CN205632940U - Unmanned ship of hydrofoil of little water plane of stealthy monomer - Google Patents

Abstract

The utility model discloses an unmanned ship of hydrofoil of little water plane of stealthy monomer in navigation on water, top is the control cabinet, mid portion is the pillar, it is lower submerged body to descend the part, the submerged body anterior segment is the submerged body bow down, the interlude is the submerged body middle part, the back end is submerged body stern portion, submerged body middle part hull inside is equipped with two ballast tanks, two power supply battery casees and a hydrofoil control mechanism, symmetrical arrangement around two ballast tanks, the power supply battery case of symmetry set up two between two ballast tanks around, the intermediate position is hydrofoil control mechanism between two power supply battery casees, left and right bilateral symmetry outside the hull at submerged body middle part sets up a pair of hydrofoil, and submerged body stern portion's hull inside is equipped with main motor, shaft coupling, main shaft and tail vane control mechanism, and left and right bilateral symmetry sets up a pair of tail vane outside submerged body stern portion's hull, unmanned ship possess good seakeeping, rapidity and resistance performance, can realize body boat, wing boat and three kinds of navigation states of submerge simultaneously.

Description

A hydrofoil unmanned boat with stealthy single body and small water plane

technical field

The utility model relates to an unmanned boat navigating on water. The unmanned boat can be used for civil and military purposes. The civilian use includes marine environment survey, sea state record, hydrological information, fishery investigation, etc.; the military use includes intelligence collection, surveillance and investigation, minesweeping, Precision strikes, etc.

Background technique

Most unmanned boats adopt a modular design. According to different tasks, a variety of different modules can be used. They can follow combat ships or scientific research and other civilian ships to perform tasks, and can dispatch manned The ship's area independently performs tasks and expands the scope of maritime duty.

Single-body small waterplane surface craft is a hybrid ship type produced by combining buoyancy and dynamic lift. It adopts a hull, and balance hydrofoils are arranged at the front and rear of the hull to improve the lateral stability of the ship; the main floating body of the hull is immersed in water, and its The waterplane is kept small and lean to obtain less wave-making resistance and avoid high frictional resistance.

Most of the existing small waterline area unmanned boats are surface unmanned boats or semi-submersible unmanned boats. The sensing platform is installed on the top, and various monitoring equipment are installed on the sensing platform. The disadvantages are: the equipment is exposed to air or water, and is easily affected by wind, waves and currents. There is no concealed protection and camouflage measures when the sensing platform rises and falls. It is easy to expose the position during the mission, and its navigation state is relatively single, generally in a semi-submerged state or surface navigation, and cannot freely carry out multi-state navigation on the surface and underwater, and cannot fully Escape into the water to save the hull. In better sea conditions, the hull cannot be raised to the maximum extent to reduce the draft.

Contents of the invention

The utility model aims at the shortcomings of the above-mentioned existing unmanned boats, and provides a hydrofoil unmanned boat with a small waterline surface of a stealth single body, which combines a small waterline surface boat with a hydrofoil, which can work on the water surface, It can also work underwater, with multiple navigation modes and stealth features, which makes up for the single defect of the existing underwater unmanned boats and surface unmanned boats, and has better resistance performance, rapidity and seakeeping.

The technical scheme adopted by the hydrofoil unmanned boat with a small waterline surface of a stealth monomer described in the utility model is: the upper part is a control cabin, the middle part is a pillar, the lower part is a submersible body, and the center of the bottom of the control cabin is fixedly connected. The upper end of the pillar and the lower end of the pillar are fixedly connected to the submerged body. The front section of the submerged body is the bow of the submersible, the middle section is the middle of the submersible, and the rear section is the stern of the submersible. The interior of the hull at the bow of the submersible is the bow control cabin , the hull in the middle of the submersible is equipped with two ballast water tanks, two power supply battery boxes and a hydrofoil control mechanism. The two ballast water tanks are symmetrically arranged front and back, and two A front and rear symmetrical power supply battery box, the middle position between the two power supply battery boxes is the hydrofoil control mechanism; a pair of hydrofoils are symmetrically arranged on the left and right sides of the hull in the middle of the submersible, and the hydrofoils are controlled by the hydrofoils The mechanism controls the rotation; the hull at the stern of the submersible is equipped with a main motor, a coupling, a main shaft and a rudder control mechanism. The rear end of the stern of the submersible is a propeller, and the main shaft of the propeller is connected to the main motor through a coupling; The tail rudder control mechanism is arranged behind the main motor, and a pair of tail rudders are arranged symmetrically on the left and right sides of the hull at the stern of the submersible, and the tail rudder is controlled by the tail rudder control mechanism; The controller controls the work of the ballast water tank, the hydrofoil control mechanism and the tail rudder control mechanism respectively through the control lines.

