WO2022213448A1

WO2022213448A1 - Air-dropped underwater vehicle

Info

Publication number: WO2022213448A1
Application number: PCT/CN2021/093679
Authority: WO
Inventors: 王树新; 王延辉; 杨绍琼; 牛文栋; 马伟; 兰世泉
Original assignee: 天津大学
Priority date: 2021-04-09
Filing date: 2021-05-13
Publication date: 2022-10-13
Also published as: CN112977772A

Abstract

An air-dropped underwater vehicle, comprising a vehicle body. The vehicle body comprises a cabin (1); retractable/extendable wings are mounted on the vehicle body; each wing comprises a retraction/extension framework mechanism (7) and a flexible skin; each retraction/extension framework mechanism (7) comprises a base frame (7-1), a first retraction/extension support rod (7-2), and a second retraction/extension support rod (7-3); a movable block (7-4) capable of moving linearly is mounted on the base frame (7-1); an inner end of each first retraction/extension support rod (7-2) is hingedly connected to the base frame (7-1) by means of a first pin shaft (7-5), and an inner end of each second retraction/extension support rod (7-3) is hingedly connected to the movable block (7-4) by means of a second pin shaft (7-6); the first retraction/extension support rod (7-2) and the second retraction/extension support rod (7-3) are hingedly connected by means of a third pin shaft (7-7); a triangular frame defined by the base frame (7-1), the first retraction/extension support rod (7-2), and the second retraction/extension support rod (7-3) can be entirely retracted to the inner side of the cabin (1) or partially extends out of the cabin (1) by means of the movement of the movable block (7-4); and a retraction/extension driving member that controls the movement of the movable block (7-4) is mounted on the base frame (7-1).

Description

An air-drop underwater vehicle

technical field

The invention belongs to the technical field of underwater vehicles, and in particular relates to an air-drop underwater vehicle.

Background technique

As an important technical equipment for the investigation and monitoring of the marine environment and resources, underwater vehicles have been paid more and more attention by various countries, and they have played an important role in the development of marine resources and the monitoring of the marine environment. At present, researchers at home and abroad have carried out a lot of research on the dynamic modeling, hydrodynamic performance, and prototype development of underwater vehicles. Existing underwater vehicles are often carried by the mother ship to the designated sea area for deployment, which takes a long time and requires a lot of manpower and financial resources, which limits the application of underwater vehicles in certain emergencies, such as the accident of a crashed aircraft. Black box search, accidental natural phenomenon detection, etc.

In view of the demand for precise and real-time observation of related marine phenomena in marine development, the problem of artificial deployment of underwater vehicles on the mother ship due to the real factors of sudden changes in sea conditions is solved, so as to reduce the impact of the existing underwater vehicle deployment on the mother ship. With the goal of relying on and related technical personnel and extreme sea conditions, and reducing the cost-effectiveness ratio of underwater vehicle deployment, it is necessary to carry out a high-integration design of the functions and control of UAVs and underwater vehicles. Therefore, the air-dropped underwater vehicle is of great significance for caring about the ocean, understanding the ocean and managing the ocean.

SUMMARY OF THE INVENTION

In view of the problems existing in the prior art, the present invention provides an air-dropped underwater vehicle, which aims to solve the problem that there is no underwater vehicle suitable for UAV dropping in the current prior art.

The present invention is realized in the following way: an air-dropped underwater vehicle includes a vehicle body, the vehicle body has a cabin, and is characterized in that: the vehicle body is provided with a retractable wing; the The wing includes a retractable frame mechanism and a flexible skin that is arranged outside the retractable frame mechanism and is supported by the retractable frame mechanism; the retractable frame mechanism includes a base frame, a first retractable support rod and a second retractable support rod, the base frame Install a live block that can move linearly along the length direction of the base frame, the inner end of the first retractable support rod is hinged with the base frame through the first pin shaft, and the inner end of the second retractable support rod is connected to the base frame through the first pin shaft. The two-pin hinge hinges the active block, the first retractable support rod and the second retractable support rod are hinged through the third pin shaft, and the surrounding structure of the base frame, the first retractable support rod and the second retractable support rod is The triangular frame can be completely retracted to the inside of the cabin or partially unfolded outside the cabin through the movement of the live block, and the base frame is installed with a retractable drive component that controls the movement of the live block.

