 13 being for driving the pitch weight 9 to move back and forth within the head cavity 24. In this embodiment, the pitch weight driving device 13 is a linear module set along the front-rear direction, and in some other embodiments, the pitch weight driving device 13 may also use other linear driving devices such as an electric push rod, a cylinder, or a hydraulic cylinder. The pitch weight 9 is driven to move back and forth in the head cavity 24 by the pitch weight driving device 13, so that the longitudinal distance between the center of mass and the buoyancy center of the underwater vehicle is changed, and the pitch angle of the underwater vehicle can be changed at a stop or low swimming speed.
The rotatable part 38 is capable of rolling along a longitudinal axis relative to the head 8, in particular the rotatable part 38 is connected to the head 8 by means of a journal bearing 5. The rotatable portion 38 is made of glass fiber reinforced plastic or carbon fiber, and a rotatable portion cavity 39 is formed in the rotatable portion 38.
The multi-joint flexible propeller is fixedly connected to the rear of the rotatable portion 38, and can swing back and forth under water to generate propulsion, and in this embodiment, the multi-joint flexible propeller can swing left and right in tuna mode. As shown in fig. 4 and 5, the multi-joint flexible propeller comprises a bulkhead 1, a connecting rod 2, a numerical control electric cylinder 3, an elastic sealing skin 4, a tail fin 6 and a tail fin steering engine 7. The bulkhead 1 at the head end is rigidly connected with the rotatable part 38, the bulkhead 1 is connected in series through the connecting rod 2, specifically, as shown in fig. 4, the bulkhead 1 is in a circular ring shape, a cross rod is radially and fixedly arranged on the bulkhead 1, the front end of the connecting rod 2 is rigidly connected with the center position of the front adjacent cross rod to form a T-shaped structure, and the rear end of the connecting rod 2 is pivoted with the center position of the rear adjacent cross rod through a pivot 31. The numerical control electric cylinder 3 is arranged between the adjacent bulkhead frames 1, the front end of the numerical control electric cylinder 3 is pivoted with the front adjacent cross rod through a pivot 31, and the rear end of the numerical control electric cylinder 3 is pivoted with the position of the rear adjacent cross rod deviating from the center. Fig. 1 shows a structure of a multi-joint flexible underwater bionic propeller in the prior art (for example, a multi-joint flexible underwater bionic propeller with a digital controlled variable waveform as disclosed in CN115230925A and a bionic underwater propeller with a body tail fin driven by hydraulic pressure as disclosed in CN 101323365A), because two ends of a digital controlled electric cylinder 3 are respectively pivoted with two adjacent separate frames 1, each separate frame 1 is subjected to torque of two adjacent digital controlled electric cylinders 3, which is not a single solution in the mechanics. As shown in fig. 1, the front adjacent digital control electric cylinder 3 of the bulkhead 1 extends to generate torque for clockwise rotation of the bulkhead 1, the rear adjacent digital control electric cylinder 3 of the bulkhead 1 contracts to generate torque for anticlockwise rotation of the bulkhead 1, which causes uncertainty of the rotation angle of the bulkhead 1, cannot fit fish waves accurately, and affects the propulsion efficiency of the underwater bionic propeller. Referring to fig. 5, in this embodiment, since the rear end of the connecting rod 2 is pivoted to its next adjacent cross bar through the pivot 31, and the front end of the numerical control electric cylinder 3 is pivoted to its previous adjacent cross bar through the pivot 31, that is, the pivot point of the connecting rod 2 and its next adjacent cross bar, and the pivot point of the numerical control electric cylinder 3 and its previous adjacent cross bar are coaxial, the numerical control electric cylinder 3 will not generate torque to its previous adjacent spacer frame 1 when telescoping, and the rotation angle of the spacer frame 1 can be accurately controlled, so that the fish wave can be accurately fitted, and the propulsion efficiency of the underwater bionic propeller is improved.
The diameter of the bulkhead 1 is gradually reduced from front to back to form a streamlined fish tail.
The elastic sealing skin 4 is wrapped around the outside of the former 1 and forms a closed tail cavity 32 inside.
In order to prevent the bulkhead 1 from directly contacting the elastic sealing skin 4 and further prevent the elastic sealing skin 4 from being damaged, a protective layer made of rubber is coated on the outside of the bulkhead 1.
The tail fin 6 and the tail fin steering engine 7 are arranged at the rear end of the tail end bulkhead 1, and the tail fin steering engine 7 can drive the tail fin 6 to swing relative to the tail end bulkhead 1. The swinging of the tail fin 6 can control the propelling direction, and both the inertial force of the tail fin 6 swinging propelling water and the tail fin front edge suction force when the tail fin 6 swings can generate propelling force.
