CN112550648A - Underwater vehicle propelled by pump jet vector - Google Patents
Underwater vehicle propelled by pump jet vector Download PDFInfo
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- CN112550648A CN112550648A CN202011521480.8A CN202011521480A CN112550648A CN 112550648 A CN112550648 A CN 112550648A CN 202011521480 A CN202011521480 A CN 202011521480A CN 112550648 A CN112550648 A CN 112550648A
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- underwater vehicle
- water outlet
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- 239000013598 vector Substances 0.000 title claims abstract description 18
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 119
- 230000008859 change Effects 0.000 abstract description 2
- 230000000694 effects Effects 0.000 abstract description 2
- 238000006467 substitution reaction Methods 0.000 description 3
- 239000012141 concentrate Substances 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 239000013535 sea water Substances 0.000 description 2
- 206010034719 Personality change Diseases 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000004075 alteration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007123 defense Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 230000005855 radiation Effects 0.000 description 1
Images
Classifications
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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
- B63G8/08—Propulsion
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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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/14—Control of attitude or depth
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Other Liquid Machine Or Engine Such As Wave Power Use (AREA)
Abstract
The underwater vehicle comprises a central power pump, a plurality of water outlets arranged at a set position of the underwater vehicle, a power valve matched with each water outlet, and a duct communicated with the central power pump and each water outlet correspondingly, wherein the central power pump pumps water from the outside and sends the water to the plurality of water outlets, and the water is enabled to jet out from the corresponding water outlets according to the set position by selectively controlling the opening and closing of the power valve of each water outlet, so that the navigation and the attitude of the underwater vehicle are controlled. When the underwater vehicle navigates underwater, the noise and vibration are low, the power is stronger, the energy utilization rate is higher, and meanwhile, the arrangement of the outlets of the pump jet propellers ensures that the posture change of the whole vehicle is more flexible and the vehicle has the vector propulsion effect. The propulsion power is concentrated on a single degree of freedom for output, so that the maneuvering performance can be greatly improved, the propulsion power is simpler in structure than that of a traditional vector propeller, and the reliability is improved.
Description
Technical Field
The invention relates to an underwater vehicle, in particular to an underwater vehicle propelled by pump jet vectors.
Background
The underwater vehicle can navigate below the water surface and can carry tools such as a sensor and a mechanical arm, and the like, so that the underwater vehicle can complete operation tasks such as underwater observation, underwater exploration, detection and even attack and defense in military.
At present, common underwater vehicles include torpedo type vehicles, underwater gliders, wave gliders and the like, wherein the torpedo type vehicles are the closest to the vehicle in the invention. The torpedo type aircraft is generally provided with one or more propeller propellers on the aircraft body, so that the three-dimensional motion of the aircraft under water can be realized; a torpedo type aircraft realizes three-dimensional underwater motion of the aircraft by matching a main propeller and a rudder sheet; the underwater glider does not adopt a propeller thruster, changes the balance of buoyancy and gravity of the underwater glider through the change of an oil bag carried by the underwater glider, and drives the underwater glider to advance by utilizing component force generated when wings of the glider body rise and fall in seawater; the wave glider enables the vehicle body to move up and down in small amplitude under the action of waves by utilizing wave energy, and the vehicle body is driven to advance by component force when blades of an underwater part rise and fall in seawater. The traditional aircraft adopting the propeller for propulsion has the defects of easy cavitation, insufficient powerful power, weaker maneuvering performance, higher noise in operation and the like.
It is to be noted that the information disclosed in the above background section is only for understanding the background of the present application and thus may include information that does not constitute prior art known to a person of ordinary skill in the art.
Disclosure of Invention
The invention mainly aims to overcome the defects of the background technology and provide an underwater vehicle propelled by a pump jet vector.
In order to achieve the purpose, the invention adopts the following technical scheme:
the underwater vehicle comprises a central power pump, a plurality of water outlets arranged at a set position of the underwater vehicle, a power valve matched with each water outlet, and a duct communicated with the central power pump and each water outlet correspondingly, wherein the central power pump pumps water from the outside and sends the water to the plurality of water outlets, and the water is enabled to jet out from the corresponding water outlets according to the set position by selectively controlling the opening and closing of the power valve of each water outlet, so that the navigation and the attitude of the underwater vehicle are controlled.