The reason why the existing underwater vehicle cannot be airdropped is mainly because the wings of the underwater vehicle are easily damaged by impact when the vehicle falls and enters the water. Compared with the prior art, in the present invention, the wing of the underwater vehicle is a special-shaped structure with a retractable function that can be retracted to the inside of the cabin, which can prevent the wing from being damaged due to impact during the high-speed falling process in the air or the process of crossing the medium. If damaged, ensure that the wings work normally after the aircraft enters the water.

In the above technical solution, preferably, the retracting driving component is a retracting spring installed on the base frame, and the retracting spring exerts a force on the movable block close to the inner end of the first retracting support rod.

In the above technical solution, preferably, the retractable driving component is a lead screw motor assembly, the lead screw is connected with the movable block through threads, and the axis of the lead screw is parallel to the moving direction of the live block , the lead screw rotates and drives the live block to move.

In the above technical solution, preferably, the retractable frame mechanism includes at least one retractable triangular frame unit on the same plane as the triangular frame, and the triangular retractable frame unit is composed of two frame rods and a restoring spring through a pin shaft The hinged enclosure is formed, and one of the two rods is connected with the loose block.

In the above technical solution, preferably, the middle portion of the second retractable support rod and the outer end portion of the first retractable support rod are hinged through the third pin; including a first restoring spring, a second restoring A spring and a connecting rod, one end of the first recovery spring is hinged with the outer end of the second retractable rod through a fourth pin, and the other end of the first recovery spring is connected with the first retractable rod The middle part of the connecting rod is hinged through the fifth pin; the outer end of the second extension rod is hinged with one end of the connecting rod through the fourth pin, and the other end of the connecting rod is hinged with the end of the second restoring spring The other end of the second return spring is hinged with the movable block through the second pin.

In the above technical solution, preferably, a parachute unit is installed on the main body of the aircraft. A falling craft can be slowed down to a safe water entry speed by means of a parachute unit.

In the above technical solution, preferably, the parachute unit includes a main parachute and a secondary parachute, and the primary parachute and the secondary parachute are mounted on the aircraft main body through a disengagement device.

In the above technical solution, preferably, the disconnection device includes a power supply positive terminal, a power supply negative terminal, a fuse, a fixed seat, a parachute cord, a fall-off rod, a recovery rod, a recovery spring and a fixed sleeve. The end is connected to the main umbrella and the auxiliary umbrella, the inner end of the parachute rope is connected to the shedding rod, the fixing seat and the fixing sleeve are fixed on the inner side of the rear end of the cabin, and the positive terminal of the power supply passes through the fixing seat The through hole at the end of the fuse extends into the fixing seat, the negative terminal of the power supply is mounted on the fixing seat and is electrically connected to the fixing seat, one end of the fuse wire is connected to the positive terminal of the power supply, and the recovery rod penetrates into the fixing seat. The fixing seat is electrically connected to the fixing seat, the other end of the fuse wire is connected to the end of the recovery rod that penetrates into the fixing seat, the other end of the recovery rod is connected to the recovery spring, and the recovery rod is connected to the recovery spring. The rod can move along the axis of the fixed seat, the fall-off rod penetrates into the fixed sleeve, the recovery rod penetrates the fall-off rod and the fixed sleeve, and the return spring is fixed to the inner wall of the cabin. even.

Description of drawings

Fig. 1 is the structural schematic diagram of the present invention under the unfolded state of the wing;

Fig. 2 is a schematic diagram of a wing retraction structure in the present invention;

Fig. 3 is the structural representation of shrinking skeleton mechanism in the present invention;

FIG. 4 is a schematic diagram of the installation structure of the retractable driving component in the second embodiment of the present invention;

FIG. 5 is a schematic view of the structure of the disengaging device in the present invention.

