CN113401320A - Underwater glider with movable horizontal wings - Google Patents
Underwater glider with movable horizontal wings Download PDFInfo
- Publication number
- CN113401320A CN113401320A CN202110707052.2A CN202110707052A CN113401320A CN 113401320 A CN113401320 A CN 113401320A CN 202110707052 A CN202110707052 A CN 202110707052A CN 113401320 A CN113401320 A CN 113401320A
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- Prior art keywords
- glider
- underwater glider
- horizontal
- underwater
- wings
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- 230000033001 locomotion Effects 0.000 claims abstract description 22
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 16
- 230000005484 gravity Effects 0.000 claims description 7
- 239000013013 elastic material Substances 0.000 claims description 6
- 239000004033 plastic Substances 0.000 claims description 6
- 239000002195 soluble material Substances 0.000 claims description 5
- 229920000742 Cotton Polymers 0.000 claims description 3
- 229910001285 shape-memory alloy Inorganic materials 0.000 claims description 3
- 239000013536 elastomeric material Substances 0.000 claims 1
- 238000000034 method Methods 0.000 abstract description 8
- 238000012544 monitoring process Methods 0.000 abstract description 2
- 230000035939 shock Effects 0.000 abstract description 2
- 230000008569 process Effects 0.000 description 4
- 230000005540 biological transmission Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 239000007787 solid Substances 0.000 description 2
- 238000006467 substitution reaction Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 230000013575 regulation of buoyancy Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 238000007789 sealing Methods 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
-
- 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
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
Abstract
The invention belongs to the technical field of marine environment monitoring, and particularly discloses an underwater glider with movable horizontal wings, which comprises a glider main body, horizontal wings, a slide way and a slide rod, wherein the slide way is fixed on the glider main body and is parallel to the central line of the glider main body; the slide bar can be installed on the slide with longitudinal movement, and the horizontal wing is fixed on the slide bar. The invention can replace the method that the existing underwater glider adopts the longitudinal movement of the mass block to adjust the pitching angle of the gliding movement, greatly simplifies the internal control structure of the underwater glider and improves the shock resistance of the whole machine.
Description
Technical Field
The invention belongs to the technical field of marine environment monitoring, and particularly relates to an underwater glider with movable horizontal wings.
Background
At present, a horizontal wing of an underwater glider is fixed, the longitudinal position of the gravity center is changed by controlling the longitudinal movement of a mass block, and a satisfactory gliding pitching angle is obtained; the directional control of an underwater glider is achieved by lateral movement of the center of gravity of the mass or by a rudder. The horizontal wing driving module is arranged in the underwater glider, so that the risk caused by dynamic sealing can be reduced, the reliability of the whole machine is improved to a certain extent, the pitching angle can be controlled as required, the underwater glider has better underwater motion control capability, and the difficulty in research, development and debugging is also reduced. However, this structural solution generally has the following disadvantages:
the gliding angle adjustment during gliding motion of the underwater glider is realized by depending on an internally moving mass block to realize the control of the motion attitude, so that auxiliary structures such as a slide way, a bracket and the like for supporting the mass block are needed, and the structural weight is increased; the control of the movement of the mass block requires equipment such as a motor, a transmission mechanism and the like, so that the complexity of the structural mass block is increased; the mass block moves, particularly the mass block moves longitudinally, so that the impact resistance of the whole machine is obviously reduced, the underwater glider is difficult to apply in the fields of shipborne throwing, air drop and the like, and the popularization and the use of the underwater glider are seriously limited.
Disclosure of Invention
The invention aims to provide an underwater glider with movable horizontal wings, which can replace the method that the existing underwater glider adopts the longitudinal movement of a mass block to adjust the pitching angle of gliding movement, greatly simplifies the internal control structure of the underwater glider and improves the shock resistance of the whole machine.
In order to achieve the purpose, the technical scheme adopted by the invention is as follows:
an underwater glider with movable horizontal wings comprises a glider main body, horizontal wings, a slide way and slide rods, wherein the slide way is fixed on the glider main body and is parallel to the central line of the glider main body; the slide bar can be installed on the slide with longitudinal movement, and the horizontal wing is fixed on the slide bar.
In a preferred embodiment of the present invention, the horizontal wing is disposed behind the center of gravity of the glider body.
As a preferable aspect of the present invention, the underwater glider with movable horizontal wings further comprises a mechanical fixing structure for fixing the longitudinal position of the horizontal wings.
As a preferable scheme of the present invention, the underwater glider with movable horizontal wings further comprises a horizontal wing driving module, wherein the horizontal wing driving module is connected to the slide rod and drives the slide rod to enable the horizontal wings to longitudinally move.
