CN108298051B

CN108298051B - Kangda effect propulsion system and underwater robot

Info

Publication number: CN108298051B
Application number: CN201810314705.9A
Authority: CN
Inventors: 王宇; 杨帆; 李亚鑫; 许瑾; 袁利邦
Original assignee: Southwest Petroleum University
Current assignee: Southwest Petroleum University
Priority date: 2018-04-09
Filing date: 2018-04-09
Publication date: 2023-06-16
Anticipated expiration: 2038-04-09
Also published as: CN108298051A

Abstract

A Kangda effect propulsion system and an underwater robot relate to the field of underwater robots. The propulsion system comprises a water spraying cylinder, a control loop, a water spraying power device and an adjusting power device. The water spraying cylinder is provided with an inner cavity, and one end of the water spraying cylinder is provided with a water inlet. The water spraying cylinder is provided with a plurality of groups of effect openings arranged along the circumference of the water spraying cylinder, each effect opening comprises a first opening and a second opening, the first opening is formed in the side wall of the water spraying cylinder, and the second opening is formed in one end, far away from the water inlet, of the water spraying cylinder. The control ring is sleeved on the water spraying cylinder. The control ring sleeve is provided with a control opening. The water outlet of the water spraying power device is communicated with the water inlet. The adjusting power device is in transmission connection with the control loop so as to adjust and control the control loop to rotate, thereby controlling the opening and closing of the effect valve. The robot comprises the coanda effect propulsion system described above. The two have simple structure, good stability and low energy consumption, and can flexibly adjust the output direction of the jet flow to realize the movement of multiple degrees of freedom.

Description

Kangda effect propulsion system and underwater robot

Technical Field

The invention relates to the field of underwater robots, in particular to a Kanga effect propulsion system and an underwater robot.

Background

The existing propulsion system based on the coanda effect is complex in design, poor in stability and high in energy consumption, so that a robot which needs to cruise under water for a long time can form very large limit, and the application prospect of the underwater robot is directly influenced.

Disclosure of Invention

The first object of the invention is to provide a coanda effect propulsion system which has simple structure, good stability and low energy consumption, and can flexibly adjust the output direction of jet flow to realize multi-degree-of-freedom motion.

The second object of the invention is to provide an underwater robot which has simple structure, good stability and low energy consumption, can flexibly perform multi-degree-of-freedom motion, and can stably perform underwater detection and monitoring tasks for a long time.

Embodiments of the present invention are implemented as follows:

a coanda effect propulsion system comprising: effect valve, water spray power device and regulation power device. The effect valve comprises a water spraying cylinder and a control ring sleeve, the water spraying cylinder is provided with an inner cavity, and one end of the water spraying cylinder is provided with a water inlet communicated with the inner cavity. The water spraying cylinder is also provided with a plurality of groups of effect openings which are arranged at intervals along the circumferential direction of the water spraying cylinder. Each group of effect openings comprises a first opening and a second opening which are communicated with the inner cavity, the first opening is formed in the side wall of the water spraying cylinder, and the second opening is formed in one end, far away from the water inlet, of the water spraying cylinder. The first opening is positioned between the water inlet and the second opening along the axial direction of the water spraying cylinder. The first opening and the second opening of each group of effect openings are respectively arranged at two opposite sides of the water spraying cylinder. The control loop sleeve is sleeved on the water spraying cylinder and is attached to the outer wall of the water spraying cylinder, and the control loop sleeve covers the first opening. Along the axial direction of the water spraying cylinder, the control ring sleeve is fixedly connected with the water spraying cylinder. Along the circumference of the water spraying cylinder, the control ring sleeve is movably connected with the water spraying cylinder. The control ring sleeve is provided with a control opening which is used for being selectively communicated with the first opening. The water outlet of the water spraying power device is communicated with the water inlet. The power output part of the adjusting power device is in transmission connection with the control loop so as to adjust and control the control loop to rotate relative to the water spraying cylinder, thereby controlling the opening and closing states of the effect valve.

Further, the end wall of the water spraying barrel, which is far away from the water inlet, protrudes outwards to form a hemispherical shape, and the second opening is formed in the end wall.

Further, the water spraying cylinder is provided with a filling block, and the filling block is filled at one end of the inner cavity far away from the water inlet. The second opening penetrates the filling block.