In the figure, 1, cabin; 2, rib ring; 3, hemispherical front end cover; 4, hemispherical rear end cover; 5, buoyancy control system; 5-1, inner fuel tank assembly; 5-2, outer oil bag Assembly; 6. Battery and pitch adjustment assembly; 6-1, battery pack; 6-2, roll adjustment mechanism; 6-3, pitch adjustment mechanism; 7, retractable frame mechanism; 7-1, base frame; 7 -2, the first extension rod; 7-3, the second extension rod; 7-4, the live block; 7-5, the first pin; 7-6, the second pin; 7-7, The third pin; 7-8, the expansion spring; 7-9, the first return spring; 7-10, the second return spring; 7-11, the connecting rod; 7-12, the fourth pin; 7-13 , the fifth pin; 7-14, the sixth pin; 7-15, the screw; 8, the disconnect device; 8-1, the positive terminal of the power supply; 8-2, the negative terminal of the power supply; 8-3, the fuse; 8-4, fixed seat; 8-5, parachute rope; 8-6, fall off rod; 8-7, recovery rod; 8-8, recovery spring; 8-9, fixed sleeve.

Detailed ways

In order to make the objectives, technical solutions and advantages of the present invention clearer, the present invention will be further described in detail below with reference to the embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention, but not to limit the present invention.

In order to solve the problem that there is no underwater vehicle suitable for UAV dropping in the current prior art, the present invention provides an air-dropped underwater vehicle. The aircraft works normally after entering the water. In order to further illustrate the structure of the present invention, the detailed description is as follows in conjunction with the accompanying drawings:

Example 1

Please refer to Fig. 1-Fig. 3, an air-dropped underwater vehicle, including a vehicle body, and the vehicle body refers to the assembly of other components with the basic functions of the vehicle except for the wings. The aircraft body has a cabin 1, which is the outer shell of the aircraft body and inside of which is a cabin for loading other components. In this embodiment, the cabin body 1 is composed of two sections of shells, the two sections of shells form a cylindrical shell, and the front end of the shell is an arc-shaped flow guiding structure. The inner side of the front shell is the buoyancy control cabin, and the inner side of the rear shell is the energy and attitude adjustment cabin. The two sections of shells are connected by rib rings 2, a hemispherical front end cover 3 is installed at the front of the buoyancy control cabin, a hemispherical rear end cover 4, a hemispherical front end cover 3 and a hemispherical front end cover 4 are installed at the rear of the energy and attitude adjustment cabin. A sealed pressure-resistant chamber is formed between the shaped rear end caps 4.

The buoyancy control system 5 is integrated in the buoyancy control cabin, and the buoyancy control system 5 of the underwater vehicle or the buoyancy adjustment device is a conventionally known technology. In this embodiment, the loaded buoyancy control system 5 mainly includes a hydraulic oil circuit, an inner oil tank assembly and an outer oil bag assembly 5-2. The inner fuel tank assembly 5 - 1 is located in a sealed pressure-resistant chamber with negative pressure, and is installed at the rear of the hemispherical front end cover 3 . The inner oil tank assembly 5-1 mainly includes the inner oil tank, oil pump, motor and solenoid valve and other components. The outer oil bag assembly 5-2 is installed outside the pressure chamber, at the front end of the aircraft. The buoyancy adjustment is achieved by the transfer of oil between the inner oil tank assembly 5-1 and the outer oil bag assembly 5-2. When the craft needs to float, the motor drives the oil pump to discharge the oil from the inner oil tank to the outer oil bag assembly, so that the buoyancy of the front end of the craft increases, and the craft can float up under the action of the power unit. When the craft needs to dive, the solenoid valve that controls the oil return is opened, and under the action of the negative pressure inside the pressure chamber, the oil returns from the outer oil bag assembly to the inner fuel tank assembly, which reduces the buoyancy of the front end of the craft. The aircraft can complete the dive action.