As a preferable aspect of the present invention, a head of the glider main body is provided with a buoyancy adjusting module for adjusting buoyancy of the glider main body.
As a preferable aspect of the present invention, a battery pack is disposed in a middle portion of the glider main body, and the battery pack is electrically connected to the buoyancy adjusting module and the horizontal wing driving module, respectively.
As a preferable scheme of the invention, the horizontal wing is made and molded by elastic materials, and is fixed by the bundling piece and in a curling and accommodating state before the underwater glider enters water; after the underwater glider enters water, the bundling piece is loosened to enable the horizontal wings to be freely unfolded.
As a preferable aspect of the present invention, the bundle-shaped member is made of a water-soluble material.
In a preferred embodiment of the present invention, the water-soluble material is water-soluble cotton or water-soluble plastic.
In a preferred embodiment of the present invention, the elastic material is a memory alloy, rubber or memory plastic.
As a preferable aspect of the present invention, the horizontal wing is rolled around the slide bar.
In a preferred embodiment of the present invention, the horizontal wings are wound around the glider body.
Compared with the prior art, the underwater glider with the movable horizontal wings has the beneficial effects that:
the underwater glider provided by the invention has the advantages that the original fixed horizontal wing is designed into a structural form capable of moving longitudinally, and the adjustment of the gliding motion angle of the underwater glider can be realized by changing the longitudinal position of the horizontal wing on the glider body in the process of gliding motion of the underwater glider, so that the problem that the gliding angle is influenced by hydrodynamic force on the traditional solid horizontal wing is effectively solved, the method that the mass block moves longitudinally to adjust the gliding pitch angle is adopted by the existing underwater glider is replaced, the internal control structure of the underwater glider is greatly simplified, and the impact resistance of the whole machine is improved; moreover, under the condition that a mass block control device exists inside the underwater glider, the longitudinally moving horizontal wing device provided by the invention can be additionally arranged, so that the requirement of the mass block on control moment is reduced, and the control effect is improved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings of the embodiments will be briefly described below.
FIG. 1 is a schematic view (I) of an underwater glider with movable horizontal wings according to the present invention, showing the horizontal wings in a horizontally deployed state;
fig. 2 is a schematic structural view (ii) of the underwater glider with movable horizontal wings according to the present invention, showing the horizontal wings in a rolled-up and stowed state.
Detailed Description
The following detailed description of embodiments of the present invention is provided in connection with the accompanying drawings and examples. The following examples are intended to illustrate the invention but are not intended to limit the scope of the invention.
In the description of the present invention, it is to be understood that the terms "upper", "lower", "left", "right", "front", "rear", "top", "bottom", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are only for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. It should be understood that the terms "first", "second", etc. are used herein to describe various information, but the information should not be limited to these terms, which are only used to distinguish one type of information from another. For example, "first" information may also be referred to as "second" information, and similarly, "second" information may also be referred to as "first" information, without departing from the scope of the present invention.
As shown in fig. 1, the underwater glider with movable horizontal wings provided by the preferred embodiment of the present invention comprises a glider main body 1, horizontal wings 2, a slideway 3 and a sliding rod 4, wherein the slideway 3 is fixed on the glider main body 1 and is parallel to the central line of the glider main body 1; the slide bar 4 is mounted on the slideway 3 in a longitudinally movable manner, and the horizontal wing 2 is fixed on the slide bar 4. Therefore, the underwater glider provided by the embodiment of the invention has the advantages that the original fixed horizontal wings are designed into a structural form capable of moving longitudinally, and the adjustment of the gliding motion angle of the underwater glider can be realized by changing the longitudinal position of the horizontal wings 2 on the glider main body 1 in the process of gliding motion of the underwater glider, so that the problem that the gliding angle is influenced by hydrodynamic force on the traditional solid horizontal wings is effectively solved, the method that the existing underwater glider adjusts the gliding motion pitch angle by adopting the longitudinal movement of the mass block is replaced, the internal control structure of the underwater glider is greatly simplified, and the impact resistance of the whole machine is improved; moreover, under the condition that a mass block control device exists inside the underwater glider, the longitudinally moving horizontal wing device provided by the invention can be additionally arranged, so that the requirement of the mass block on control moment is reduced, and the control effect is improved.
Illustratively, the underwater glider with movable horizontal wings further comprises a mechanical fixing structure for fixing the longitudinal position of the horizontal wing 2, such as: the fastener, the bolt, the pin and other detachable fixed components facilitate the positioning and adjustment of the horizontal wing before the underwater glider is thrown in.