Further, the second opening is formed along the axial direction of the water spraying cylinder.

Further, the effect openings are 4 groups, and the 4 groups of effect openings are uniformly arranged at intervals along the circumferential direction of the water spraying cylinder.

Further, the control openings are in 2 groups. Each set of control openings comprises two sub-openings. Along the circumferential direction of the water spraying cylinder, the central angle of the circular arc corresponding to the maximum width of the first opening is equal to the central angle of the circular arc corresponding to the maximum width of the sub-opening.

Further, the minimum included angle between the central axes of the sub-openings of the two groups of control openings is 3 times as large as the central angle of the circular arc corresponding to the maximum width of the sub-opening along the circumferential direction of the control ring sleeve.

Further, the included angle between the central axes of the two sub-openings of each set of control openings is 162 °. The minimum angle between the central axes of the sub-openings of the two sets of control openings is 54 deg.. The central angle of the largest arc corresponding to the sub-opening is 18 degrees along the circumferential direction of the control ring sleeve.

Further, the power output part of the adjusting power device is in transmission connection with the control loop through a synchronous belt.

An underwater robot comprising a coanda effect propulsion system as described above.

The embodiment of the invention has the beneficial effects that:

the coanda effect propulsion system provided by the embodiment of the invention utilizes a water spraying power device to provide power to push water flow into the water spraying cylinder. The rotating direction and the rotating angle of the control loop are regulated and controlled by the regulating power device, so that the opening and the closing of the first opening are realized, and the water flow in the water spraying cylinder is further controlled to be sprayed out from the corresponding second opening by controlling the opening and the closing of the first opening, so that the recoil propulsion in the specific direction is realized. The control of the propulsion direction is achieved by controlling the water flow selectively ejected from a specific second opening by continuing to control the open and closed state of the first opening by means of the regulating power means.

When the first opening of a certain group of effect openings is in an open state, water flow in the water spraying cylinder can be sprayed out of the second opening of the effect opening due to the coanda effect, namely, by controlling the open-close state of the first opening of each group of effect openings, the water flow can be controlled to be sprayed out of the second opening of a specific effect opening, so that the direction adjustment and the propulsion control are realized.

Because the second opening is all offered in the one end that is kept away from the water inlet of water spray section of thick bamboo, recoil rivers all are spouted from the same end of water spray section of thick bamboo, in whole advancing process, the rivers direction in the water spray section of thick bamboo is all by the one end that the water inlet was located towards the one end that the second opening was located on in the whole, no matter adjust the propulsion direction or change the dynamics of propulsion, all need only adjust the rivers in the water spray section of thick bamboo and spout in specific from one or more second openings, and can not change the whole flow direction of rivers in the water spray section of thick bamboo. The energy consumption when changing the water flow spraying position is obviously reduced, and the extra energy consumption generated when reversing the water flow direction in the water spraying cylinder is avoided, so that the overall work load of the water spraying power device is lower, the energy is saved, the endurance time is prolonged, and the loss of the water spraying power device is reduced.

The Kanga effect propulsion system can more efficiently realize the motion of the underwater robot with multiple degrees of freedom, greatly reduce the mechanical structure complexity of the propulsion system and improve the reliability and stability of the system. The propulsion system is of little benefit to perform some specific underwater detection or monitoring tasks because of its small impact on the interaction with the surrounding environment and its low noise of operation.

Compared with the existing propulsion system, the coanda effect propulsion system realizes the motion with multiple degrees of freedom by using a few power devices, and the energy consumption of the underwater robot is greatly reduced and the cruising ability of the underwater robot is improved due to the structural design.

In general, the coanda effect propulsion system provided by the embodiment of the invention has the advantages of simple structure, good stability and low energy consumption, and can flexibly adjust the output direction of jet flow so as to realize multi-degree-of-freedom motion.

