CN209241288U - Underwater glider - Google Patents
Underwater glider Download PDFInfo
- Publication number
- CN209241288U CN209241288U CN201821827577.XU CN201821827577U CN209241288U CN 209241288 U CN209241288 U CN 209241288U CN 201821827577 U CN201821827577 U CN 201821827577U CN 209241288 U CN209241288 U CN 209241288U
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- China
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- fuselage
- fixed link
- underwater glider
- steering engine
- hang gliding
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Abstract
The application discloses a kind of underwater glider, including sequentially connected head, fuselage and tail, further includes a pair of hang gliding that can be taken down the exhibits, and a pair of of hang gliding is symmetrically distributed in fuselage two sides, and fuselage interior is provided with the device of taking down the exhibits that driving hang gliding is taken down the exhibits.According to technical solution provided by the present application, hang gliding is shrinkable, can avoid by the winding of underwater sundries, cares for, so that underwater glider is suitable for complicated underwater environment, applicable environment is wider.
Description
Technical field
Present application relates generally to underwater glider technical field more particularly to a kind of underwater gliders.
Background technique
Underwater glider is a kind of autonomous underwater vehicle (AUV) of specific type, can be public in ocean Air China line number thousand
In, when sea grass, kelp, floater sea area in run, since the stretching, extension of its hang gliding is larger, exists and be wound and lead
The case where extension, since aerodone wing is non-telescoping, working environment is limited significantly.
Utility model content
In view of drawbacks described above in the prior art or deficiency, it is intended to provide a kind of underwater glider.
The utility model provides a kind of underwater glider, including sequentially connected head, fuselage and tail, further includes a pair
The hang gliding that can be taken down the exhibits, a pair of hang gliding are symmetrically distributed in the fuselage two sides, and the fuselage interior is provided with driving institute
State the device of taking down the exhibits that hang gliding is taken down the exhibits.
According to technical solution provided by the present application, hang gliding is shrinkable, can avoid by the winding of underwater sundries, cares for, so that
Underwater glider is suitable for complicated underwater environment, and applicable environment is wider.
Detailed description of the invention
By reading a detailed description of non-restrictive embodiments in the light of the attached drawings below, the application's is other
Feature, objects and advantages will become more apparent upon:
Fig. 1 is the structural schematic diagram of underwater glider provided by the embodiment of the utility model；
Fig. 2 is the structural schematic diagram of the fuselage upper housing of underwater glider provided by the embodiment of the utility model；
Fig. 3 is the structural schematic diagram of the fuselage lower case of underwater glider provided by the embodiment of the utility model；
Fig. 4 is the schematic diagram of internal structure of underwater glider provided by the embodiment of the utility model；
Fig. 5 is the structural schematic diagram of the device of taking down the exhibits in underwater glider provided by the embodiment of the utility model；
Fig. 6 is that steering engine is driven schematic diagram in underwater glider provided by the embodiment of the utility model；
Fig. 7 is hang gliding unfolded state perspective view in underwater glider provided by the embodiment of the utility model；
Fig. 8 is hang gliding contraction state perspective view in underwater glider provided by the embodiment of the utility model
Specific embodiment
The application is described in further detail with reference to the accompanying drawings and examples.It is understood that this place is retouched
The specific embodiment stated is used only for explaining relevant utility model, rather than the restriction to the utility model.It further needs exist for illustrating
, part relevant to utility model is illustrated only for ease of description, in attached drawing.
It should be noted that in the absence of conflict, the features in the embodiments and the embodiments of the present application can phase
Mutually combination.The application is described in detail below with reference to the accompanying drawings and in conjunction with the embodiments.
Referring to figs. 1 to Fig. 8, underwater glider provided by the embodiment of the utility model, including sequentially connected head 1, machine
Body 2 and tail 3, further include a pair of hang gliding 4 that can be taken down the exhibits, and a pair of of hang gliding 4 is symmetrically distributed in 2 two sides of fuselage, inside fuselage 2
It is provided with the device 5 of taking down the exhibits that driving hang gliding is taken down the exhibits.
Hang gliding elasticity is stretchable in the present embodiment, can avoid by the winding of underwater sundries, cares for, so that underwater glider can
Complicated underwater environment is adapted to, applicable environment is wider.
