CN112298503B - Winged hydraulic and chemical reaction comprehensive extrusion propulsion type intelligent underwater unmanned aircraft - Google Patents

Abstract

The invention discloses a winged hydraulic and chemical reaction comprehensive extrusion-propulsion intelligent underwater unmanned vehicle, comprising a cabin, a water supply device, wings and a control module; the cabin includes a motor cabin in sequence from right to left , Power material storage cabin and power reaction cabin; a water supply device is fixed on the power reaction cabin; the power reaction cabin and the power material storage cabin are separated by a partition, and the power material in the power material storage cabin can enter the power reaction chamber cabin; a jet thruster is arranged on the left central bulkhead of the power reaction cabin; the control module is fixed on the cabin; the wings are distributed on both sides of the cabin; the motor cabin includes a hydraulic extrusion cover and piston; the underwater unmanned vehicle of the present invention can well perform tasks such as sea area patrol and reconnaissance, maritime relay communication, marine environment investigation, polluted water monitoring, etc. Good maneuverability and high safety.

Description

Winged hydraulic and chemical reaction integrated extrusion propulsion intelligent underwater unmanned vehicle

technical field

The invention relates to the technical field of underwater robots, in particular to a winged hydraulic and chemical reaction comprehensive extrusion propulsion intelligent underwater unmanned vehicle.

Background technique

The underwater world contains a lot of energy and rich resources, which play an important role in human understanding of the world and social development. As an important means of exploring the underwater world, intelligent underwater vehicle is an underwater vehicle that can be carried by aircraft, surface ships, submarines, etc. Its main functions are search, rescue, autonomous ocean exploration, and can also carry Detectors, underwater prefabricated weapons, mines, etc., can independently complete a series of tasks. Autonomous underwater vehicles are currently widely valued by countries around the world, and are effective tools for human beings in modern society to understand the ocean, develop and utilize the ocean.

At present, most intelligent underwater vehicles use lead-acid batteries, alkaline batteries or lithium batteries for energy supply. Once there is a problem with the batteries, the vehicle will not be able to operate normally; In order to improve the stability of the autonomous underwater vehicle, realize the transformation of capabilities, achieve the purpose of autonomously generating power and operating independently, it can not only ensure the normal operation It is necessary to design a new type of intelligent unmanned autonomous underwater vehicle.

SUMMARY OF THE INVENTION

The technical problem to be solved by the present invention is to provide a winged hydraulic and chemical reaction comprehensive extrusion propulsion intelligent underwater unmanned vehicle. The underwater unmanned vehicle combines the traditional concept with the self-sufficient design mode, so that the underwater vehicle has two modes, which can be controlled manually or can generate kinetic energy independently. It can be stationary underwater and can control its driving. The speed is not affected by forward speed and waves; it can perform tasks such as maritime patrol and reconnaissance, maritime relay communication, marine environment investigation, and polluted water monitoring. mobility and higher safety.

In order to solve the above-mentioned technical problems, the invention adopts the following technical solutions:

A winged hydraulic and chemical reaction integrated extrusion propulsion intelligent underwater unmanned vehicle, comprising a cabin, a water supply device, a wing and a control module;

The cabin body includes a motor cabin, a power material storage cabin and a power reaction cabin in sequence from right to left; a water supply device is fixed on the power reaction cabin;

The power reaction cabin and the power material storage cabin are separated by a partition, and the power material in the power material storage cabin can enter the power reaction cabin; the left central bulkhead of the power reaction cabin is provided with a jet propeller;

the control module is fixed on the cabin;

The wings are distributed on both sides of the cabin;

The motor cabin includes a hydraulic extrusion cover and a piston; the left end of the hydraulic extrusion cover is provided with a protruding disc, which is slidably matched with the inner wall of the power material storage cabin; the right end of the power material storage cabin is provided with a constriction part , the constriction part is slidably matched with the hydraulic squeeze cover; a pressure balance chamber is arranged between the protruding disc at the left end of the hydraulic squeeze cover and the shrinkage part at the right end of the power material storage cabin, and the pressure balance chamber passes through the pressure relief hole Connect with the outside world; a piston is provided on the left side of the protruding disc at the left end of the hydraulic extrusion cover, the protruding disc and the piston are both in the power material storage compartment, a piston gap is arranged between the piston and the protruding disc, and the piston There is power material in the gap; the left end of the hydraulic extrusion cover is provided with a pressurized cabin, and the pressurized cabin is connected with the piston gap through an internal valve.