The underwater robot provided by the embodiment of the invention can be provided with the coanda effect propulsion system, so that the underwater robot is simple in structure, good in stability and low in energy consumption, can flexibly perform multi-degree-of-freedom motion, and can stably execute underwater detection and monitoring tasks for a long time.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed in the embodiments will be briefly described below, it being understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and other related drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

FIG. 1 is a schematic diagram of a coanda effect propulsion system provided by an embodiment of the present invention;

FIG. 2 is a schematic view of a first view of a water jet cartridge in the coanda effect propulsion system of FIG. 1;

FIG. 3 is a schematic diagram of a second view of the water jet cartridge of the coanda effect propulsion system of FIG. 1;

FIG. 4 is a schematic view of the internal structure of the water spray cartridge of FIG. 2;

FIG. 5 is a schematic illustration of a control collar in the coanda effect propulsion system of FIG. 1;

FIG. 6 is a schematic illustration of a first mating relationship of the water jet cartridge and the control collar of the coanda effect propulsion system of FIG. 1;

FIG. 7 is a schematic diagram of a second mating relationship of the water jet cartridge and the control collar of the coanda effect propulsion system of FIG. 1;

FIG. 8 is a schematic diagram of a third mating relationship of the water jet cartridge and the control collar of the coanda effect propulsion system of FIG. 1;

FIG. 9 is a schematic diagram of a fourth mating relationship of the water jet cartridge and the control collar of the coanda effect propulsion system of FIG. 1;

FIG. 10 is a schematic diagram of a fifth mating relationship of the water jet cartridge and the control collar of the coanda effect propulsion system of FIG. 1.

Icon: 1000-coanda effect propulsion system; 100-spraying water cylinder; 110-water inlet; 121-a first opening; 122-a first opening; 123-a first opening; 124-a first opening; 131-a second opening; 132-a second opening; 133-a second opening; 134-a second opening; 140-a spherical end wall; 150-filling blocks; 200-a control loop; 210-sub-openings; 300-water spraying power device; 400-adjusting the power plant; 500-synchronous belt.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention more clear, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. It will be apparent that the described embodiments are some, but not all, embodiments of the invention. The components of the embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.

Thus, the following detailed description of the embodiments of the invention, as presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.

It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further definition or explanation thereof is necessary in the following figures.

The terms "first," "second," and the like are used merely to distinguish between descriptions and are not to be construed as indicating or implying relative importance.

Furthermore, the terms "parallel," "perpendicular," and the like, do not denote that the components are required to be absolutely parallel or perpendicular, but may be slightly inclined. For example, "parallel" merely means that the directions are more parallel than "perpendicular" and does not mean that the structures must be perfectly parallel, but may be slightly tilted.

In the description of the present invention, it should also be noted that the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly, unless explicitly stated or limited otherwise. For example, the connection can be fixed connection, detachable connection or integrated connection; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention can be understood as appropriate by those of ordinary skill in the art.

Examples

Referring to fig. 1-5, the present embodiment provides a coanda effect propulsion system 1000. The coanda effect propulsion system 1000 includes: an effect valve, a water jet power plant 300 and a regulating power plant 400.

The effect valve comprises a water spraying cylinder 100 and a control loop 200, wherein the water spraying cylinder 100 is provided with an inner cavity, and one end of the water spraying cylinder 100 is provided with a water inlet 110 communicated with the inner cavity.

The water spray cartridge 100 also has a plurality of sets of effect openings that are spaced apart along the circumference of the water spray cartridge 100. Each set of effect openings comprises a first opening and a second opening, wherein the first opening and the second opening are communicated with the inner cavity, the first opening is formed in the side wall of the water spraying cylinder 100, and the second opening is formed in one end, far away from the water inlet 110, of the water spraying cylinder 100. The first opening is located between the water inlet 110 and the second opening in the axial direction of the water spray cartridge 100. The first and second openings of each set of effect openings are disposed on opposite sides of the cartridge 100.

In this embodiment, each set of effect openings includes a first opening and a second opening.

The control loop 200 is sleeved on the water spraying cylinder 100 and is attached to the outer wall of the water spraying cylinder 100, and the control loop 200 covers the first opening and is used for controlling the opening and closing of the first opening. Along the axial direction of the water spraying cylinder 100, the control ring sleeve 200 is fixedly connected with the water spraying cylinder 100; along the circumferential direction of the water spraying cylinder 100, the control ring sleeve 200 is movably connected with the water spraying cylinder 100. The control collar 200 is provided with a control opening for selective communication with the first opening.

The water outlet of the water spraying power device 300 is communicated with the water inlet 110. The power output part of the adjusting power device 400 is in transmission connection with the control loop 200 to regulate and control the control loop 200 to rotate relative to the water spraying cylinder 100, so as to control the opening and closing states of the effect valve.