The energy source of the cabin 1 and the attitude adjustment cabin are equipped with a battery and a pitch adjustment assembly 6. The battery and the pitch adjustment assembly 6 are also disclosed technologies, and their specific structures and working principles are in the multiple patents previously applied for by the project group. All have been disclosed, such as the related content disclosed in CN202010505631.4. The battery and pitch adjustment assembly 6 includes a battery pack 6-1, a roll adjustment mechanism 6-2 and a pitch adjustment mechanism 6-3. The center of gravity of the battery pack 6-1 is below the central axis of the aircraft, which can increase the stability of the aircraft. The pitch adjustment mechanism 6-2 includes a guide rail, a lead screw nut, a lead screw and a pitch motor. The pitch motor drives the lead screw to rotate, so that the battery pack 6-1 can slide on the guide rail, adjust the position of the center of gravity of the craft, and then control the pitch angle of the craft.

The rolling adjustment mechanism 6-3 is fixed on the rib ring 4, and includes a rolling motor and a meshing gear. The meshing gear includes a pinion gear and a large gear. The large gear is fixed on the guide rail. The pinion gear is connected with the rolling motor. The rolling motor drives the pinion gear to rotate, and the guide rail and the battery pack are rotated through the gear meshing to adjust the rolling of the air-dropped underwater vehicle. Rotate the attitude, and then take control.

The main body of the aircraft is fitted with retractable wings. In this embodiment, the wing includes a retractable frame mechanism 7 and a flexible skin which is provided outside the retractable frame mechanism 7 and supported by the retractable frame mechanism 7 . Specifically, the cabin body 1 has a notch extending along the direction of the central axis of the cabin body 1, and the retractable frame mechanism 7 is installed in this slot. The mechanism 7 can form a wing outside the nacelle by its own deployment. The flexible skin forms the airfoil of the unfolded wing.

In this embodiment, there is a stern shell at the rear of the cabin 1 , the stern shell is located behind the hemispherical rear end cover 4 , and a skeleton mechanism for installing the retractable frame is formed behind the hemispherical rear end cover 4 7 chambers.

The retractable frame mechanism 7 includes a base frame 7-1, a first retractable support rod 7-2 and a second retractable support rod 7-3. The base frame 7-1 is a linear guide rod located at the axis of the cabin and extending linearly along the axis of the cabin. The front end of the base frame 7-1 is fixed on the hemispherical rear end cover 4 by means of fasteners. The first extension rod 7-2 and the second extension rod 7-3 are straight rods.

The base frame 7-1 is installed with a movable block 7-4 that can move linearly along the length direction of the base frame. The movable block 7-4 has a guide hole adapted to the cross section of the base frame 7-1, and the movable block 7-4 passes through the guide hole Fitted on the base frame 7-1, the movable block 7-4 can move linearly along the axis of the cabin 1. The inner end of the first retractable support rod 7-2 is hinged with the base frame 7-1 through the first pin shaft 7-5, and the inner end of the second retractable support rod 7-3 is hinged through the second pin shaft 7-6. Block, the first retractable rod 7-2 and the second retractable rod 7-3 are hinged through a third pin 7-7. The axes of the first pin 7 - 5 , the second pin 7 - 6 and the third pin 7 - 7 are parallel and perpendicular to the axis of the nacelle 1 . Through the active movement of the movable block 7-4, the angle between the first extension rod 7-2 and the base frame 7-1 and the clamp between the second extension rod 7-3 and the base frame 7-1 Angle can be changed. The triangular frame that realizes the enclosure of the base frame 7-1, the first retractable strut 7-2 and the second retractable strut 7-3 can be retracted as a whole to the inside of the cabin 1 or partially unfolded outside the cabin 1. Specifically, the movable block 7-4 moves to the rear of the cabin 1, the angle between the first retractable support rod 7-2 and the base frame 7-1 and the angle between the second retractable support rod 7-3 and the base frame 7 The angle between -1 can be reduced, and the triangular frame enclosed by the base frame 7-1, the first retractable strut 7-2 and the second retractable strut 7-3 can be retracted as a whole to the cabin 1 The inner side; the active block 7-4 moves to the front of the cabin 1, the angle between the first retractable support rod 7-2 and the base frame 7-1 and the second retractable support rod 7-3 and the base frame 7- The included angle between 1 can be increased, and most of the triangular frame enclosed by the base frame 7-1, the first retractable strut 7-2 and the second retractable strut 7-3 extends to the outside of the cabin 1 , forming the wings on the outside of the cabin.