Further:
the power valve is a power valve with adjustable opening degree, and the flow of the corresponding water outlet is controlled by controlling the opening degree of the corresponding power valve.
The plurality of water outlets include a horizontal water outlet and a vertical water outlet.
The orientation of the horizontal water outlet is vertical to the horizontal advancing direction of the underwater vehicle.
The horizontal water outlets comprise a horizontal water outlet arranged on a front power section of the underwater vehicle and a horizontal water outlet arranged on a rear power section of the underwater vehicle.
The vertical water outlets comprise a vertical water outlet arranged at the front power section of the underwater vehicle and a vertical water outlet arranged at the rear power section of the underwater vehicle.
The horizontal water outlet comprises a horizontal water outlet arranged on the front power section of the underwater vehicle and a horizontal water outlet arranged on the rear power section of the underwater vehicle, and the vertical water outlet comprises a vertical water outlet arranged on the front power section of the underwater vehicle and a vertical water outlet arranged on the rear power section of the underwater vehicle.
The underwater vehicle further comprises a main water outlet arranged at the stern of the underwater vehicle, and the direction of the main water outlet is opposite to the horizontal advancing direction of the underwater vehicle.
The power valve comprises a solenoid valve.
The invention has the following beneficial effects:
the underwater vehicle can realize vector propulsion during navigation, can realize adjustment of a pitch angle and a course angle, and can also realize movement in the horizontal direction and the vertical direction. Compared with the traditional aircraft propelled by the propeller, the pump jet propeller replaces the propeller, so that the underwater aircraft has lower noise and vibration, stronger power and higher energy utilization rate when navigating underwater, and meanwhile, the arrangement of the outlets of the pump jet propeller enables the attitude change of the whole aircraft to be more flexible and has the effect of vector propulsion. Different from a vector propeller which generates thrust in different directions by changing the direction of a nozzle to deflect in different directions, the invention can concentrate all the propulsion power on the aircraft on a single degree of freedom to output, can greatly increase the maneuvering performance, is simpler in structure than the traditional vector propeller, and improves the reliability.
Drawings
Fig. 1 is a schematic structural view of an underwater vehicle according to an embodiment of the present invention.
Detailed Description
The embodiments of the present invention will be described in detail below. It should be emphasized that the following description is merely exemplary in nature and is not intended to limit the scope of the invention or its application.
It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or be 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 be indirectly connected to the other element. In addition, the connection may be for either a fixed or coupled or communicating function.
It is to be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are used in an orientation or positional relationship indicated in the drawings for convenience in describing the embodiments of the present invention and to simplify the description, and are not intended to indicate or imply that the referenced device or element must have a particular orientation, be constructed in a particular orientation, and be in any way limiting of the present invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the embodiments of the present invention, "a plurality" means two or more unless specifically limited otherwise.
Referring to fig. 1, in one embodiment, a pump jet vector propelled underwater vehicle comprises a central power pump 5, a plurality of water outlets 2, 8 arranged at a set orientation of the underwater vehicle, power valves (such as solenoid valves 3) matched with the water outlets 2, 8, and a duct 6 communicated with the central power pump 5 and the water outlets 2, 8, respectively, wherein the central power pump 5 pumps water from the outside and sends the water to the water outlets 2, 8, and the water is jetted from the corresponding water outlets 2, 8 according to the set orientation by selectively controlling the opening and closing of the power valves of the water outlets, thereby controlling the navigation and the attitude of the underwater vehicle.
In a preferred embodiment, the power valve is a power valve with an adjustable opening degree, and the flow of the corresponding water outlet 2 or 8 is controlled by controlling the opening degree of the corresponding power valve.
In a preferred embodiment, the plurality of water outlets includes a horizontal water outlet and a vertical water outlet.