The beneficial effect that the utility model has after adopting above-mentioned technical scheme is:

1. The utility model applies the hydrofoil ship type of a single small waterline surface to the unmanned boat, so that the unmanned boat has the excellent seakeeping, rapidity and resistance performance of the single small waterline surface hydrofoil boat; at the same time It can realize three navigation states of body navigation, wing navigation and submerged navigation. In the body navigation state, the unmanned boat has a large draft, the water part is extremely small, and the thin control cabin at the front and rear has good wave-making resistance performance. In the navigating state, the waterline of the unmanned boat is near the pillar, the wave-making resistance performance is better, and it has better speed. In the submerged state, the unmanned boat is completely submerged underwater through the ballast water tank, and the concealment performance is good. , At the same time, it can also generate positive and negative lift through the hydrofoil to adjust the diving depth of the unmanned boat.

2. The utility model installs hydrofoils in the middle and front part of the hull, which can improve the stability of the hull; it has a variety of navigation states that other conventional unmanned boats do not have, and can flexibly adjust the navigation state to make it better When the boat is sailing normally, the large draft, the low noise of electric propulsion and the special shape of the control cabin all make the boat have better stealth capabilities.

3. The utility model maintains the advantages of thin waterline and small wave-making resistance of the small waterplane surface ship, and at the same time, its single-hull structure reduces the wet surface area by about 50% compared with the double-hull structure, thereby reducing frictional resistance , and the single-hull structure has a smaller turning radius during navigation, and the hull is more flexible.

Description of drawings

Fig. 1 is the front view of the structure of a hydrofoil unmanned boat with a small waterline surface of a stealth monomer of the utility model;

Fig. 2 is the structural top view of diving body 3 in Fig. 1;

Fig. 3 is a three-dimensional structural schematic diagram of the hydrofoil control mechanism 324 in Fig. 1 and Fig. 2;

Fig. 4 is a three-dimensional structural schematic diagram of the tail rudder control mechanism 334 in Fig. 1 and Fig. 2;

In the figure: 1. Control cabin; 11. Fully sealed control box; 12. Upper cabin; 13. Lower cabin; 14. Cloud platform; 15. Beidou antenna; 16. Communication antenna;

2. Pillar; 21. Flange;

3. Submerged body;

31. Submarine bow; 311. Bow control cabin; 312 sonar device;

32. Middle part of submersible body; 321. Ballast water tank; 322. Upper stable truss; 323. Battery compartment; 324. Hydrofoil control mechanism; 325. Rail support;

33. Submarine stern; 331. Main motor compartment; 332. Coupling; 333 Propeller main shaft; 334 Tail rudder control mechanism;

41. Hydrofoil motor; 42. Motor support; 43. Worm; 44. Slider; 45. Screw nut; 46. Shaft support; 47. Connecting rod; 48. Crank connecting shaft; 49. Crank; 410. Hydrofoil shaft; 411. Hydrofoil;

51. tail rudder motor; 52. motor support; 53 screw nut; 54. slider; 55. shaft support; 56. worm; 57. connecting rod; 58. crank connecting shaft; 59. crank; Rudder rudder shaft; 511. Tail rudder;

6. Horizontal fixed wing;

7. Propeller.

detailed description

Referring to Fig. 1 and Fig. 2, the upper part of the hydrofoil unmanned boat of a kind of stealth monomer small water plane surface of the utility model is the control cabin 1, the middle part is the pillar 2, and the lower part is the diving body 3. The control cabin 1 and the submerged body 3 are arranged horizontally, and the pillars 2 are arranged vertically. The center of the bottom of the control cabin 1 is fixedly connected to the upper end of the pillar 2 through a flange 21, and the lower end of the pillar 2 is fixedly connected to the submerged body 3 through another flange 21. The connection is fixed by watertight connectors and screws and nuts, and a waterproof gasket is installed at the joint . The centers of gravity of the control cabin 1, the pillar 2 and the submerged body 3 are on the same vertical line.

