CN108545162B - Underwater gliding robot based on water jet driving - Google Patents
Underwater gliding robot based on water jet driving Download PDFInfo
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- CN108545162B CN108545162B CN201810657572.5A CN201810657572A CN108545162B CN 108545162 B CN108545162 B CN 108545162B CN 201810657572 A CN201810657572 A CN 201810657572A CN 108545162 B CN108545162 B CN 108545162B
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- 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
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- 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
- B63G8/16—Control of attitude or depth by direct use of propellers or jets
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Abstract
The invention belongs to the field of robots, and particularly relates to an underwater gliding robot based on water jet driving, which comprises a body shell, a left horizontal wing, a right horizontal wing, an upper vertical wing and a lower vertical wing; the front end of the machine body shell is a spherical surface with a suction nozzle in the center, the middle part is a cylindrical surface, the rear part is a conical surface with a radius reduced from front to back, and the tail end is a spherical surface; the left horizontal wing and the right horizontal wing are respectively and horizontally arranged at the left side and the right side of the middle part of the machine body shell along the longitudinal direction; the upper vertical wing and the lower vertical wing are vertically arranged on the upper side and the lower side of the rear part of the machine body shell along the longitudinal direction respectively; the rear ends of the left horizontal wing and the right horizontal wing are respectively provided with a driving nozzle and a steering nozzle from inside to outside; the rear ends of the upper vertical wing and the lower vertical wing are respectively provided with a pitching nozzle. The invention has the advantages of scientific design, simple structure, simple control, good maneuvering performance, reliable use and high energy consumption efficiency, and can be widely applied to the fields of underwater detection, carrying and the like.
Description
Technical Field
The invention belongs to the field of robots, and particularly relates to an underwater gliding robot based on water jet driving.
Background
The underwater gliding robot is a novel underwater vehicle driven by net buoyancy and hydrodynamic force, has the advantages of long underwater operation time, long cruising distance, low maneuvering energy consumption, low operation cost, low dependence on a mother ship and the like, and is widely applied to the field of ocean exploration and observation in recent years.
At present, the underwater gliding robot is driven by a propeller, and the driving mode has the advantages of large power configuration quantity, heavy weight and high energy consumption, and each power device needs high-strength dynamic sealing and is easy to be interfered by underwater organisms.
Disclosure of Invention
The invention aims to overcome the defects in the prior art and provides an underwater gliding robot based on water jet driving.
The invention adopts the following technical scheme to realize the aim:
an underwater gliding robot based on water jet driving comprises a body shell, a left horizontal wing, a right horizontal wing, an upper vertical wing and a lower vertical wing; the front end of the machine body shell is a spherical surface with a suction nozzle in the center, the middle part of the machine body shell is a cylindrical surface, the rear part of the machine body shell is a conical surface with a radius reduced from front to back, and the tail end of the machine body shell is a spherical surface; the left horizontal wing and the right horizontal wing are respectively and horizontally arranged on the left side and the right side of the middle part of the machine body shell along the longitudinal direction; the upper vertical wing and the lower vertical wing are vertically arranged on the upper side and the lower side of the rear part of the machine body shell along the longitudinal direction respectively; the rear ends of the left horizontal wing and the right horizontal wing are respectively provided with a driving nozzle and a steering nozzle from inside to outside; the rear ends of the upper vertical wing and the lower vertical wing are respectively provided with a pitching nozzle.
The spraying directions of the driving nozzle, the steering nozzle and the pitching nozzle are all along the axial direction of the machine body shell and deflect to the inner side of the machine body shell.
The left horizontal wing, the right horizontal wing, the upper vertical wing and the lower vertical wing are diamond-shaped.
The suction nozzle is connected with a water pump arranged in the machine body shell; the water pump is respectively connected with the glide driving proportional reversing valve, the left-right steering proportional reversing valve and the pitching steering proportional reversing valve; the glide driving proportional reversing valve is connected with driving nozzles arranged on the left horizontal wing and the right horizontal wing through one-way valves respectively; the left steering proportional reversing valve and the right steering proportional reversing valve are respectively connected with steering nozzles arranged on the left horizontal wing and the right horizontal wing through one-way valves; the pitching steering proportional reversing valve is connected with pitching nozzles arranged on the upper vertical wing and the lower vertical wing through one-way valves respectively.
The machine body shell, the left horizontal wing, the right horizontal wing, the upper vertical wing and the lower vertical wing are an integral sealing shell; the whole weight of the underwater gliding robot is larger than the diving buoyancy of the underwater gliding robot, and the gravity center of the underwater gliding robot coincides with the floating center.
Compared with the prior art, the invention has the beneficial effects that:
the invention adopts water jet as the driving and steering of the gliding robot, has low energy consumption and simple control; the shell is an integral sealing device, the dynamic nozzle and the dynamic suction nozzle are both static sealing, the sealing performance is good, and the sealing cost is low; the driving part is not provided with a propeller and a rotatable control surface, and in the whole operation process, all parts at the periphery of the shell are kept in a relatively static state, so that the biological environment of the water area has little influence on the operation. The invention has the advantages of scientific design, simple structure, simple control, good maneuvering performance, reliable use and high energy consumption efficiency, and can be widely applied to the fields of underwater detection, carrying and the like.