In a preferred embodiment, the horizontal water outlet is oriented perpendicular to the horizontal direction of travel of the underwater vehicle. It should be understood that it is not necessary that the horizontal water outlet is oriented perpendicular to the horizontal direction of advance of the underwater vehicle, but the horizontal water outlet and the horizontal direction of advance may be at other angles.
In some preferred embodiments, the horizontal water outlets comprise a horizontal water outlet disposed in a forward power section of the underwater vehicle and a horizontal water outlet disposed in a rearward power section of the underwater vehicle.
In some preferred embodiments, the vertical water outlets comprise a vertical water outlet disposed in a forward power section of the underwater vehicle and a vertical water outlet in a rearward power section of the underwater vehicle.
In a more preferred embodiment, the horizontal water outlets comprise a horizontal water outlet disposed in a forward power section of the underwater vehicle and a horizontal water outlet in a rearward power section of the underwater vehicle, while the vertical water outlets comprise a vertical water outlet disposed in a forward power section of the underwater vehicle and a vertical water outlet in a rearward power section of the underwater vehicle.
In a preferred embodiment, the underwater vehicle further comprises a main water outlet (8) arranged at the stern of the underwater vehicle, said main water outlet being directed opposite to the horizontal direction of advance of the underwater vehicle.
Unlike a vector propeller which deflects to different directions to generate thrust in different directions by changing the direction of a nozzle, the underwater vehicle based on pump jet vector propulsion of the embodiment of the invention realizes full-aircraft vector propulsion by combining a central power pump and a plurality of water outlets arranged in different directions, and has many advantages. Compared with the aircraft using a common propeller, the aircraft using the pump jet vector propulsion has the advantages of high propulsion efficiency, low radiation noise and high critical speed, the pump jet propulsion can be better combined with the aircraft body, the integration degree is higher, a plurality of pump jet outlets can be arranged on one aircraft, the flexible maneuvering performance is better, and the attitude of the aircraft can be more conveniently and stably controlled. The embodiment of the invention concentrates the propulsion power on a single degree of freedom for output, can greatly increase the maneuvering performance, is simpler than a vector propeller structure for changing the direction of a nozzle, and improves the reliability.
Specific embodiments of the present invention are described further below by way of example.
The structure of the underwater vehicle propelled by the pump jet vector comprises a central power pump 5, a plurality of water outlets 2 and 8 and the like, an electromagnetic valve 3 matched with the water outlets, a duct 6 correspondingly communicated with the water outlets, a vehicle body 4, a bow part 1 and a stern part 7. The embodiment of the invention takes a central power pump 5 and five water outlets 2 as an example, and structurally comprises an aircraft body 4, the central pump 5, the five water outlets 2, five underwater electromagnetic valves 3 and corresponding connecting ducts 6, wherein the front power section is provided with a vertical water outlet and a horizontal water outlet, the rear power section is also provided with a vertical water outlet and a horizontal water outlet, and a main water outlet 8 is arranged at the stern of the aircraft. The five underwater electromagnetic valves 3 are respectively used for controlling the opening and closing of the five pump-jet propellers and the thrust. In operation, the underwater vehicle is controlled to navigate and pose by selectively controlling the opening and closing of the solenoid valves of each water outlet to cause water to jet out of the respective water outlet 2, 8 in a set orientation. Furthermore, the flow of the water outlet can be controlled by controlling the opening of the corresponding electromagnetic valve 6, so that the navigation and the attitude of the aircraft can be controlled more flexibly. When the vertical water outlet of the front power section works, the pitch angle attitude of the aircraft can be changed, so that floating and submerging are realized; when the horizontal water outlet of the front power section works, the course angle posture of the aircraft can be changed, so that left turning, right turning and U-turning are realized; when the vertical water outlets of the front and rear power sections work simultaneously, the vertical surface can move upwards; when the side water outlets of the front and rear power sections work simultaneously, the horizontal plane can move; the main water outlet of the stern part controls the navigation speed of the aircraft.
The background of the present invention may contain background information related to the problem or environment of the present invention and does not necessarily describe the prior art. Accordingly, the inclusion in the background section is not an admission of prior art by the applicant.