The coanda effect propulsion system 1000 provided by the embodiment of the present invention utilizes the water jet power device 300 to provide power to push water flow into the water jet cartridge 100. The rotation direction and the rotation angle of the control loop 200 are regulated and controlled by the regulating power device 400, so that the opening and the closing of the first opening are realized, and the water flow in the water spraying cylinder 100 is further controlled to be sprayed out from the corresponding second opening by controlling the opening and the closing of the first opening, so that the recoil propulsion in the specific direction is realized. The control of the direction of propulsion is achieved by continuing to control the open and closed state of the first openings by adjusting the power means 400, thereby controlling the selective ejection of water flow from a particular second opening.

When the first opening of a certain group of effect openings is in an open state, the water flow in the water spraying cylinder 100 can be sprayed out from the second opening of the effect opening due to the coanda effect, namely, by controlling the open-close state of the first opening of each group of effect openings, the water flow can be controlled to be sprayed out from the second opening of a specific effect opening, so that the direction adjustment and the propulsion control are realized.

Because the second openings are all formed at the end of the water spraying cylinder 100 far away from the water inlet 110, the backflushing water flow is sprayed out from the same end of the water spraying cylinder 100, and in the whole propelling process, the water flow direction in the water spraying cylinder 100 is integrally from the end of the water inlet 110 to the end of the second openings, no matter the propelling direction is regulated or the propelling force is changed, only the water flow in the water spraying cylinder 100 is regulated to be sprayed out from one or more second openings, and the overall flowing direction of the water flow in the water spraying cylinder 100 is not changed. This not only significantly reduces the energy consumption when changing the water jet position, but also avoids the additional energy consumption that would be generated when reversing the direction of water flow in the water jet cartridge 100, making the overall workload of the water jet power plant 300 lower, more energy efficient, helping to extend the endurance time, and reducing the losses of the water jet power plant 300.

The coanda effect propulsion system 1000 can more efficiently realize the motion of multiple degrees of freedom of the underwater robot, can greatly reduce the mechanical structure complexity of the propulsion system, and simultaneously improves the reliability and stability of the system. The propulsion system 1000 is of little benefit to perform some specific underwater detection or monitoring tasks because of its small impact on the interaction with the surrounding environment and its low noise of operation.

Compared with the existing propulsion system, the coanda effect propulsion system 1000 realizes the motion with multiple degrees of freedom by using few power devices by using only one water spraying power device 300 and one adjusting power device 400, and the structural design greatly reduces the energy consumption of the underwater robot and improves the cruising ability of the underwater robot.

In general, the coanda effect propulsion system 1000 has simple structure, good stability and low energy consumption, and can flexibly adjust the output direction of the jet flow to realize multi-degree-of-freedom motion.

Further, in the present embodiment, the water spraying cylinder 100 has a cylindrical shape, and the control collar 200 has a circular ring shape. When the control ring 200 is sleeved on the water spraying cylinder 100, the control ring 200 and the water spraying cylinder 100 are coaxially arranged. And a waterproof gasket is arranged between the control ring sleeve 200 and the outer wall of the water spraying cylinder 100, and the control ring sleeve 200 is attached to the outer wall of the water spraying cylinder 100. The inner cavity of the water spraying cylinder 100 is also cylindrical, and the inner cavity and the water spraying cylinder 100 are also coaxially arranged.

Further, an end wall of the water spraying drum 100 at one end far from the water inlet 110 protrudes toward the outside thereof to be hemispherical, forming a spherical end wall 140, and the second opening is opened at the spherical end wall 140 and is disposed near the edge of the spherical end wall 140.

By the design, the spherical end wall 140 can effectively weaken vortex generated by the tail end of the water spraying cylinder 100 in the propelling process of the Kanga effect propelling system 1000, so that the whole motion process is smoother, the resistance applied in the advancing process is effectively reduced, the energy consumption is further reduced, and the endurance time is prolonged. In addition, due to weakening of tail vortex, the motion stability of the whole device can be further improved, the offset relative to the preset motion direction in the motion process is reduced, the accuracy of the direction is improved, and the energy consumption caused by direction adjustment can be reduced.