As shown in Figure 1 to Figure 3, fuselage 2 includes that the upper housing 21 of docking setting and lower case 22, the top of upper housing 21 are set
There is dorsal fin 23, the balance of the underwater glider can be kept, so that it is kept upright in moving process, avoids turning on one's side, into
Promote to one step the reliability in its course of work.
Further, such as Fig. 4 and Fig. 5, device 5 provided in this embodiment of taking down the exhibits includes: fixed frame 51,52 and of wobble component
Driving mechanism；
Fixed frame 51 includes fixed link 511, the fixed plate 512 being oppositely arranged with fixed link 511 and two support side levers
513, the both ends of support side lever 513 are separately connected fixed link 511 and fixed plate 512, and fixed plate 512 is fastened on inside fuselage 2, Gu
Fixed pole 511 and support side lever 513 are located in supporting plane, and fixed link 511, two between support side lever 513 and fixed plate 512
With accommodating space；
Wobble component 52 includes with the bull stick 521 of the rotation connection of fixed link 511 and about the central symmetry of fixed link 511
Two swing rods 523 of distribution, every swing rod 523 are connected by a connecting rod 522 with bull stick 521 respectively, turn of two connecting rods 521
Central symmetry of the dynamic point about fixed link 511, on the direction perpendicular to supporting plane, two connecting rods 522 are arranged in a staggered manner；
The output shaft of driving mechanism is connected with bull stick 521；Wherein, positioned at the support side lever of 511 center the same side of fixed link
513 and swing rod 523 connect hang gliding 4.
Swing rod one end and connecting rod are hinged in device 5 provided in this embodiment of taking down the exhibits, bull stick hinged with fixed link in the middle part of swing rod
Two link rotatables being staggered are driven, and then the swing rod being connected with each connecting rod is driven to swing, i.e., swing rod is relative to adjacent
Support side lever it is swingable, realize taking down the exhibits for hang gliding.On the direction perpendicular to supporting plane, two between connecting rod and bull stick
It is connected by shaft, such as in a shaft add washer wherein, to realize two connecting rods in the side perpendicular to supporting plane
It is arranged in a staggered manner upwards.
Further, bull stick 521 has two, and on the direction perpendicular to supporting plane, two bull sticks 521 are symmetrical arranged
In the two sides of fixed link 511, two bull sticks 521 are rotated synchronously and are turned to consistent；And two bull sticks 521 respectively with two connecting rods
522 are connected.
Fuselage interior is located at by fixing board card in the present embodiment, realizes fixed frame in the affixed of fuselage interior, fixed link
A supporting plane is provided with support side lever；
The bull stick that fixed link two sides are set is driven to rotate synchronously by driving mechanism, through link transmission to corresponding swing rod,
Swing rod can carry out the swing of certain amplitude relative to support side lever, and the side of hang gliding connects swing rod, and the other side connects support-side
Bar, the movement through swing rod drive hang gliding to take down the exhibits.
Further, 2 two sides of fuselage are symmetrically arranged with opening 6, and support side lever 513 is located at the inside of opening 6, hang gliding 4
It is located in opening 6 with swing rod 523.In the embodiment, it is symmetrical arranged groove 61 in the two sides edge of lower case 22, works as lower case
22 and upper housing 21 form opening 6 in the edge of groove 61 and upper housing when docking, structure is simple, design is convenient.It is of course also possible to
It is correspondingly arranged groove in the edge of upper housing and lower case, is formed and is opened in the two docking, visual concrete condition setting.
Further, driving mechanism includes steering engine 53, and steering engine 53 is mounted below fuselage interior by steering engine seat 24, steering engine
53 output shaft 54 is perpendicular to supporting plane.It is internally provided with steering engine seat 24 in lower case 22, the connection of steering engine 53 is mounted on rudder
On base 24, perpendicular to supporting plane, the output shaft 54 and fixed plate 512 of steering engine 53 play support and make the output shaft of steering engine 53
With.