Drawings
Fig. 1 is a schematic view of an underwater glide robot based on water jet drive.
Fig. 2 is a schematic diagram of a water jet drive system of an underwater glider based on water jet drive.
In the figure, 1, a fuselage shell; 2. left horizontal wing; 3. a right horizontal wing; 4. an upper vertical wing; 5. a lower vertical wing; 6. a suction nozzle; 7. a glide driving nozzle; 8. a right turn nozzle; 9. a left turn nozzle; 10. a dip nozzle; 11. a nozzle is turned upward; 12-17, one-way valve; 18. a left-right steering proportional reversing valve; 19. a proportional reversing valve is driven in a gliding mode; 20. a pitch steering proportional reversing valve; 21 a water pump.
Description of the embodiments
The present invention will be described in further detail below with reference to the drawings and preferred embodiments, so that those skilled in the art can better understand the technical solutions of the present invention.
Fig. 1 shows an underwater glide robot based on water jet drive, comprising a fuselage shell 1, a left horizontal wing 2, a right horizontal wing 3, an upper vertical wing 4 and a lower vertical wing 5; the front end of the machine body shell is a spherical surface with a suction nozzle 6 in the center, the middle part is a cylindrical surface, the rear part is a conical surface with a radius decreasing from front to back, and the tail end is a spherical surface; the left horizontal wing and the right horizontal wing are respectively and horizontally arranged on the left side and the right side of the middle part of the machine body shell along the longitudinal direction; the upper vertical wing and the lower vertical wing are vertically arranged on the upper side and the lower side of the rear part of the machine body shell along the longitudinal direction respectively; the rear ends of the left horizontal wing and the right horizontal wing are respectively provided with a driving nozzle 7 and a steering nozzle from inside to outside; wherein the left horizontal wing corresponds to the right turning nozzle 8, wherein the right horizontal wing corresponds to the left turning nozzle 9; the rear ends of the upper vertical wing and the lower vertical wing are respectively provided with a pitching nozzle, wherein the upper vertical wing corresponds to a pitching nozzle 10, and the lower vertical wing corresponds to a pitching nozzle 11.
The spraying directions of the driving nozzle, the steering nozzle and the pitching nozzle are all along the axial direction of the machine body shell and deflect to the inner side of the machine body shell. The left horizontal wing, the right horizontal wing, the upper vertical wing and the lower vertical wing are diamond-shaped.
The suction nozzle is connected with a water pump 21 arranged in the machine body shell; the water pump is respectively connected with a glide driving proportional reversing valve 19, a left-right steering proportional reversing valve 18 and a pitching steering proportional reversing valve 20; the glide driving proportional reversing valve is connected with driving nozzles 7 arranged on the left horizontal wing and the right horizontal wing through one-way valves respectively; the left steering proportional reversing valve and the right steering proportional reversing valve are respectively connected with a right steering nozzle 8 arranged on the left horizontal wing and a left steering nozzle 9 arranged on the right horizontal wing through one-way valves; the pitch steering proportional reversing valve is connected with a downward pitching nozzle 10 arranged on the upper vertical wing and a upward pitching nozzle 11 arranged on the lower vertical wing through a one-way valve respectively. The machine body shell, the left horizontal wing, the right horizontal wing, the upper vertical wing and the lower vertical wing are an integral sealing shell; the whole weight of the underwater gliding robot is larger than the diving buoyancy of the underwater gliding robot, and the gravity center of the underwater gliding robot coincides with the floating center.
The rear ends of the left horizontal wing and the right horizontal wing are provided with a driving nozzle 7, a right steering nozzle 8, a left steering nozzle 9 and corresponding one-way valves 14, 15, 12 and 13; the back ends of the upper vertical wing and the lower vertical wing are provided with a downward nozzle 10, a upward nozzle 11 and corresponding check valves 16 and 17, and reserved pipelines are connected to the check valve interfaces of the nozzles. A water pump 21, a left-right steering proportional directional valve 18, a glide driving proportional directional valve 19 and a pitching steering proportional directional valve 20 are arranged in the machine body shell. The pipeline which is used for connecting the suction nozzle 6 with the water inlet of the water pump 21, connecting the water outlet of the water pump 21 with the left-right steering proportional reversing valve 18, the gliding driving proportional reversing valve 19 and the pitching steering proportional reversing valve 20 is shown in the figure 2; the reserved lines on the check valves 14, 15 are connected to a glide drive proportional directional valve 19, the reserved lines on the check valves 12, 13 are connected to a left and right steering proportional directional valve 18, and the reserved lines on the check valves 16, 17 are connected to a pitch steering proportional directional valve 20. The left horizontal wing, the right horizontal wing, the upper vertical wing and the lower vertical wing are arranged on the machine body shell, the weight of the underwater gliding robot is balanced, the weight of the underwater gliding robot is slightly larger than the diving buoyancy of the underwater gliding robot, the gravity center is coincident with the position of the floating center, and the whole shell of the underwater gliding robot is sealed.