The foregoing is a more detailed description of the invention in connection with specific/preferred embodiments and is not intended to limit the practice of the invention to those descriptions. It will be apparent to those skilled in the art that various substitutions and modifications can be made to the described embodiments without departing from the spirit of the invention, and these substitutions and modifications should be considered to fall within the scope of the invention. In the description herein, references to the description of the term "one embodiment," "some embodiments," "preferred embodiments," "an example," "a specific example," or "some examples" or the like are intended to mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Various embodiments or examples and features of various embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction. Although embodiments of the present invention and their advantages have been described in detail, it should be understood that various changes, substitutions and alterations can be made herein without departing from the scope of the claims.
Claims (10)
1. An underwater vehicle propelled by a pump jet vector, which is characterized by comprising a central power pump, a plurality of water outlets arranged at a set position of the underwater vehicle, a power valve matched with each water outlet, and a duct communicated with the central power pump and each water outlet respectively, wherein the central power pump pumps water from the outside and sends the water to the plurality of water outlets, and the water is jetted out from the corresponding water outlets according to the set position by selectively controlling the opening and the closing of the power valve of each water outlet, so that the navigation and the posture of the underwater vehicle are controlled.
2. The underwater vehicle as recited in claim 1, wherein the power valves are power valves with adjustable opening degrees, and the flow rate of the corresponding water outlet is controlled by controlling the opening degree of the corresponding power valve.
3. The underwater vehicle of claim 1 or 2 wherein the plurality of water outlets includes a horizontal water outlet and a vertical water outlet.
4. The underwater vehicle of claim 3 wherein the horizontal water outlet is oriented perpendicular to a horizontal direction of travel of the underwater vehicle.
5. The underwater vehicle of claim 3 wherein the horizontal water outlets comprise a horizontal water outlet disposed in a forward power section of the underwater vehicle and a horizontal water outlet disposed in a rearward power section of the underwater vehicle.
6. The underwater vehicle of claim 3 wherein the vertical water outlets comprise a vertical water outlet disposed in a forward power section of the underwater vehicle and a vertical water outlet in a rearward power section of the underwater vehicle.
7. The underwater vehicle of claim 3 wherein the horizontal water outlets comprise a horizontal water outlet disposed in a forward power section of the underwater vehicle and a horizontal water outlet in a rearward power section of the underwater vehicle, and the vertical water outlets comprise a vertical water outlet disposed in the forward power section of the underwater vehicle and a vertical water outlet in the rearward power section of the underwater vehicle.
8. The underwater vehicle of claim 3 further comprising a primary water outlet disposed at the stern of the underwater vehicle, the primary water outlet facing opposite the horizontal heading of the underwater vehicle.
9. The underwater vehicle of claim 7 further comprising a primary water outlet disposed at the stern of the underwater vehicle, the primary water outlet facing opposite the horizontal heading of the underwater vehicle.