The cartridge 100 further has a filling block 150, and the filling block 150 is filled in the inner cavity and is located at one end of the inner cavity away from the water inlet 110. One end of the filling block 150 is fixedly connected with the spherical end wall 140, and the other end extends towards the end where the water inlet 110 is located. In the present embodiment, the filling block 150 has a cylindrical shape, and the filling block 150 is disposed coaxially with the water spraying cylinder 100. The second opening is opened along the axial direction of the water spraying cylinder 100 and is communicated with the inner cavity through the filling block 150.

Due to the addition of the filling block 150, the length of the flow passage of the second opening is increased, through the design, the stability of water flow in the process of spraying from the second opening can be further improved, the mutual interference among water flows in different second openings is reduced, the stability of the water flow in the process of spraying is improved, and the influence of turbulence on the accuracy of the propelling direction is avoided.

Further, in the present embodiment, the effect openings are 4 groups, and the 4 groups of effect openings are uniformly spaced along the circumferential direction of the water spray cartridge 100. The first set of effect openings includes a first opening 121 and a second opening 131 that are disposed on two sides of the water spray cartridge, the second set of effect openings includes a first opening 122 and a second opening 132 that are disposed on two sides of the water spray cartridge, the third set of effect openings includes a first opening 123 and a second opening 133 that are disposed on two sides of the water spray cartridge, and the fourth set of effect openings includes a first opening 124 and a second opening 134 that are disposed on two sides of the water spray cartridge.

The first opening 121, the first opening 122, the first opening 123, the first opening 124, the second opening 131, the second opening 132, the second opening 133, and the second opening 134 are each substantially rectangular. The first opening 121, the first opening 122, the first opening 123, and the first opening 124 are disposed at intervals along the circumference Xiang Junyun of the water spray cartridge 100, and the second opening 131, the second opening 132, the second opening 133, and the second opening 134 are also disposed at intervals along the circumference Xiang Junyun of the water spray cartridge 100. The axial lead of the first opening 121 and the axial lead of the second opening 131 are arranged in a superposition manner, the axial lead of the first opening 123 and the axial lead of the second opening 133 are arranged in a superposition manner, the axial lead of the first opening 122 and the axial lead of the second opening 132 are arranged in a superposition manner, the axial lead of the first opening 124 and the axial lead of the second opening 134 are arranged in a superposition manner, and the axial lead of the first opening 121 and the axial lead of the second opening 131 are arranged in a superposition manner and are perpendicular to the axial lead of the first opening 122 and the axial lead of the second opening 132.

Through the design, the first opening 121, the first opening 122, the first opening 123 and the first opening 124 are distributed symmetrically, so that the coanda effect propulsion system 1000 can be ensured to be more stable in the propulsion process, the steering adjustment is more efficient and accurate, no adjustment dead angle exists, and when the coanda effect propulsion system 1000 is applied to an underwater robot, the underwater robot can also perform multi-degree-of-freedom motion more effectively.

Further, in the present embodiment, the control openings are 2 groups. Each set of control openings includes two sub-openings 210. Along the circumferential direction of the water spray cartridge 100, the central angles of the circular arcs corresponding to the maximum widths of the first opening 121, the first opening 122, the first opening 123 and the first opening 124 are equal and equal to the central angle of the circular arc corresponding to the maximum width of the sub-opening 210. The minimum included angle between the central axes of the sub-openings 210 of the two sets of control openings is 3 times the degree of the central angle of the circular arc corresponding to the maximum width of the sub-opening 210 along the circumferential direction of the control ring 200.

With the above design, the continuous opening and closing of the first openings of the different effect openings can be realized, and the adjustment power device 400 can continuously change the opening and closing states of the

first openings

121, 122, 123, and 124 within a smaller adjustment amount range. Thus, the adjustment amount of the adjustment power device 400 can be greatly reduced, the energy consumption is reduced, the adjustment process is simplified, and the control difficulty of the adjustment power device 400 is reduced.

Specifically, in the present embodiment, the included angle between the central axes of the two sub-openings 210 of each set of control openings is 162 °. The minimum angle between the central axes of the sub-openings 210 of the two sets of control openings is 54. The central angle of the largest arc corresponding to the sub-opening 210 is 18 ° along the circumferential direction of the control ring 200. As shown in fig. 6.

As shown in fig. 6, a sub-opening 210 located on the right side of our viewing direction is in communication with the first opening 124, and the first opening 121, the first opening 122 and the first opening 123 are in a closed state, and at this time, the water flow in the water spray cartridge 100 is sprayed out from the second opening 134.