Further, as shown in fig. 6, the output shaft 54 of steering engine 53 includes the hollow shaft 541 being connected with steering engine, is set in sky
Hollow stem 542 in mandrel 541 and the connecting rod 543 being set in hollow stem 542, hollow shaft 541, hollow stem 542 and even
It is connected between extension bar 543 by pin shaft；
On the direction perpendicular to supporting plane, connecting rod 543 is fixedly connected with the bull stick far from steering engine 53, connecting rod
543, which pass through fixed link 511, protrudes into inside hollow stem 542, and hollow stem 542 is fixedly connected with the bull stick close to steering engine 53.
Preferably, the center of bull stick is provided with hexagonal hole, and one end that connecting rod is used to connect bull stick is and hexagon
The hexagonal square toes of hole interference fit, it is the hexagonal square toes being interference fitted with hexagonal hole that hollow stem, which is used to connect one end of bull stick,；
For steering engine with positive and negative 180 ° of alternate rotations, the work rotation of steering engine 53 drives hollow shaft 541 to rotate, and then drives and sell with hollow shaft 541
The hollow stem 542 and connecting rod 543 of axis connection rotate synchronously, and drive bull stick 521 to rotate by steering engine 53 and output shaft 54.
Further, 2 two sides of fuselage are symmetrically arranged with screw propeller 7, and hang gliding 4 is located at 7 He of screw propeller
Between tail 3.The flexibility ratio of underwater glider movement can be increased using screw propeller 7.
Two edges of upper housing 21 are symmetrically arranged with upper fixed seat 25, and two edges of lower case 22 are symmetrically arranged with lower solid
Reservation 26, upper fixed seat 25 and lower fixed seat 26 are bolted the mounting base to form screw propeller, and realize upper housing with
Connection between lower case, structure are simple and easy to connect.
Further, one end that fuselage 2 connects tail 3 is arranged in fixed plate 512；Also, in the axial direction of fuselage 2
On, fixed link 511 is located at the middle part of fuselage.2 reasonable in internal structure of fuselage and simple, convenient for setting.
Further, the inner wall of fuselage 2 is provided perpendicular to the circumferential card slot of fuselage axial direction, fixed plate and circumferential card slot card
Connect so that fixed plate it is stable be connected to fuselage interior.
Further, fuselage 2 is internally provided with control cabinet 8 and battery flat 9；Control cabinet 2 is located at fixed link 511 to head 1
Between cavity in, battery flat 9 is located in fixed link 511 to the cavity between fixed plate 512.
Preferably, control cabinet and battery flat are cylinder；The first front band structure and second are provided in upper housing
Front band structure is provided with the first lower catch hoop structure and the second lower catch hoop structure, the first front band structure and first in lower case
Lower catch hoop structure is mutually clamped with control cabinet, and the second front band structure and the second lower catch hoop structure are mutually clamped with battery flat.So will
Control cabinet and battery flat fix in upper lower casing.
Steering engine rotation is controlled, bar rotation is driven, connecting rod drives swing rod to swing, referring to Fig. 7, works as swing rod with bar rotation
Angle between support side lever increases, then swing rod pulls hang gliding expansion；Referring to Fig. 8, when between swing rod and support side lever
Angle becomes smaller, then hang gliding is shunk under own resilient effect, realizes that hang gliding is shunk.
Above description is only the preferred embodiment of the application and the explanation to institute's application technology principle.Those skilled in the art
It should be appreciated that invention scope involved in the application, however it is not limited to technical side made of the specific combination of above-mentioned technical characteristic
Case, while should also cover in the case where not departing from inventive concept, any group is carried out by above-mentioned technical characteristic or its equivalent feature
The other technical solutions closed and formed.Such as features described above and (but being not limited to) disclosed herein have the skill of similar functions
Art feature is replaced mutually and the technical solution that is formed.
Claims (10)
1. a kind of underwater glider, including sequentially connected head, fuselage and tail, which is characterized in that further include that a pair can be received
The hang gliding of exhibition, a pair of hang gliding are symmetrically distributed in the fuselage two sides, and the fuselage interior is provided with the driving cunning
What the Xiang wing was taken down the exhibits take down the exhibits device.