The base frame 7-1 is installed with a retractable drive component that controls the movement of the movable block 7-4. In this embodiment, the retracting driving component is the retracting spring 7-8 installed on the base frame 7-1, and the retracting spring 7-8 is a tension spring. The extension spring 7-8, one end of the extension spring 7-8 is connected to the active block 7-4, and the other end of the extension spring 7-8 is connected to the front end of the base frame 7-1, and the front end of the base frame 7-1 is also the first pin shaft 7-5 at the hinge. The retracting spring 7-8 exerts a force close to the inner end of the first retracting strut 7-2 to the movable block 7-4. The extension springs 7-8 are in a free state, which is the unfolded state of the wing. The retracted state of the wings in this embodiment is achieved by external force and maintained by externally assisted straps. Specifically, before the aircraft is launched, the wings are manually pressed to the retracted state, and the retracted wings are bound by hydrolyzed bandages. After the aircraft is put into the water, the hydrolysis bandage is hydrolyzed, and the restraint of the wing in the retracted state is invalid.

In this embodiment, the retractable frame mechanism 7 includes at least one retractable triangular frame unit that is on the same plane as the triangular frame. The arrangement of the retractable triangular frame unit can improve the overall strength of the wing, and can also make the wing size and surface design more selective. The triangular retractable frame unit is composed of two frame rods and a restoring spring hingedly enclosed by a pin shaft, and one of the two frame rods is connected with the movable block.

In this embodiment, specifically, the middle portion of the second retractable support rod 7-3 is hinged with the outer end portion of the first retractable support rod 7-2 through a third pin shaft 7-7. Including a first return spring 7-9, a second return spring 7-10 and a connecting rod 7-11, one end of the first return spring 7-9 and the outer end of the second retractable support rod 7-3 pass through the fourth pin shaft 7-12 is hinged, and the other end of the first restoring spring 7-9 is hinged with the middle part of the first retractable support rod 7-2 through the fifth pin 7-13. A section of the second extension rod 7-3 from the outside of the third pin shaft 7-7 is used as a frame rod, and a section of the first extension rod 7-2 from the outer side of the fifth pin shaft 7-13 is used as another rod body A frame rod, two frame rods and the first return springs 7-9 form the above-mentioned retractable triangular frame unit. The outer end of the second extension rod 7-3 is hinged with one end of the connecting rod 7-11 through the fourth pin 7-12, and the other end of the connecting rod 7-11 is connected with the end of the second restoring spring 7-10 The other end of the second return spring 7-10 is hinged with the movable block 7-4 through the second pin 7-6. The second retractable support rod 7-3 is used as one frame rod, the connecting rod 7-11 is used as another frame rod, and the two frame rods and the second return spring 7-10 form another retractable triangular frame unit.

A parachute unit is installed on the main body of the aircraft. The parachute unit includes a main parachute and a secondary parachute, which are mounted on the aircraft body through a disengagement device 8 . A falling craft can be slowed down to a safe water entry speed by means of a parachute unit.