In one embodiment, the motive charge storage compartment includes a motive charge outlet valve; the motive charge outlet valve is located on a bulkhead between the motive charge storage compartment and the motive force reaction compartment and extends to the motive force reaction compartment Inside; the power material storage compartment is equipped with power material.

In one embodiment, the motive feed outlet valve is a one-way valve.

In one embodiment, the power material is a substance that reacts with water energy and produces gas and/or energy.

In a preferred embodiment, the power material is selected from the gelatinous liquid formed by sodium metal particles or sodium metal powder and kerosene or other non-reactive oil substances. The power material in the tank is a gel-like liquid formed by sodium metal particles or sodium metal powder and kerosene or other unreacted oil substances. The sodium metal particles or sodium metal powder are uniformly suspended in the above medium, and the The power material outlet valve at the rear of the cabin is sprayed into the reaction cabin to react with water to generate gas and/or energy, which is used as the motion energy of the underwater vehicle.

In one embodiment, the water supply device is connected to the power reaction chamber; preferably, the water supply device includes a water supply pump, a filter, and a water inlet one-way valve; the water supply pump is installed in the water supply device; the water supply device The filter is installed at the lower part of the water supply device; the water inlet check valve is used to connect the water supply device of the power cabin with the reaction chamber.

In one embodiment, the wing includes a main wing, an aileron, a steering gear, and a hinge; the main wing and the aileron are connected by a hinge; the steering gear is fixed on the main wing.

In one embodiment, the control module includes an environment sensor, a depth sensor, a temperature sensor, a controller, a main control board, an energy management board, a radio station component, a positioning module, an attitude sensor module, an electronic compass module, and battery; the environment sensor, depth sensor, temperature sensor, controller, main control board, energy management board, radio station components, positioning module, attitude sensor module, electronic compass module and battery are all arranged in the control module assembly .

Any range recited herein includes the endpoints and any number between the endpoints and any sub-ranges formed by the endpoints or any number between the endpoints.

Unless otherwise specified, each raw material in the present invention can be obtained through commercial purchase, and the equipment used in the present invention can be performed with conventional equipment in the field or with reference to the prior art in the field.

Compared with the prior art, the present invention has the following beneficial effects:

The underwater unmanned vehicle of the present invention combines the traditional concept with the self-sufficient design mode, so that the underwater vehicle has two modes that can be controlled manually or can generate kinetic energy independently, can be stationary underwater, and can control its Travel rate, independent of forward speed and waves. It can perform tasks such as maritime patrol and reconnaissance, maritime relay communication, marine environment investigation, and polluted water monitoring.

Description of drawings

The specific embodiments of the present invention will be described in further detail below in conjunction with the accompanying drawings.

Fig. 1 is the sectional schematic diagram of the intelligent underwater unmanned vehicle described in the present invention;

Fig. 2 is the top view schematic diagram of the intelligent underwater unmanned vehicle described in the present invention;

Fig. 3 is the side view schematic diagram of the intelligent underwater unmanned vehicle described in the present invention;

FIG. 4 is a schematic rear view of the intelligent underwater unmanned vehicle according to the present invention.

Detailed ways

In order to illustrate the present invention more clearly, the present invention will be further described below with reference to the preferred embodiments. Those skilled in the art should understand that the content specifically described below is illustrative rather than restrictive, and should not limit the protection scope of the present invention.

It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it can be directly on the other element or indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element.

It is to be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top" , "bottom", "inside", "outside", etc. indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, which are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying the indicated device. Or elements must have a particular orientation, be constructed and operate in a particular orientation, and therefore should not be construed as limiting the invention.