When the control ring 200 is rotated 18 ° counterclockwise along the viewing direction, as shown in fig. 7, one sub-opening 210 located at the left side of the viewing direction is communicated with the first opening 122, and the first opening 121, the first opening 123 and the first opening 124 are in a closed state, and at this time, the water flow in the water spraying cartridge 100 is sprayed out from the second opening 132.

When the control ring 200 continues to rotate 18 ° counterclockwise along the viewing direction, as shown in fig. 8, a sub-opening 210 at the upper end of the viewing direction is in communication with the first opening 121, and the first opening 122, the first opening 123 and the first opening 124 are closed, so that the water in the water spraying cartridge 100 is sprayed out from the second opening 131.

When the control ring 200 continues to rotate 18 ° counterclockwise along the viewing direction, as shown in fig. 9, a sub-opening 210 at the lower end of the viewing direction is in communication with the first opening 123, and the first opening 121, the first opening 122 and the first opening 124 are closed, so that the water in the water spraying cartridge 100 is sprayed out from the second opening 133.

Through the design, the adjusting power device 400 can realize the opening and closing of the first opening 121, the first opening 122, the first opening 123 and the first opening 124 only by driving the control ring sleeve 200 to rotate by 54 degrees. The rotation amount of the adjusting power device 400 is small in the whole adjusting process, so that the adjusting precision can be controlled more accurately, and the energy consumption is lower.

In order for the coanda effect propulsion system 1000 to provide sustained thrust in a particular direction, it is only necessary to alternate water spray at high frequency between two second openings (e.g., between second opening 131 and second opening 133, or between second opening 132 and second opening 134) of the 2 sets of effect openings. That is, at this time, it is necessary to control the adjustment power device 400 to drive the control collar 200 to rotate forward and backward at a predetermined frequency at a rotation angle of 18 °, so as to alternately control the opening and closing of the first opening 121 and the first opening 123 (when water is sprayed from the second opening 131 and the second opening 133) or alternately control the opening and closing of the first opening 122 and the first opening 124 (when water is sprayed from the second opening 132 and the second opening 134). The water in the water spraying cylinder 100 is sprayed out alternately from the second opening, so as to regulate the spraying direction of the high-speed water flow and further continuously provide the advancing power.

It should be noted that, through the above design, the adjusting power device 400 can continuously provide the propulsion power only by driving the control loop 200 to rotate continuously for 18 ° in the forward and reverse directions, so that the adjusting amount of the adjusting power device 400 is smaller in the continuous movement process, the energy consumption is further reduced, and the control difficulty is reduced.

Further, when the control ring 200 shown in fig. 9 is continuously rotated 18 ° counterclockwise along the viewing direction, as shown in fig. 10, the first opening 121, the first opening 122, the first opening 123 and the first opening 124 are all closed, and at this time, the water in the water spraying cartridge 100 is sprayed from the second opening 131, the second opening 132, the second opening 133 and the second opening 134 at the same time. In this state, the coanda effect propulsion system 1000 has maximum propulsion and is more stable and capable of directional movement.

In general, the coanda effect propulsion system 1000 utilizes the modulated power device 400 to selectively cause water flow from one, two, or four of the second openings to effect steering and directional movement of the coanda effect propulsion system 1000. That is, the adjustment power device 400 can realize the switching of all propulsion states only by controlling the control loop 200 within the rotation range of 72 degrees at maximum.

Further, the control ring 200 as shown in fig. 10 may be further rotated counterclockwise in the viewing direction by 18 ° each time, the upper first opening 121, the lower first opening 123, the left first opening 122 and the right first opening 124 are sequentially opened one by one, and the whole closed state is again entered, and the above cycle is performed. The user can also fully utilize the adjustment power device 400 to drive the control loop 200 to rotate in an oriented manner, so as to realize the switching of different propulsion states. And will not be described in detail herein.

Further, in the present embodiment, the power output portion of the adjusting power device 400 is in transmission connection with the control loop 200 through the synchronous belt 500, the water spraying power device 300 is an underwater centrifugal pump, and the adjusting power device 400 is a waterproof type servo motor.