Referring to FIG. 5 , in this embodiment, the disconnecting device 8 includes a power supply positive terminal 8-1, a power supply negative terminal 8-2, a fuse 8-3, a fixing seat 8-4, a parachute rope 8-5, and a falling rod 8- 6. Recovery rod 8-7, recovery spring 8-8 and fixing sleeve 8-9. The outer end of the parachute rope 8-5 is connected to the main parachute and the auxiliary parachute, and the inner end of the parachute rope 8-5 is connected to the falling rod 8-6. The fixed seat 8-4 and the fixed sleeve 8-9 are fixed on the inner side of the rear end of the cabin body 1 of the aircraft, and the installation places of the fixed seat 8-4 and the fixed sleeve 8-9 are insulated. The power supply positive terminal 8-1 extends into the fixed base 8-4 through the end through hole of the fixed base 8-4, and the power supply negative terminal 8-2 is mounted on the fixed base 8-4 and is electrically connected with the fixed base 8-4. The positive terminal 8-1 of the power supply and the negative terminal 8-2 of the power supply are electrically connected to the battery pack 6-1, one end of the fuse 8-3 is connected to the positive terminal 8-1 of the power supply, and the other end of the fuse 8-3 is connected to the recovery rod 8 -7 is connected through one end of the fixed seat 8-4, and the restoration rod 8-7 penetrated into the fixed seat 8-4 and the fixed seat 8-4 conduct electricity. The recovery rod 8-7 is inserted into the fixing seat 8-4, the fuse wire 8-3 is connected in series with the circuit loop between the positive terminal 8-1 of the power supply and the negative terminal 8-2 of the power supply, and the circuit loop is installed to control the on-off of the circuit. Solenoid control switch. The other end of the restoring rod 8-7 is connected with the restoring spring 8-8, and the restoring rod 8-7 can move along the axis of the fixing seat 8-4. The falling rod 8-6 is inserted into the fixing sleeve 8-9, the hole on the falling rod 8-6 is aligned with the hole on the fixing sleeve 8-9 concentrically, and the recovery rod 8-7 penetrates the hole of the falling rod 8-6 with holes for fixing sleeves 8-9. The recovery springs 8-8 are fixedly connected with the inner wall of the aircraft cabin 1 . After the control circuit of the electromagnetic control switch is energized, the fuse wire 8-3 is blown, and under the action of the recovery spring 8-8, the recovery rod 8-7 is pulled out from the hole of the falling rod 8-6, and the parachute rope 8-5 falls off. Rods 8-6 are disengaged from the tail end of the craft. The disengagement device of the above structure is only a structural method selected in this embodiment, and is not the only limitation to the disengagement device. Other device structures capable of automatic disengagement in the conventional technology can be used in the aircraft.

Embodiment 2

In this embodiment, the only difference from the technical solution described in Embodiment 1 is the structural design of the retractable driving component. Except for the structural design of the retracting driving component, the structures and installation methods of other components in this embodiment are the same as Embodiment 1 is the same, so it is not repeated in this embodiment.

Please refer to Fig. 4, the retractable driving component is a screw motor assembly, the movable block 7-4 is fitted on the base frame 7-1 through a rectangular guide hole, and the movable block 7-4 is also provided with a coaxial with the rectangular guide hole Threaded hole for wire. The lead screw 7-15 is installed on the side of the base frame 7-1 and is parallel to the base frame. The base frame 7-1 can rotate around its own axis and is driven by a suitable motor. The lead screw 7-15 is connected to the live block 7-4 Through threaded connection, the rotating lead screw 7-15 can drive the movable block 7-4 to move. In this way, the electric control of the wing extension is realized.

In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. The indicated orientation or positional relationship is based on the orientation or positional relationship shown in the accompanying drawings, which is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the indicated device or element must have a specific orientation or a specific orientation. construction and operation, and therefore should not be construed as limiting the invention.

The above descriptions are only preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent replacements and improvements made within the spirit and principles of the present invention shall be included in the protection of the present invention. within the range.

Claims

An air-dropped underwater vehicle, comprising a vehicle body, the vehicle body having a cabin (1), and characterized in that: the vehicle body is provided with a retractable wing; the wing includes a retractable wing. an unfolding skeleton mechanism (7) and a flexible skin that is arranged outside the unfolding skeleton mechanism (7) and is supported by the unfolding skeleton mechanism (7);