When the underwater glider is used, the underwater glider is put into water, the glider driving proportional reversing valve 19 is opened, namely the electromagnet 3DT is electrified, the left and right driving nozzles 7 spray water, and the underwater glider robot glides forwards; opening a left-right steering proportional reversing valve 18 to turn right, namely electrifying an electromagnet 1DT, spraying water by a right steering nozzle 8, and realizing the right turning of the glider; opening a left-right steering proportional reversing valve 18 to turn left, namely electrifying an electromagnet 2DT, spraying water by a left steering nozzle 9, and realizing the right turning of the glider; starting the pitching steering proportional reversing valve 20 to dip, namely electrifying the electromagnet 4DT, spraying water to the dip steering nozzle 10, and realizing the dip steering of the glider; the pitching steering proportional reversing valve 20 is opened to turn upwards, namely the electromagnet 5DT is electrified, and the pitching steering nozzle 11 sprays water to realize pitching steering of the glider. Through the voltage of each electromagnet, the water spraying flow of the corresponding nozzle can be realized, so that the speed of gliding and steering can be adjusted.
The foregoing is merely exemplary of the present invention, and those skilled in the art should not be considered as limiting the invention, since modifications may be made in the specific embodiments and application scope of the invention in light of the teachings of the present invention.
Claims (3)
1. An underwater gliding robot based on water jet driving is characterized by comprising a body shell, a left horizontal wing, a right horizontal wing, an upper vertical wing and a lower vertical wing; the front end of the machine body shell is a spherical surface with a suction nozzle in the center, the middle part of the machine body shell is a cylindrical surface, the rear part of the machine body shell is a conical surface with a radius reduced from front to back, and the tail end of the machine body shell is a spherical surface;
the left horizontal wing and the right horizontal wing are respectively and horizontally arranged on the left side and the right side of the middle part of the machine body shell along the longitudinal direction;
the upper vertical wing and the lower vertical wing are vertically arranged on the upper side and the lower side of the rear part of the machine body shell along the longitudinal direction respectively;
the rear ends of the left horizontal wing and the right horizontal wing are respectively provided with a driving nozzle and a steering nozzle from inside to outside; the rear ends of the upper vertical wings and the lower vertical wings are respectively provided with pitching nozzles;
the spraying directions of the driving nozzle, the steering nozzle and the pitching nozzle are all along the axial direction of the machine body shell and deflect to the inner side of the machine body shell;
the machine body shell, the left horizontal wing, the right horizontal wing, the upper vertical wing and the lower vertical wing are an integral sealing shell; the whole weight of the underwater gliding robot is larger than the diving buoyancy of the underwater gliding robot, and the gravity center of the underwater gliding robot coincides with the floating center.
2. The underwater glide robot of claim 1 wherein the left horizontal wing, right horizontal wing, upper vertical wing and lower vertical wing are diamond shaped.
3. The underwater glide robot based on water jet drive of claim 1 wherein said suction nozzle is connected to a water pump disposed within said body shell; the water pump is respectively connected with the glide driving proportional reversing valve, the left-right steering proportional reversing valve and the pitching steering proportional reversing valve; the glide driving proportional reversing valve is connected with driving nozzles arranged on the left horizontal wing and the right horizontal wing through one-way valves respectively; the left steering proportional reversing valve and the right steering proportional reversing valve are respectively connected with steering nozzles arranged on the left horizontal wing and the right horizontal wing through one-way valves; the pitching steering proportional reversing valve is connected with pitching nozzles arranged on the upper vertical wing and the lower vertical wing through one-way valves respectively.
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| CN201810657572.5A CN108545162B (en) | 2018-06-20 | 2018-06-20 | Underwater gliding robot based on water jet driving |
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| CN201810657572.5A CN108545162B (en) | 2018-06-20 | 2018-06-20 | Underwater gliding robot based on water jet driving |
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| CN108545162B true CN108545162B (en) | 2023-04-28 |
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Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109501984B (en) * | 2018-11-27 | 2020-06-16 | 中国人民解放军92578部队 | Foldable wing sail and underwater unmanned platform |
| CN111688892B (en) * | 2020-06-23 | 2021-05-18 | 西北工业大学 | Active flow control system for wing body fusion underwater glider |
| CN111674534B (en) * | 2020-06-23 | 2021-05-18 | 西北工业大学 | Closed-loop active flow control device of underwater glider based on constant-temperature blowing and sucking flow |
| CN111572704A (en) * | 2020-06-23 | 2020-08-25 | 西北工业大学 | Open-loop active flow control device of underwater glider based on steady jet |
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