In this embodiment, the inertial navigation 11 and the central controller 16 are placed in the head cavity 24, and the control functions and programs under various environments and different working conditions are obtained through practice and stored in a computer.
When the underwater unmanned flexible aircraft needs to change the swimming direction, the embodiment controls the rotation of the pectoral fins 20 and 17 through the inertial navigation 11, the central controller 16, the pectoral fin steering engine 21 and the dorsal fin steering engine 18 so as to meet the swimming instruction.
The inside of the rotatable part cavity 39 is provided with a mode switching mechanism, the mode switching mechanism comprises a counterweight water tank 25 and a water suction and discharge device, the counterweight water tank 25 is respectively arranged at two sides of the rotatable part cavity 39, and the counterweight water tank 25 is communicated with the outside of the rotatable part cavity 39 through a water suction and discharge port 29.
The water suction and discharge device is used for providing power for water suction or discharge of the counterweight water tank 25. Specifically, the water sucking and discharging device in this embodiment includes a piston 26 and a piston driving device 27. The piston 26 is in sealing sliding fit with the counterweight water tank 25, a water cavity 28 is formed between the piston 26 and the counterweight water tank 25, and the water cavity 28 is communicated with the outside of the rotatable part cavity 39 through a water suction and discharge port 29. The side of the counterweight water tank 25, which is positioned inside the piston 26 in the embodiment, is of an open structure and is communicated with the rotatable part cavity 39 so as to prevent resistance generated when the piston 26 is retracted; it will be appreciated by those skilled in the art that in some other embodiments, the side of the counterweight reservoir 25 that is located inwardly of the piston 26 is of a closed configuration, and that an air outlet communicating with the rotatable portion chamber 39 needs to be provided. The piston driving device 27 is used for driving the piston 26 to move, the piston driving device 27 is a cylinder in this embodiment, and in some other embodiments, the piston driving device 27 may also use other linear driving devices such as an electric push rod or a hydraulic cylinder. Because the volume of the water chamber 28 is consistent with the volume of water in the water chamber 28, the water in the water chamber 28 does not change the center of gravity due to movement within the water chamber 28 during the roll of the rotatable portion 38 along the longitudinal axis of the underwater vehicle, enabling precise control of the roll angle of the multi-joint flexible propeller.
When the propulsion mode of the underwater vehicle needs to be switched, the piston driving device 27 drives the pistons 26 at two sides to move, so that the water cavity 28 at one side is increased to absorb water, the water cavity 28 at the other side is reduced to drain water, the gravity of unequal water volumes of the counterweight water tanks 25 at two sides generates rolling moment for the rotatable part 38, and the rotatable part 38 and the multi-joint flexible propeller are driven to roll 90 degrees relative to the head 8, so that the multi-joint flexible propeller rolls 90 degrees relative to the original swinging direction of the multi-joint flexible propeller, and the switching between the left-right swinging propulsion mode (tunaceae mode) and the up-down swinging propulsion mode (dolphin mode) is realized. Compared with the mode switching mode in the prior art, which only changes the tail fin water beating angle, the embodiment can enable the multi-joint flexible propeller to roll 90 degrees by adjusting the weights at two sides of the rotatable part 38 through the mode switching mechanism, simulate the swing waveform of the tail of tuna or dolphin according to the need in the left-right or up-down swing propulsion mode, and control the vortex quantity and strength of the reverse karman vortex street generated by the multi-joint flexible propeller according to the swing amplitude and phase of the multi-joint flexible propeller so as to adapt to different sea conditions and improve the propulsion efficiency.
Since the dorsal fin 17 and the pectoral fin 20 are both provided on the head 8, the dorsal fin 17 and the pectoral fin 20 do not roll with the rotatable portion 38 when the propulsion mode is switched, and the streamline symmetrical profile of the underwater vehicle as a whole can be maintained.
By driving the two weight tanks 25 by the suction and drainage means to simultaneously feed or discharge water, the underwater vehicle can be floated or submerged, thereby realizing the "creeping" operation of the seafloor landing and the offshore bottom at a stationary or low swimming speed.
In order to adapt the underwater vehicle of the present embodiment to the water pressure variation under different water depths, two high-pressure air tanks 33 are disposed in the rotatable portion cavity 39, the high-pressure air tanks 33 are connected with the tail portion cavity 32 through the air inlet valve 34, and the tail portion cavity 32 is connected with the outside of the tail portion cavity 32 through the air outlet valve 35. When the underwater vehicle is submerged to deep water, the air inlet valve 34 is opened, and the high-pressure air storage tank 33 inputs air into the tail cavity 32 to pressurize the tail cavity 32 so as to keep the internal and external pressure balance of the elastic sealing skin 4; similarly, when the underwater vehicle floats to shallow water, the exhaust valve 35 is opened, and the gas in the tail chamber 32 is exhausted.