Below the control cabin 1 is a lower cabin body 13, and the top of the lower cabin body 13 is sealed and docked with the bottom of the upper cabin body 12 to form a sealed cabin. A fully sealed control box 11 is fixedly installed in the middle of the sealed cabin, and the center of gravity of the fully sealed control box 11 is at the bottom center of the control cabin 1 . A variety of control devices and working modules can be installed inside the fully sealed control box 11 according to requirements, and the signal output cables and power supply cables of each control device and working modules are connected to the outside world through watertight connectors. The up and down height of the lower cabin body 13 is greater than the up and down height of the upper cabin body 12, and the outer surface of the upper cabin body 12 and the lower cabin body 13 is a circular arc surface with a certain angle of inclination, the upper cabin body 12 is upwardly inclined, and the lower cabin body The body 13 is inclined downwards, and the outer diameter of the outer surface at the sealing joint between the upper cabin body 12 and the lower cabin body 13 is the largest. The inclination angle of the outer surface of the upper cabin body 12 is smaller than the inclination angle of the outer surface of the lower cabin body 13 . In this way, the frictional resistance of the control cabin 1 can be effectively reduced during navigation.

The outer shape of the upper cabin body 12 and the lower cabin body 13 can also be designed as an asymmetric polyhedron, and the outer dimension of the sealing joint between the upper cabin body 12 and the lower cabin body 13 is the largest, and the upper cabin body 12 is inclined upward, and its inclination angle is 35° ~40°, the preferred angle is 36°. The lower cabin body 13 is inclined downward, and its inclination angle is 50°～55°, preferably 52°. The total length of the upper cabin body 12 of the asymmetrical polyhedron: total width: height=3.39:1:0.49, the total length of the lower cabin body 13: total width: height=3.39:1:0.81. Through the numerical simulation of hydrodynamic calculation software, it can be concluded that the control cabin 1 has better wave-making resistance performance when navigating in water, which is conducive to reducing the radar reflection area of the upper body structure, and at the same time reduces the redundant space according to the scale of the internal control system, so that Reducing the overall volume is conducive to reducing the overall target size, which is beneficial to the stealth function of the unmanned boat.

The cloud platform 14, the Big Dipper antenna 15 and the communication antenna 16 are installed above the control cabin 1 outside, and the lower ends of the cloud platform 14, the Big Dipper antenna 15 and the communication antenna 16 are all fixedly connected on the upper cabin body 12. The cloud platform 14 is used to detect the surrounding sea conditions, and the Beidou antenna 15 and the communication antenna 16 are used to receive and transmit signals. A millimeter wave radar device 17 is installed inside the upper cabin body 12 of the control cabin 1 .

The horizontal section of pillar 2 is ellipse, and the long axis of ellipse is the front-back direction of hull, and the minor axis is the left-right direction of hull. Also can choose airfoil shape as a kind of preference, concrete airfoil selects NACA0010, and the up and down height of pillar 2 is in the range of 1/2～3/4 of the body width of submerged body 3, when designing the height of pillar 2 can according to Task requirements are specified.

The front section of the submerged body 3 is the submerged body bow 31, the middle section is the submerged body middle part 32, and the rear section is the submerged body stern portion 33. The bow 31 of the submerged body and the stern part 33 of the submerged body are provided with internal threads, and the front and rear ends of the middle part of the submerged body 32 are provided with external threads, and the three parts are connected by thread rotation. Waterproof partitions are installed at the joints where the submerged body middle part 32 is connected with the submerged body bow part 31 and the submerged body stern part 33 respectively, and are respectively connected with the watertight connectors of the submerged body middle part 32 by watertight connectors.

The submerged body bow 31 is semi-ellipsoidal, the submerged body middle part 32 is a cylindrical design, and the submerged body stern 33 is a conical shape with a slender profile. The diameter of the rear end of the submerged stern 33 gradually decreases to reduce The influence of small submerged body 3 on propeller 7 propulsion.