In addition, the terms "first" and "second" are only used for descriptive purposes, and should not be construed as indicating or implying relative importance or implying the number of indicated technical features. Thus, a feature defined as "first" or "second" may expressly or implicitly include one or more of that feature. In the description of the present invention, "plurality" means two or more, unless otherwise expressly and specifically defined.

Referring to Fig. 1-Fig. 4, as an aspect of the present invention, a winged hydraulic and chemical reaction integrated extrusion propulsion intelligent underwater unmanned vehicle of the present invention includes a cabin 100, a water supply device 4, and a wing. 5 and control module 6;

The cabin body 100 includes a motor cabin 1, a power material storage cabin 2 and a power reaction cabin 3 in sequence from right to left; a water supply device 4 is fixed on the power reaction cabin 3;

The power reaction cabin 3 and the power material storage cabin 2 are separated by a partition 21, and the power material 22 in the power material storage cabin 2 can enter the power reaction cabin 3; on the left central bulkhead of the power reaction cabin 3 A jet propeller 31 is provided;

The control module 6 is fixed on the cabin 100;

The wings 5 are distributed on both sides of the cabin 100;

The motor cabin 1 includes a hydraulic extrusion cover 11 and a piston 12; the left end of the hydraulic extrusion cover 11 is provided with a protruding disc 111, and the protruding disc 111 is slidably matched with the inner wall of the power material storage compartment 2; the power material The right end of the storage compartment 2 is provided with a constriction portion 23 , and the constriction portion 23 is slidably fitted with the hydraulic squeeze cover 11 ; There is a pressure balance chamber 24 between them, and the pressure balance chamber 24 communicates with the outside world through a pressure relief hole 25; a piston 12 is provided on the left side of the protruding disc 111 at the left end of the hydraulic squeeze cover 11, and the protruding disc 111 and the piston 12 Both are in the power material storage compartment 2, a piston gap 112 is provided between the piston 12 and the protruding disc 111, and there is power material in the piston gap 112; The pressurization chamber 113 communicates with the piston gap 112 through an internal valve 114 .

Referring to Fig. 1, it can be understood that since the hydraulic squeeze cover 11 in the motor compartment 1 is constantly under the continuous pressure of the water pressure when the underwater unmanned vehicle moves forward, the water pressure is uniform; if a sudden acceleration is required, open it The internal valve 114 between the pressurization chamber 113 and the piston gap 112 is preset to allow the water in the booster chamber 113 to enter the piston gap 112, and the power material in the piston gap 112 reacts with the water, thereby rapidly accelerating and pushing the piston 12 to squeeze The power material 22 in the power material storage cabin rapidly accelerates the injection of the power material 22 to the power reaction chamber 3, so that the reaction in the power reaction chamber 3 suddenly increases, so that the underwater unmanned vehicle suddenly accelerates forward.

In one embodiment, the motive material storage compartment 2 includes a motive material outlet valve 26; the motive material outlet valve 26 is located on the partition 21 between the motive material storage compartment 2 and the motive material reaction compartment 3 and extends to the Inside the power reaction chamber 3 ; the power material storage cabin 2 is equipped with a power material 22 . It can be understood that by opening the motive material outlet valve 26, the motive material 22 in the motive material storage compartment 2 can enter the motive material reaction chamber 3 under the extrusion condition.

In one embodiment, the motive feed outlet valve 26 is a one-way valve.

In one embodiment, the power material 22 is a substance that reacts with water energy to generate gas and/or energy.

In one embodiment, the power material 22 is selected from a gel-like liquid formed by sodium metal particles or sodium metal powder and kerosene or other non-reactive oil substances. The power material in the tank is a gel-like liquid formed by sodium metal particles or sodium metal powder and kerosene or other unreacted oil substances. The sodium metal particles or sodium metal powder are uniformly suspended in the above medium, and the The power material outlet valve at the rear of the cabin is sprayed into the reaction cabin to react with water to generate gas and/or energy, which is used as the motion energy of the underwater vehicle.