The coanda effect propulsion system 1000 may further be provided with a master-slave control circuit, and the TMS320F28355 type DSP main processor is utilized to receive data from the inertial sensor and the pressure sensor through the SPI or the I2C and perform necessary data processing, then the main processor sends a control command to the ATmega2560 coprocessor through the RS232, and the coprocessor sends a PWM signal to the adjustment power device 400 that needs to act after receiving the command of the main processor, thereby realizing control of the adjustment power device 400, and further realizing control of the propulsion mode of the entire coanda effect propulsion system 1000.

The present embodiment also provides an underwater robot comprising a coanda effect propulsion system 1000 powered by the coanda effect propulsion system 1000. The underwater robot is provided with the Kanga effect propulsion system, so that the underwater robot is simple in structure, good in stability and low in energy consumption, can perform multi-degree-of-freedom motion more flexibly, and can perform underwater detection and monitoring tasks stably for a long time.

The above description is only of the preferred embodiments of the present invention and is not intended to limit the present invention, but various modifications and variations can be made to the present invention by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A coanda effect propulsion system comprising: the effect valve, the water spraying power device and the adjusting power device; the effect valve comprises a water spraying cylinder and a control loop sleeve, wherein the water spraying cylinder is provided with an inner cavity, and one end of the water spraying cylinder is provided with a water inlet communicated with the inner cavity; the water spraying cylinder is also provided with a plurality of groups of effect openings, and the effect openings are arranged at intervals along the circumferential direction of the water spraying cylinder; each group of effect openings comprises a first opening and a second opening which are communicated with the inner cavity, the first opening is formed in the side wall of the water spraying cylinder, and the second opening is formed in one end, far away from the water inlet, of the water spraying cylinder; the first opening is positioned between the water inlet and the second opening along the axial direction of the water spraying cylinder; the first opening and the second opening of each group of the effect openings are respectively arranged on two opposite sides of the water spraying cylinder; the control ring sleeve is sleeved on the water spraying cylinder and is attached to the outer wall of the water spraying cylinder, and the control ring sleeve covers the first opening; the control ring sleeve is fixedly connected with the water spraying cylinder along the axial direction of the water spraying cylinder; the control ring sleeve is movably connected with the water spraying cylinder along the circumferential direction of the water spraying cylinder; the control ring sleeve is provided with a control opening which is used for being selectively communicated with the first opening;

the water outlet of the water spraying power device is communicated with the water inlet;

the power output part of the adjusting power device is in transmission connection with the control loop sleeve so as to regulate and control the control loop sleeve to rotate relative to the water spraying cylinder, thereby controlling the opening and closing states of the effect valve;

the end wall of one end of the water spraying cylinder, which is far away from the water inlet, protrudes towards the outer side of the water spraying cylinder to form a hemispherical shape, and the second opening is formed in the end wall;

the effect openings are 4 groups, and the 4 groups of effect openings are uniformly arranged at intervals along the circumferential direction of the water spraying cylinder.

2. The coanda effect propulsion system of claim 1, wherein the water spray cartridge has a filling block that fills an end of the inner cavity remote from the water inlet; the second opening penetrates through the filling block.

3. The coanda effect propulsion system of claim 2, wherein the second opening is open along an axial direction of the water jet cartridge.

4. The coanda effect propulsion system of claim 1, wherein the control openings are in groups of 2; each set of control openings comprises two sub-openings; and along the circumferential direction of the water spraying cylinder, the central angle of the circular arc corresponding to the maximum width of the first opening is equal to the central angle of the circular arc corresponding to the maximum width of the sub-opening.

5. The coanda effect propulsion system of claim 4, wherein the minimum included angle between the central axes of the sub-openings of the two sets of control openings has a degree 3 times the degree of the central angle of the circular arc corresponding to the maximum width of the sub-openings along the circumference of the control ring.

6. The coanda effect propulsion system of claim 5, wherein the included angle between the central axes of the two sub-openings of each set of control openings is 162 °; the minimum included angle between the central axes of the sub-openings of the two groups of control openings is 54 degrees; and along the circumferential direction of the control ring sleeve, the central angle of the largest arc corresponding to the sub-opening is 18 degrees.

7. The coanda effect propulsion system of claim 1, wherein the power take-off of the regulating power device is drivingly connected to the control loop by a timing belt.

8. An underwater robot comprising a coanda effect propulsion system as claimed in any one of claims 1 to 7.