The interior space of the hull of the submarine bow 31 is the bow control compartment 311, and task modules can be installed inside the bow control compartment 311 as required. A sonar device 312 is installed at the front end of the submersible bow 31 for sound navigation and ranging.

The inside of the hull of the middle part 32 of the submersible is provided with a water ballast tank 321 , a power supply battery box 323 , a guide rail support 325 , a hydrofoil control mechanism 324 and an upper stable truss 322 . Wherein, there are two ballast water tanks 321, which are symmetrical front and rear, and are respectively located at the frontmost and rearmost positions in the middle part 32 of the submersible. The ballast water tank 321 is connected with the outside through a watertight connector. There is an air inlet directly above the ballast water tank 321 and a drain hole directly below. It is a mature product that can be directly purchased in the market. Two front and back symmetrical power supply battery boxes 323 are arranged between the two ballast water tanks 321, and the power supply battery box 323 is supported on the guide rail bracket 325 by screws and nuts, and the guide rail bracket 325 is fixed on the bottom wall of the hull. An upper stable truss 322 is connected between the tops of the two power supply battery boxes 323, and the upper stable truss 322 is fixedly welded on the top wall of the hull, and the two power supply battery boxes 323 are further fixed by the upper stable truss 322. The weight of the guide rail support 325 and the upper stable truss 322 also provides a fixed ballast weight for the unmanned boat. Midway between the two power supply battery boxes 323 is a hydrofoil control mechanism 324 . A DC storage battery is installed in the power supply battery box 323 to provide motion power for the unmanned boat and drive each motor to run. A pair of hydrofoils 411 are symmetrically arranged on the left and right sides of the hull of the middle part 32 of the submersible, and the hydrofoils 411 are controlled to rotate by the hydrofoil control mechanism 324 .

The inside of the hull of the submarine body stern portion 33 is provided with a main motor 331 , a shaft coupling 332 , a main shaft 333 and a tail rudder control mechanism 334 . The tail end of the submersible stern part 33 is a propeller 7, and the whole unmanned boat is propelled by the propeller 7. The propeller main shaft 333 is connected with the main motor 331 through a coupling 332 . The DC battery in the power supply battery box 323 provides power for the operation of the main motor 331 . The tail rudder control mechanism 334 is installed in the rear of the main motor 331, arranged side by side with the shaft coupling 332 left and right. A pair of tail rudder 511 and horizontal fixed wing 6 are symmetrically arranged on the left and right sides of the hull of the submarine stern 33, and the tail rudder 511 is controlled by the tail rudder control mechanism 334 to rotate. The size and shape of the horizontal fixed wing 6 and the installation position up and down are the same as the tail rudder 511, and the horizontal fixed wing 6 is connected with the hull by welding.

Referring to the structure of the hydrofoil control mechanism 324 shown in Figure 3, the hydrofoil control mechanism 324 comprises a hydrofoil control motor 41, a motor support 42, a worm screw 43, a lead screw slide block 44, a slider connecting ring 45, a bearing seat 46, Connecting rod 47, crank connecting shaft 48, crank 49 and hydrofoil shaft 410. The hydrofoil control motor 41 is installed on the motor support 42, and the motor support 42 is fixed on the bottom of the hull. The output shaft of the hydrofoil control motor 41 is coaxially connected to the front end of the worm screw 43, the rear end of the worm screw 43 is connected to the front end of the lead screw slider 44 through the slider connecting ring 45, and the rear end of the lead screw slider 44 is installed on the bearing block 46 through the bearing , Bearing block 46 is fixed on the bottom of hull. A connecting rod 47 is arranged above the leading screw slider 44, one end of the connecting rod 47 is connected to the leading screw sliding block 44, the other end of the connecting rod 47 is movable in the middle of the crank connecting shaft 48, the crank connecting shaft 48 is horizontally arranged, and the crank The left and right ends of the connecting shaft 48 are respectively fixedly connected with a crank 49, and the crank 49 is arranged up and down. The wing 411 is fixedly connected to one end of the hydrofoil shaft 410 , and the other end of the hydrofoil shaft 410 is fixedly connected to the crank 49 .