The retractable frame mechanism (7) includes a base frame (7-1), a first retractable support rod (7-2) and a second retractable support rod (7-3), and the base frame (7-1) is installed A live block (7-4) that can move linearly along the length direction of the base frame (7-1), and the inner end of the first retractable support rod (7-2) passes through the base frame (7-1) The first pin (7-5) is hinged, the inner end of the second retractable support rod (7-3) is hinged to the movable block (7-4) through the second pin (7-6), the first The retractable support rod (7-2) and the second retractable support rod (7-3) are hinged through a third pin (7-7), and the base frame (7-1), the first retractable support rod ( 7-2) and the triangular frame enclosed by the second retractable strut (7-3) can be retracted as a whole to the inside of the cabin or partially deployed out of the outside of the cabin through the movement of the movable block (7-4). The frame (7-1) is provided with a retractable driving component that controls the movable block (7-4) to move.
The air-dropped underwater vehicle according to claim 1, characterized in that: the retractable driving component is a retractable spring (7-8) installed on the base frame (7-1), and the retractable The expansion spring (7-8) exerts a force close to the inner end of the first expansion support rod (7-2) to the movable block (7-4).
The air-dropped underwater vehicle according to claim 1, characterized in that: the retractable driving component is a lead screw motor assembly, and the lead screw (7-15) passes through the movable block (7-4). threaded connection, the axis of the lead screw (7-15) is parallel to the moving direction of the live piece (7-4), the lead screw (7-15) rotates and drives the live piece (7-4) to move shift.
The air-dropped underwater vehicle according to claim 2, wherein the retractable frame mechanism (7) comprises at least one retractable triangular frame unit on the same plane as the triangular frame, and the triangular retractable frame unit is composed of Two frame rods and a restoring spring are hinged and enclosed by a pin shaft, and one of the two frame rods is connected with the movable block.
The air-dropped underwater vehicle according to claim 4, characterized in that: the middle part of the second retractable support rod (7-3) and the outer end of the first retractable support rod (7-2) The part is hinged through the third pin (7-7); including a first return spring (7-9), a second return spring (7-10) and a connecting rod (7-11), the first return spring (7-11) One end of (7-9) is hinged with the outer end of the second extension rod (7-3) through a fourth pin (7-12), and the other end of the first return spring (7-9) The middle part of the first retractable support rod (7-2) is hinged through a fifth pin shaft (7-13); the outer end of the second retractable support rod (7-3) is connected to the connecting rod (7). One end of -11) is hinged through the fourth pin (7-12), and the other end of the connecting rod (7-11) and the end of the second return spring (7-10) are connected by the sixth pin (7-10). 7-14) Hinged, the other end of the second return spring (7-10) is hinged with the movable block (7-4) through the second pin (7-6).
The air-dropped underwater vehicle according to claim 1, wherein a parachute unit is installed on the main body of the vehicle.
The air-dropped underwater vehicle according to claim 6, characterized in that: the parachute unit comprises a main parachute and an auxiliary parachute, and the main parachute and the auxiliary parachute are installed on the main body of the vehicle through a disengagement device (8). .
The air-drop underwater vehicle according to claim 7, characterized in that: the disengagement device (8) comprises a positive power terminal (8-1), a negative power terminal (8-2), a fuse (8-3) ), holder (8-4), parachute cord (8-5), drop bar (8-6), recovery lever (8-7), recovery spring (8-8) and retaining sleeve (8-9) , the outer end of the parachute cord (8-5) is connected to the main parachute and the auxiliary parachute, the inner end of the parachute cord (8-5) is connected to the fall-off rod (8-6), and the fixing seat (8-4) and the fixing sleeve (8-9) is fixed on the inner side of the rear end of the cabin (1), and the positive terminal of the power supply (8-1) passes through the end through hole of the fixing seat (8-4) extending into the fixing seat (8-4), the negative terminal (8-2) of the power supply is mounted on the fixing seat (8-4) and is electrically connected with the fixing seat (8-4), and the fuse (8-4) One end of -3) is connected to the positive terminal (8-1) of the power supply, the recovery rod (8-7) penetrates the fixing seat (8-4) and is electrically connected to the fixing seat (8-4), The other end of the fuse wire (8-3) is connected with the end of the recovery rod (8-7) that penetrates into the fixing seat (8-4), and the other end of the recovery rod (8-7) Connected with the restoring spring (8-8), the restoring rod (8-7) can move along the axis of the fixing seat (8-4), and the falling off rod (8-6) penetrates the fixing sleeve In the barrel (8-9), the restoring rod (8-7) penetrates the falling off rod (8-6) and the fixing sleeve (8-9), and the restoring spring (8-8) is connected to the fixing sleeve (8-9). The inner wall of the cabin body (1) is fixedly connected.