Illustratively, as shown in fig. 1, the underwater glider with movable horizontal wings further comprises a horizontal wing driving module 5, wherein the horizontal wing driving module 5 is connected with the sliding rod 4 and drives the sliding rod 4 to enable the horizontal wing 2 to move longitudinally. The horizontal wing driving module 5 takes motor driving as power, and the sliding rod 4 is driven to realize linear motion through the transmission assembly. By the design, the horizontal wing can be positioned and adjusted no matter the underwater glider is thrown in or before or after the underwater glider is thrown in, and the applicability of the underwater glider is improved.
Exemplarily, as shown in fig. 1, in order to optimize the internal structure of the underwater glider and the arrangement of the center of gravity thereof, the horizontal wing 2 is arranged behind the center of gravity of the glider body 1; the head part of the glider main body 1 is provided with a buoyancy adjusting module 6 for adjusting the buoyancy of the glider main body 1; the middle part of glider main part 1 is equipped with group battery 7, group battery 7 respectively with buoyancy regulation module 6 with horizontal wing drive module 5 electricity is connected. The buoyancy adjusting module 6 is a buoyancy adjusting device special for the existing underwater glider. When the underwater glider works, the buoyancy is zero, and the underwater glider is suspended in water; the buoyancy adjusting module 6 controls the buoyancy of the underwater glider to be negative buoyancy, and the underwater glider begins to sink; because the horizontal wings 2 are arranged at the tail end (behind the gravity center) of the underwater glider, the whole underwater glider is asymmetrical front and back, in the sinking process, the back half part of the underwater glider is subjected to a lifting force (the direction is upward) larger than the front half part, the underwater glider is firstly inclined and is stabilized at an initial inclination angle, the underwater glider glides downwards and forwards, and the direction of the gliding movement is controlled by the rudder 9; after the water reaches the designated water depth, the buoyancy adjusting module 6 controls the buoyancy of the underwater glider to be positive buoyancy, the underwater glider floats upwards, in the floating process, the rear half part of the underwater glider is subjected to lift force (downward direction) and is larger than the front half part, the underwater glider tilts backwards and is stabilized at a tail tilt angle, the underwater glider glides upwards and forwards, and the rudder 9 is adopted to control the direction of the gliding movement.
Exemplarily, as shown in fig. 1 and 2, the horizontal wing 2 is made of an elastic material, and the horizontal wing 2 is fixed by a bundling piece 8 and is in a curling storage state before the underwater glider enters water; after the underwater glider enters the water, the tie members 8 are released to allow the horizontal wings 2 to be freely deployed. Therefore, the horizontal wing 2 is made of elastic materials, the horizontal wing 2 can have the curling deformation characteristic, and the bundling piece 8 is adopted to fix the curling shape of the horizontal wing 2, so that the horizontal wing 2 is in a curling storage state before the underwater glider drops into water, and the storage and the transportation are convenient; meanwhile, after the underwater glider is thrown into water, the bundling piece 8 can automatically loosen the horizontal wing 2 in the curling and accommodating state, and at the moment, the horizontal wing 2 can be freely unfolded under the action of the elasticity of the horizontal wing 2 and can be restored to the horizontal state; therefore, the structure form of the horizontal wing 2 for storage and expansion has the advantages of simple structure, convenient use and strong reliability.
Illustratively, the beam-forming element 8 is made of a water-soluble material. After glider entered water under water, restraint type 8 can meet water and dissolve, loosens horizontal wing 2 and makes its freedom expansion, further improves reliability and convenience that horizontal wing 2 accomodates and expands. In this embodiment, the water-soluble material is preferably water-soluble cotton or water-soluble plastic.
Illustratively, to ensure that the horizontal wing 2 is maintained in a horizontal state after being unfolded, the elastic material is a memory alloy, rubber or memory plastic.
For example, to facilitate the rolling storage of the horizontal wing 2, the following two storage forms may be adopted according to the longitudinal position of the horizontal wing 2: first, when the horizontal wing 2 moves away from or approaches the glider body 1, the horizontal wing 2 is rolled around the sliding rod 4 to be accommodated, as shown in fig. 2; second, when the horizontal wings 2 are placed on the glider body 1, the horizontal wings 2 are wound around the glider body 1.
In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "connected" and "connected" are to be interpreted broadly, e.g., as being fixed or detachable or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
The above description is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and substitutions can be made without departing from the technical principle of the present invention, and these modifications and substitutions should also be regarded as the protection scope of the present invention.
Claims (10)
1. An underwater glider with movable horizontal wings is characterized by comprising a glider main body, horizontal wings, a slide way and a slide rod, wherein the slide way is fixed on the glider main body and is parallel to the central line of the glider main body; the slide bar can be installed on the slide with longitudinal movement, and the horizontal wing is fixed on the slide bar.