Two symmetrical horizontal threaded holes are arranged on the left and right sides of the hull middle position of the middle part of the submersible 32, and two hydrofoil shafts 410 of the left and right protrude outwards from the inside of the middle part of the submersible 32, respectively passing through the corresponding The horizontal threaded hole is connected to the hydrofoil 411 located outside the hull, and the hydrofoil shaft 410 and the hull are connected together by threads, and a waterproof gasket is provided at the joint.

The NACA0010 airfoil is selected for the profile of the hydrofoil 411, and the projected area of the hydrofoil 411 is calculated according to the hull length and lift coefficient of the unmanned vehicle, and finally the scale parameters of the hydrofoil 411 are obtained.

The hydrofoil control motor 41 is powered by the DC battery in the power supply battery box 323. The hydrofoil control motor 41 rotates to drive the worm screw 43 to rotate. The rotation of the worm screw 43 drives the front and rear movement of the lead screw slide block 44, which is fixed by the crank 49 and the screw The front and rear movement of the lever slider 44 makes the upper end of the connecting rod 47 drive the crank connection shaft 48 to move, so that the crank connection shaft 48 drives the hydrofoil shaft 410 to rotate through the crank 49, realizing the rotation of the hydrofoil 411.

The two hydrofoils 411 outside the hull are installed symmetrically on the left and right sides of the hull, and the angular rotation range of the hydrofoils 411 is -15° to 15°. According to the buoyancy difference caused by the draught change of the unmanned boat, the angle of the hydrofoil 411 is adjusted to generate an upward or downward force. The rotation of the hydrofoil 411 is completed once by controlling the work of the motor 41. After the hydrofoil 411 stops rotating, the locking of the hydrofoil 411 is realized by the self-locking function of the worm screw 43.

Referring to the structure of the tail rudder control mechanism 334 shown in Figure 4, the tail rudder control mechanism 334 comprises a tail rudder control motor 51, a motor support 52, a connecting rod 57, a screw nut 53, a slide block 54, a bearing block 55, a worm screw 56 , crank connecting shaft 58, crank 59 and tail rudder rudder shaft 510. Wherein, the tail rudder control motor 51 is fixed on the motor support 52, the power of the tail rudder control motor 51 is provided by the DC storage battery in the power supply battery box 323, and the motor support 52 is fixedly connected to the bottom of the hull.

The output shaft of the rudder control motor 51 is coaxially connected to the front end of the worm screw 56, and the rear end of the worm screw 56 is supported on the bearing seat 55 through bearings, and the bearing seat 55 is fixedly connected to the bottom of the hull. On the worm 56, a lead screw nut 53 is installed, the lead screw nut 53 is fixedly connected to one end of the slider 54, and the other end of the slider 54 is connected to the middle of the crank connecting shaft 58 through the connecting rod 57, and the crank connecting shaft 58 is arranged horizontally on the left and right sides, and the crank connecting shaft 58 is horizontally arranged. Both ends of the connecting shaft 58 are respectively fixedly connected with a tail rudder shaft 510 via a crank 59 . The tail rudder shafts 510 respectively pass through the corresponding horizontal threaded holes on the hull and then connect to the tail rudders 511 outside the hull. The two tail rudders 511 outside the hull are installed symmetrically on the left and right sides of the hull. It is controlled by the tail rudder control mechanism 334 to realize rotation and self-locking.

The operating principle of the tail rudder control mechanism 334 is the same as that of the hydrofoil control mechanism 324. The tail rudder control motor 51 rotates, which sequentially drives the worm screw 56, the screw nut 53, the slide block 54, the connecting rod 57, the crank connecting shaft 58, The crank 59 acts to make the tail rudder shaft 510 rotate so as to drive the tail rudder 511 to rotate. The rotation angle range of the tail rudder 511 is -25°～25°. The position of the tail rudder 511 is as far back as possible without affecting the installation process and the propeller 7, so as to improve the efficiency of the tail rudder 511.

A controller is provided in the control cabin 1, and the controller is respectively connected to the ballast water tank 321, the hydrofoil control mechanism 324 and the tail rudder control mechanism 334 through control lines, and the controller controls its work.