2. underwater glider according to claim 1, which is characterized in that the device of taking down the exhibits includes: fixed frame, swing group
Part and driving mechanism；
The fixed frame includes fixed link, the fixed plate being oppositely arranged with the fixed link and two support side levers, the branch
The both ends of support side lever are separately connected the fixed link and the fixed plate, and the fixing board card is located at the fuselage interior, described
Fixed link and the support side lever are located in supporting plane；
The wobble component includes with the bull stick of fixed link rotation connection and about the central symmetry point of the fixed link
Two swing rods of cloth, every swing rod pass through a connecting rod respectively and are connected with the bull stick, the rotation points of two connecting rods about
The central symmetry of the fixed link, on the direction perpendicular to the supporting plane, two connecting rods are arranged in a staggered manner；
The output shaft of the driving mechanism is connected with the bull stick；Wherein, positioned at the branch of fixed link center the same side
It supports side lever and connects the hang gliding with the swing rod.
3. underwater glider according to claim 2, which is characterized in that the bull stick has two, perpendicular to described
On the direction of supporting plane, two bull sticks are symmetricly set on the two sides of the fixed link, and two bull sticks rotate synchronously
And it turns to consistent；And two bull sticks are connected with two connecting rods respectively.
4. underwater glider according to claim 2, which is characterized in that the fuselage two sides are symmetrically arranged with opening, institute
The inside that support side lever is located at the opening is stated, the hang gliding and the swing rod are located in the opening.
5. underwater glider according to claim 2, which is characterized in that the driving mechanism includes steering engine, the steering engine
It is mounted below the fuselage interior by steering engine seat, the output shaft of the steering engine is perpendicular to the supporting plane.
6. underwater glider according to claim 5, which is characterized in that the output shaft of the steering engine includes and the steering engine
Connected hollow shaft, the hollow stem being set in the hollow shaft and the connecting rod being set in the hollow stem, the sky
It is connected between mandrel, the hollow stem and the connecting rod by pin shaft；
On the direction perpendicular to supporting plane, the connecting rod is fixedly connected with the bull stick far from the steering engine, the connection
Bar passes through the fixed link and protrudes into inside the hollow stem, and the hollow stem is fixedly connected with the bull stick close to the steering engine.
7. underwater glider according to claim 2, which is characterized in that the fuselage two sides are symmetrically arranged with propeller and push away
Into device, the hang gliding is between the screw propeller and the tail.
8. underwater glider according to claim 7, which is characterized in that the fixed plate setting connects institute in the fuselage
State one end of tail；Also,
On the axial direction of the fuselage, the fixed link is located at the middle part of the fuselage.
9. according to the described in any item underwater gliders of claim 2-8, which is characterized in that the inner wall of the fuselage is provided with vertical
Directly it is clamped in the circumferential card slot of the fuselage axial direction, the fixed plate and the circumferential card slot.
10. underwater glider according to claim 9, which is characterized in that the fuselage interior is provided with control cabinet and electricity
Pond cabin；The control cabinet is located in the fixed link to the cavity between the head, and the battery flat is located at the fixed link
In cavity between to the fixed plate；And/or
The top of the fuselage is equipped with dorsal fin.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821827577.XU CN209241288U (en) | 2018-11-07 | 2018-11-07 | Underwater glider |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821827577.XU CN209241288U (en) | 2018-11-07 | 2018-11-07 | Underwater glider |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209241288U true CN209241288U (en) | 2019-08-13 |
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ID=67527389
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821827577.XU Active CN209241288U (en) | 2018-11-07 | 2018-11-07 | Underwater glider |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209241288U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109319072A (en) * | 2018-11-07 | 2019-02-12 | 中电科海洋信息技术研究院有限公司 | Underwater glider |
| CN110683025A (en) * | 2019-10-10 | 2020-01-14 | 哈尔滨工程大学 | Ocean current driven anchor mooring type long-endurance glider |
| CN113232809A (en) * | 2021-07-12 | 2021-08-10 | 天津海翼科技有限公司 | Modular small AUV device |
-
2018
- 2018-11-07 CN CN201821827577.XU patent/CN209241288U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109319072A (en) * | 2018-11-07 | 2019-02-12 | 中电科海洋信息技术研究院有限公司 | Underwater glider |
| CN110683025A (en) * | 2019-10-10 | 2020-01-14 | 哈尔滨工程大学 | Ocean current driven anchor mooring type long-endurance glider |
| CN113232809A (en) * | 2021-07-12 | 2021-08-10 | 天津海翼科技有限公司 | Modular small AUV device |
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