2. The underwater glider of claim 1 wherein the horizontal wing is disposed behind the center of gravity of the glider body.
3. The underwater glider of claim 1 further comprising mechanical fixing structure for fixing the longitudinal position of the horizontal wing.
4. The underwater glider with movable horizontal wings of claim 1, further comprising a horizontal wing driving module connected to the sliding rod and driving the sliding rod to move the horizontal wings in a longitudinal direction.
5. The underwater glider with movable horizontal wings of claim 4, wherein the head of the glider body is provided with a buoyancy adjusting module for adjusting buoyancy of the glider body.
6. The underwater glider with movable horizontal wings of claim 5, wherein a battery pack is provided at the middle of the glider body, and the battery pack is electrically connected to the buoyancy adjusting module and the horizontal wing driving module, respectively.
7. An underwater glider with movable horizontal wings according to any one of claims 1 to 6 wherein the horizontal wings are formed of an elastomeric material, the horizontal wings being held by the tie and in a rolled up stowed condition prior to entry into the water; after the underwater glider enters water, the bundling piece is loosened to enable the horizontal wings to be freely unfolded.
8. The underwater glider of movable horizontal wing of claim 7 wherein the harness is made of water soluble material, which is water soluble cotton or plastic.
9. The underwater glider with movable horizontal wings of claim 7 wherein the elastic material is memory alloy, rubber or memory plastic.
10. The underwater glider of claim 7 wherein the horizontal wing is rolled around the sliding rod or the horizontal wing is rolled around the body of the glider.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110707052.2A CN113401320A (en) | 2021-06-24 | 2021-06-24 | Underwater glider with movable horizontal wings |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110707052.2A CN113401320A (en) | 2021-06-24 | 2021-06-24 | Underwater glider with movable horizontal wings |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113401320A true CN113401320A (en) | 2021-09-17 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110707052.2A Pending CN113401320A (en) | 2021-06-24 | 2021-06-24 | Underwater glider with movable horizontal wings |
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| Country | Link |
|---|---|
| CN (1) | CN113401320A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114655458A (en) * | 2022-03-24 | 2022-06-24 | 广东海洋大学 | Storage and release glider device |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102774482A (en) * | 2012-08-01 | 2012-11-14 | 叶晓雅 | Aerodynamic underwater sightseeing floatplane |
| CN205675209U (en) * | 2016-05-25 | 2016-11-09 | 童方周 | The on-fixed wing and underwater glider thereof |
| CN107089312A (en) * | 2017-03-29 | 2017-08-25 | 浙江大学 | Rhombus wing underwater glider with the on-fixed wing |
| CN107472527A (en) * | 2017-08-10 | 2017-12-15 | 北京航空航天大学 | A kind of flapping wing that folding and unfolding is driven using marmem |
| CN110040214A (en) * | 2019-04-30 | 2019-07-23 | 大连海事大学 | A kind of continuous wing of guarantee air-drop type underwater glider main body |
| CN111003145A (en) * | 2019-12-25 | 2020-04-14 | 中国航空工业集团公司西安飞机设计研究所 | Variable unmanned aerial vehicle |
| CN215707048U (en) * | 2021-06-24 | 2022-02-01 | 中山大学 | Underwater glider with movable horizontal wings |
-
2021
- 2021-06-24 CN CN202110707052.2A patent/CN113401320A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102774482A (en) * | 2012-08-01 | 2012-11-14 | 叶晓雅 | Aerodynamic underwater sightseeing floatplane |
| CN205675209U (en) * | 2016-05-25 | 2016-11-09 | 童方周 | The on-fixed wing and underwater glider thereof |
| CN107089312A (en) * | 2017-03-29 | 2017-08-25 | 浙江大学 | Rhombus wing underwater glider with the on-fixed wing |
| CN107472527A (en) * | 2017-08-10 | 2017-12-15 | 北京航空航天大学 | A kind of flapping wing that folding and unfolding is driven using marmem |
| CN110040214A (en) * | 2019-04-30 | 2019-07-23 | 大连海事大学 | A kind of continuous wing of guarantee air-drop type underwater glider main body |
| CN111003145A (en) * | 2019-12-25 | 2020-04-14 | 中国航空工业集团公司西安飞机设计研究所 | Variable unmanned aerial vehicle |
| CN215707048U (en) * | 2021-06-24 | 2022-02-01 | 中山大学 | Underwater glider with movable horizontal wings |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114655458A (en) * | 2022-03-24 | 2022-06-24 | 广东海洋大学 | Storage and release glider device |
| CN114655458B (en) * | 2022-03-24 | 2024-03-08 | 广东海洋大学 | Store and put in glider device |
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