When the utility model is a stealth single-body small waterplane area hydrofoil unmanned boat, it can realize three navigation modes: navigation in a body navigation state, navigation in a wing navigation state, and navigation in a submerged state. specifically is:

After the unmanned boat is launched, the two ballast water tanks 321 are controlled to be empty, and enter the airborne state. Under this state, the unmanned boat has a larger draft, and the waterline plane is located at the lower cabin body 13 . After the unmanned boat starts, the controller in the control cabin 1 controls the hydrofoil control motor 41 in the hydrofoil control mechanism 324 to work, so that the hydrofoil 411 remains in a horizontal position, and the unmanned boat is propelled by the propeller 7, and the water part is very small. There is good concealment is good.

When the unmanned boat needs to enter the wing navigation state from the body navigation state, the controller in the control cabin 1 sends a signal to the hydrofoil control mechanism 324, the hydrofoil control motor 41 works, and the hydrofoil 411 rotates clockwise to adjust the hydrofoil forward. The angle of the wing 411, the hydrofoil 411 generates upward lift, and the lift generated by the hydrofoil 411 offsets the buoyancy of the lower cabin 13. The larger the angle of rotation of the hydrofoil 411, the greater the lift generated, the hull is raised, and the draft is reduced. , the unmanned boat enters the wing navigation state. At this time, the waterline surface is near the pillar 2 of the hull, and has a smaller waterline surface, which is beneficial to wave resistance and has good rapidity.

When the unmanned boat needs to enter the submerged state from the body navigation state, the controller in the control cabin 1 controls the two ballast water tanks 321 inside the hull to pump water at the same time, and opens the vent holes and drainage of the two ballast water tanks 321 hole, start to enter water in the ballast water tank 321, increase the self-weight of the unmanned boat, and the unmanned boat begins to sink, until after the unmanned boat reaches the predetermined depth, close the drain hole. At the same time, the controller in the control cabin 1 sends a signal to the hydrofoil control mechanism 324, and the hydrofoil control motor 41 works to control the counterclockwise rotation of the hydrofoil 411, and the angle of the hydrofoil 411 is adjusted in the opposite direction, and the hydrofoil 411 produces a direction The lower lift makes the unmanned boat dive. When the unmanned boat is fully submerged underwater, it enters the submerged state. The unmanned boat has no free liquid surface in the submerged state, and will not be affected by wave-making resistance, but only by frictional resistance and viscous pressure resistance. . Under water, the unmanned boat can rotate the hydrofoil 411 through the hydrofoil control mechanism 324 to generate upward or downward lift, and the depth of the unmanned boat can be changed by the magnitude of the lift. The unmanned boat can also control the change of its own gravity and buoyancy by the pumping displacement of the ballast water tank 321, so as to change its diving depth.

Claims (7)