In one embodiment, as shown in FIG. 3 , the water supply device 4 is connected to the power reaction chamber 3; preferably, the water supply device 4 includes a water supply pump 41, a filter 42, and a water inlet check valve 43; the The water supply pump 41 is installed in the water supply device 4 ; the filter 42 is installed at the lower part of the water supply device 4 ; It can be understood that the water source filtered by the filter 42 in the water supply device 4 can be powered by the water supply pump 41 and then enter the power reaction chamber 3 through the water inlet check valve 43 .

In one embodiment, as shown in FIGS. 1-4 , the wing 5 includes a main wing 51 , ailerons 52 , steering gear 53 , and hinges 54 ; the main wing 51 and the ailerons 52 pass through the hinges 54 Connection; the steering gear 53 is fixed on the main wing 51 .

In one embodiment, the control module 4 includes an environment sensor, a depth sensor, a temperature sensor, a controller, a main control board, an energy management board, a radio station component, a positioning module, an attitude sensor module, an electronic compass module and battery; the environment sensor, depth sensor, temperature sensor, controller, main control board, energy management board, radio station components, positioning module, attitude sensor module, electronic compass module and battery are all arranged in the control module assembly .

The working principle of a winged hydraulic and chemical reaction comprehensive extrusion propulsion intelligent underwater unmanned vehicle of the present invention is as follows:

Referring to Figures 1-4, the underwater unmanned vehicle of the present invention has no initial power, and can be carried by systems such as surface ships, submarines, and aircraft. Receive the command; open the one-way valve 25 between the power reaction chamber 3 and the power material storage cabin 2, the power material storage cabin 2 is equipped with power material 22, that is, sodium metal particles or sodium metal powder and kerosene or other non-reactive oils When the underwater unmanned vehicle continues to move forward, the hydraulic extrusion cover 11 drives the piston 12 to squeeze the power material 22 in the power material storage bin 2 and sprays it into the power reaction chamber through the power material outlet valve 26 3, the interior of the power reaction chamber 3 is communicated with the water inlet one-way valve 43 through the water supply pump 41, so that water enters the power reaction chamber 3, and reacts with the power material 22 entering from the power material storage chamber 2 and water, and reacts. The gas is released, and a large amount of pressure is generated. At this time, the propeller 31 is opened, so that the gas-water mixed liquid is ejected outward through the propeller 31, and the underwater vehicle is pushed forward. The above process is cycled to make the underwater vehicle even under the action of no external force. There is also momentum to keep going. After the reaction in the power reaction chamber 3 generates gas and pressure, the propeller 31 is turned off to decelerate the aircraft. The wing 5 assists in controlling the direction, and the aileron 52 is controlled to fold up and down through the steering gear 53, so that the underwater vehicle can rise and fall quickly. The control module 6 relies on the environmental sensor, depth sensor, temperature sensor, controller, main control board, energy management board, radio station components, positioning module, attitude sensor module, electronic compass module and battery to adjust the underwater vehicle. Status, forward, backward, floating speed and information transmission function.

By repeating the above process, the present invention can realize autonomously powered navigation, save energy greatly, and can undertake tasks such as maritime patrol and reconnaissance, maritime relay communication and the like.

The present invention combines the traditional concept with the self-sufficient design mode, so that the underwater vehicle has two modes, that is, it can be controlled manually or can generate kinetic energy independently, and it can sail underwater like an unmanned surface craft, such as patrol and reconnaissance in the sea area. , maritime relay communication, marine environment survey, polluted water monitoring and other tasks, the underwater vehicle has strong environmental adaptability, better maneuverability and higher safety.

Obviously, the above-mentioned embodiments of the present invention are only examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. For those of ordinary skill in the art, changes or modifications in other different forms can also be made on the basis of the above description. Not all implementations can be exhaustive here. Any obvious changes or changes derived from the technical solutions of the present invention are still within the protection scope of the present invention.