10. The underwater vehicle of claim 1 or 2, wherein the power valve comprises a solenoid valve.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011521480.8A CN112550648A (en) | 2020-12-21 | 2020-12-21 | Underwater vehicle propelled by pump jet vector |
| PCT/CN2021/096760 WO2022134468A1 (en) | 2020-12-21 | 2021-05-28 | Pump-jet vector-propelled underwater vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011521480.8A CN112550648A (en) | 2020-12-21 | 2020-12-21 | Underwater vehicle propelled by pump jet vector |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112550648A true CN112550648A (en) | 2021-03-26 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011521480.8A Pending CN112550648A (en) | 2020-12-21 | 2020-12-21 | Underwater vehicle propelled by pump jet vector |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN112550648A (en) |
| WO (1) | WO2022134468A1 (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2022134468A1 (en) * | 2020-12-21 | 2022-06-30 | 清华大学深圳国际研究生院 | Pump-jet vector-propelled underwater vehicle |
| CN114852300A (en) * | 2022-07-07 | 2022-08-05 | 中国空气动力研究与发展中心空天技术研究所 | Vector-propelled underwater vehicle and navigation method thereof |
| CN115973391A (en) * | 2023-02-02 | 2023-04-18 | 中国石油大学(华东) | Multi-piston driving type synthetic jet underwater propeller |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116654232B (en) * | 2023-08-02 | 2023-10-31 | 西南石油大学 | Controllable vector jet propeller and underwater robot |
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| JPS6412995A (en) * | 1987-07-06 | 1989-01-17 | Mitsubishi Heavy Ind Ltd | Water jet propelling device |
| JPH11171094A (en) * | 1997-12-12 | 1999-06-29 | Ishigaki:Kk | Water jet propulsion fireboat |
| CN103523192A (en) * | 2013-10-11 | 2014-01-22 | 浙江大学 | Underwater vehicle with water jet propulsion technology adopted |
| CN105947162A (en) * | 2016-05-31 | 2016-09-21 | 河南海力特装备工程有限公司 | Underwater vehicle with pumping set for propelling |
| CN210707833U (en) * | 2019-09-09 | 2020-06-09 | 张斌 | Underwater propeller and underwater following shooting system |
| CN211519810U (en) * | 2019-12-26 | 2020-09-18 | 华南理工大学 | Water-spraying electromagnetic control multi-degree-of-freedom moving underwater vehicle |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| US5758592A (en) * | 1997-08-12 | 1998-06-02 | The United States Of America As Represented By The Secretary Of The Navy | Undersea vehicle propulsion and attitude control system |
| CN102303695B (en) * | 2011-06-01 | 2013-12-04 | 华南理工大学 | Cable-carrying remote control underwater robot with symmetrical structure and equal all-directional water power |
| CN202193198U (en) * | 2011-06-01 | 2012-04-18 | 华南理工大学 | Water spraying propulsion remote-control underwater robot with cables |
| CN106741759B (en) * | 2017-03-18 | 2020-07-10 | 欧舶智能科技（上海）有限公司 | Novel pressure storage type underwater moving object attitude control system |
| CN109850105B (en) * | 2019-02-16 | 2021-06-04 | 湖南华汛应急装备有限公司 | Underwater robot driving device |
| CN112550648A (en) * | 2020-12-21 | 2021-03-26 | 清华大学深圳国际研究生院 | Underwater vehicle propelled by pump jet vector |
-
2020
- 2020-12-21 CN CN202011521480.8A patent/CN112550648A/en active Pending
-
2021
- 2021-05-28 WO PCT/CN2021/096760 patent/WO2022134468A1/en active Application Filing
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6412995A (en) * | 1987-07-06 | 1989-01-17 | Mitsubishi Heavy Ind Ltd | Water jet propelling device |
| JPH11171094A (en) * | 1997-12-12 | 1999-06-29 | Ishigaki:Kk | Water jet propulsion fireboat |
| CN103523192A (en) * | 2013-10-11 | 2014-01-22 | 浙江大学 | Underwater vehicle with water jet propulsion technology adopted |
| CN105947162A (en) * | 2016-05-31 | 2016-09-21 | 河南海力特装备工程有限公司 | Underwater vehicle with pumping set for propelling |
| CN210707833U (en) * | 2019-09-09 | 2020-06-09 | 张斌 | Underwater propeller and underwater following shooting system |
| CN211519810U (en) * | 2019-12-26 | 2020-09-18 | 华南理工大学 | Water-spraying electromagnetic control multi-degree-of-freedom moving underwater vehicle |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2022134468A1 (en) * | 2020-12-21 | 2022-06-30 | 清华大学深圳国际研究生院 | Pump-jet vector-propelled underwater vehicle |
| CN114852300A (en) * | 2022-07-07 | 2022-08-05 | 中国空气动力研究与发展中心空天技术研究所 | Vector-propelled underwater vehicle and navigation method thereof |
| CN115973391A (en) * | 2023-02-02 | 2023-04-18 | 中国石油大学(华东) | Multi-piston driving type synthetic jet underwater propeller |
Also Published As
| Publication number | Publication date |
|---|---|
| WO2022134468A1 (en) | 2022-06-30 |
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Application publication date: 20210326 |