1. null1. the hydrofoil unmanned boat of a stealthy monomer small-waterplane-area，Upper part is control cabinet (1)、Mid portion is pillar (2)，Lower part is diving body (3)，Control cabinet (1) bottom centre is fixing connects pillar (2) upper end，Pillar (2) lower end is fixing connects diving body (3)，It is characterized in that: the leading portion of diving body (3) is submerged body bow (31)、Interlude is (32) in the middle part of submerged body、Back segment is submerged body stern (33)，It is that bow controls cabin 311 inside the hull of submerged body bow (31)，Two ballast tanks 321 it are provided with inside the hull of 32 in the middle part of submerged body、Two supplying cell casees (323) and a hydrofoil controlling organization (324)，It is arranged symmetrically with before and after two ballast tanks (321)，Supplying cell case (323) symmetrical before and after arranging two between two ballast tanks (321)，Centre position between two supplying cell casees (323) is hydrofoil controlling organization (324)；In the middle part of submerged body, the arranged on left and right sides outside the hull of (32) is symmetrical arranged a pair hydrofoil (411), and hydrofoil (411) is controlled to rotate by hydrofoil controlling organization (324)；Mair motor (331), shaft coupling (332), main shaft (333) and tail vane controlling organization (334) it is provided with inside the hull of submerged body stern (33), the rear end tails of submerged body stern (33) is propeller (7), rotor shaft (333) is connected with mair motor (331) by shaft coupling (332), and tail vane controlling organization (334) is located at the rear of mair motor (331)；Arranged on left and right sides outside the hull of submerged body stern (33) is symmetrical arranged a pair tail vane (511), and tail vane (511) is controlled to rotate by tail vane controlling organization (334)；Being provided with controller in controlling cabin (1), controller controls ballast tank (321), hydrofoil controlling organization (324) and tail vane controlling organization (334) respectively by control line and works.
2. The hydrofoil unmanned boat of a kind of stealthy monomer small-waterplane-area, is characterized in that: hydrofoil controlling organization (324) includes that hydrofoil controls motor (41), worm screw (43), screw slider (44), slide block connection ring (45), connecting rod (47), crank connecting shaft (48), crank (49) and hydrofoil wing axle (410)；Hydrofoil controls motor (41) output shaft coaxially connected worm screw (43) front end, worm screw (43) rear end connects ring (45) by slide block and connects screw slider (44) front end, it is provided above a connecting rod (47) at screw slider (44), connecting rod (47) one end connects screw slider (44), the centre of connecting rod (47) other end pivot bush unit crank connecting shaft (48), crank connecting shaft (48) left and right horizontal is arranged and each crank (49) upper end that is connected, two ends, left and right, crank (49) lower end connects hydrofoil (411) through hydrofoil wing axle (410) of left and right horizontal, hydrofoil wing axle (410) is each passed through on hull the horizontal threaded bore of correspondence.
3. The hydrofoil unmanned boat of a kind of stealthy monomer small-waterplane-area, is characterized in that: tail vane controlling organization (334) includes that tail vane controls motor (51), connecting rod (57), feed screw nut (53), slide block (54), worm screw (56), crank connecting shaft (58), crank (59) and tail vane rudderpost (510)；Tail vane controls motor (51) output shaft coaxially connected worm screw (56) front end, the upper cooperation of worm screw (56) is provided with feed screw nut (53), feed screw nut (53) fixes connection sliding block (54) one end, slide block (54) other end is through the centre of connecting rod (57) socket crank connecting shaft (58), crank connecting shaft (58) left and right horizontal is arranged and two ends are respectively through a crank (59) one tail vane rudderpost (510) of fixing connection, and tail vane rudderpost (510) connects tail vane (511) after being each passed through on hull corresponding horizontal threaded bore.
4. The hydrofoil unmanned boat of a kind of stealthy monomer small-waterplane-area, is characterized in that: the angular pivotal range of hydrofoil (411) is-15 °～15 °, and the angular pivotal range of tail vane (511) is-25 °～25 °.
5. A kind of hydrofoil unmanned boat of stealthy monomer small-waterplane-area, it is characterized in that: the lower section of control cabinet (1) is lower nacelle (13), the top of lower nacelle (13) is docked with upper nacelle (12) sealed bottom, the upper-lower height of lower nacelle (13) is more than the upper-lower height of upper nacelle (12), the outer surface of upper nacelle (12) and lower nacelle (13) is the arc surface with angle of inclination, the largest outside diameter of the outer surface of joint is sealed in upper nacelle (12) and lower nacelle (13), the angle of inclination of the outer surface of upper nacelle (12) is less than the angle of inclination of the outer surface of lower nacelle (13).
6. A kind of hydrofoil unmanned boat of stealthy monomer small-waterplane-area, it is characterized in that: the profile of upper nacelle (12) and lower nacelle (13) is asymmetric polyhedron, the Outside Dimensions sealing joint in upper nacelle (12) and lower nacelle (13) is maximum, the angle of inclination of upper nacelle (12) is 35 °～40 °, the angle of inclination of lower nacelle (13) is 50 °～55 °, the overall length of upper nacelle (12): beam overall: highly=3.39:1:0.49 The overall length of lower nacelle (13): beam overall: highly=3.39:1:0.81.
7. A kind of hydrofoil unmanned boat of stealthy monomer small-waterplane-area, it is characterized in that: what control cabinet (1) was outside is arranged over The Cloud Terrace (14), Beidou antenna (15) and communication antenna (16), the upper nacelle (12) of connection is all fixed in the lower end of The Cloud Terrace (14), Beidou antenna (15) and communication antenna (16)；Upper nacelle (12) at control cabinet (1) is provided with millimetre-wave radar device (17).