Claims (9)

1. Winged hydraulic power and chemical reaction comprehensive extrusion propulsion type intelligent underwater unmanned aircraft is characterized in that: comprises a cabin body, a water supply device, wings and a control module;

the cabin body sequentially comprises an engine cabin, a power material storage cabin and a power reaction cabin from right to left; a water supply device is fixedly arranged on the power reaction cabin;

the power reaction cabin is separated from the power material storage cabin by a partition plate, and power materials in the power material storage cabin can enter the power reaction cabin; a jet propeller is arranged on the left central bulkhead of the power reaction cabin;

the control module is fixed on the cabin body;

the wings are distributed on two sides of the cabin body;

the maneuvering chamber comprises a hydraulic extrusion cover and a piston; the left end of the hydraulic extrusion cover is provided with a protruding disc which is in sliding fit with the inner wall of the power material storage cabin; the right end of the power material storage cabin is provided with a contraction part, and the contraction part is in sliding fit with the hydraulic extrusion cover; a pressure balance cabin is arranged between the protruding disc at the left end of the hydraulic extrusion cover and the contraction part at the right end of the power material storage cabin, and the pressure balance cabin is communicated with the outside through a pressure relief hole; a piston is arranged on the left side of a protruding disc at the left end of the hydraulic extrusion cover, the protruding disc and the piston are both arranged in a power material storage cabin, a piston gap is arranged between the piston and the protruding disc, and power materials are arranged in the piston gap; and a pressurizing cabin is arranged in the left end of the hydraulic extrusion cover, and the pressurizing cabin is communicated with the piston gap through an internal valve.

2. The winged hydraulic and chemical reaction comprehensive extrusion propulsion type intelligent underwater unmanned vehicle as claimed in claim 1, wherein: the power material storage cabin comprises a power material outlet valve; the power material outlet valve is positioned on the partition plate between the power material storage cabin and the power reaction cabin and extends into the power reaction cabin; the power material storage cabin is filled with power materials.

3. The winged hydraulic and chemical reaction comprehensive extrusion propulsion type intelligent underwater unmanned vehicle as claimed in claim 2, wherein: the power material outlet valve is a one-way valve.

4. The winged hydraulic and chemical reaction comprehensive extrusion propulsion type intelligent underwater unmanned vehicle as claimed in claim 2, wherein: the power material is a substance that reacts with water and generates gas and/or energy.

5. The winged hydraulic and chemical reaction comprehensive extrusion propulsion type intelligent underwater unmanned vehicle as claimed in claim 4, wherein: the power material is selected from a gelatinous liquid formed by sodium metal particles or sodium metal powder and kerosene or other non-reactive oil substances.

6. The winged hydraulic and chemical reaction comprehensive extrusion propulsion type intelligent underwater unmanned vehicle as claimed in claim 1, wherein: the water supply device is connected with the power reaction cabin.

7. The winged hydraulic and chemical reaction comprehensive extrusion propulsion type intelligent underwater unmanned vehicle as claimed in claim 1, wherein: the water supply device comprises a water supply pump, a filter and a water inlet one-way valve; the water supply pump is arranged in the water supply device; the filter is arranged at the lower part of the water supply device; the water inlet one-way valve is used for connecting the water supply device and the power reaction cabin.

8. The winged hydraulic and chemical reaction comprehensive extrusion propulsion type intelligent underwater unmanned vehicle as claimed in claim 1, wherein: the wings comprise main wings, ailerons, steering engines and hinges; the main wing is connected with the ailerons through hinges; the steering engine is fixed on the main wing.

9. The winged hydraulic and chemical reaction comprehensive extrusion propulsion type intelligent underwater unmanned vehicle as claimed in claim 1, wherein: the control module comprises an environment sensor, a depth sensor, a temperature sensor, a controller, a main control board, an energy management board, a radio station component, a positioning module, an attitude sensor module, an electronic compass module and a battery; the environment sensor, the depth sensor, the temperature sensor, the controller, the main control panel, the energy management panel, the radio station component, the positioning module, the attitude sensor module, the electronic compass module and the battery are all arranged in the control module component.

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