Example 2
As shown in fig. 6, the difference from embodiment 1 is that the water suction and discharge device in this embodiment includes two water pumps 37, the water pumps 37 are respectively connected to the counterweight water tank 25 and the water suction and discharge port 29 on the corresponding sides, and the counterweight water tank 25 is provided with an air outlet valve 36. When the counterweight water tank 25 needs to be fed and discharged, the air outlet valve 36 needs to be opened to balance the pressure in the counterweight water tank 25. After the water inlet and the water outlet of the counterweight water tank 25 are finished, the air outlet valve 36 is closed, so that the counterweight water tank 25 can be prevented from leaking when the underwater vehicle with the switchable swing modes rolls.
Claims (8)
1. An underwater vehicle capable of switching swing modes, which is characterized by comprising a head (8), a rotatable part (38) and a multi-joint flexible propeller which are sequentially connected, wherein the rotatable part (38) can roll relative to the head (8), and the multi-joint flexible propeller is fixedly connected with the rotatable part (38); the multi-joint flexible propeller can swing back and forth under water to generate propelling force; the inside of rotatable portion (38) is equipped with rotatable portion cavity (39), be equipped with mode shifter in rotatable portion cavity (39), mode shifter includes counter weight water tank (25) and drainage device, counter weight water tank (25) respectively are equipped with one in the both sides of rotatable portion cavity (39), counter weight water tank (25) are through the external intercommunication of drainage mouth (29) with rotatable portion cavity (39), drainage device is used for providing power for counter weight water tank (25) water absorption or drainage.
2. An underwater vehicle as claimed in claim 1, characterised in that the suction and drainage means comprises a piston (26) and a piston drive means (27), the piston (26) being in sealing sliding engagement with the counterweight water tank (25), a water chamber (28) being formed between the piston (26) and the counterweight water tank (25), the water chamber (28) being in communication with the outside of the rotatable part chamber (39) through a suction and drainage port (29), the piston drive means (27) being arranged to drive the piston (26) to move.
3. The underwater vehicle capable of switching swing modes according to claim 1, wherein the multi-joint flexible propeller comprises a bulkhead (1), a connecting rod (2), a numerical control electric cylinder (3) and an elastic sealing skin (4), the bulkhead (1) is connected in series through the connecting rod (2), the front end of the connecting rod (2) is rigidly connected with the front adjacent bulkhead (1) thereof, the rear end of the connecting rod (2) is pivoted with the rear adjacent bulkhead (1) thereof through a pivot (31), the numerical control electric cylinder (3) is arranged between the adjacent bulkhead (1), the front end of the numerical control electric cylinder (3) is pivoted with the front adjacent bulkhead (1) thereof through the pivot (31), the rear end of the numerical control electric cylinder (3) is pivoted with the rear adjacent bulkhead (1) thereof, and the elastic sealing skin (4) is wrapped outside the bulkhead (1) and forms a tail cavity (32) inside the tail cavity.
4. An underwater vehicle as claimed in claim 3, characterised in that a high pressure air reservoir (33) is provided in the rotatable portion cavity (39), the high pressure air reservoir (33) being connected to the tail cavity (32) by an air inlet valve (34), the tail cavity (32) being connected to the outside of the tail cavity (32) by an air outlet valve (35).
5. An underwater vehicle as claimed in claim 3, characterised in that the articulated flexible propulsion further comprises a tail fin (6) and a tail fin steering engine (7), the tail fin (6) and tail fin steering engine (7) being mounted at the rear end of the end former (1), the tail fin steering engine (7) being capable of driving the tail fin (6) to oscillate relative to the end former (1).
6. The underwater vehicle of claim 1, wherein the top of the head (8) is provided with dorsal fins (17) and the two sides of the head (8) are provided with pectoral fins (20).
7. The underwater vehicle switchable between swing modes according to claim 1, wherein a head cavity (24) is provided inside the head (8), a centroid adjusting mechanism is provided inside the head cavity (24), the centroid adjusting mechanism comprises a pitching weight (9) and a pitching weight driving device (13), and the pitching weight driving device (13) is used for driving the pitching weight (9) to move back and forth in the head cavity (24).
8. The underwater vehicle with the switchable swing modes according to any one of claims 1 to 4, wherein the head (8) and the rotatable portion (38) are made of glass fiber reinforced plastics or carbon fiber.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410361812.2A CN117963118B (en) | 2024-03-28 | 2024-03-28 | Underwater vehicle capable of switching swing modes |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410361812.2A CN117963118B (en) | 2024-03-28 | 2024-03-28 | Underwater vehicle capable of switching swing modes |
Publications (2)
| Publication Number | Publication Date |
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| CN117963118A true CN117963118A (en) | 2024-05-03 |
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