CN114919725B - Underwater movement device based on deformation Tesla valve - Google Patents
Underwater movement device based on deformation Tesla valve Download PDFInfo
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- CN114919725B CN114919725B CN202210662089.2A CN202210662089A CN114919725B CN 114919725 B CN114919725 B CN 114919725B CN 202210662089 A CN202210662089 A CN 202210662089A CN 114919725 B CN114919725 B CN 114919725B
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- 230000033001 locomotion Effects 0.000 title claims abstract description 66
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 100
- 230000005540 biological transmission Effects 0.000 claims abstract description 36
- 238000005452 bending Methods 0.000 claims description 14
- 238000012545 processing Methods 0.000 claims description 9
- 230000000670 limiting effect Effects 0.000 claims description 4
- 239000011148 porous material Substances 0.000 claims description 3
- 230000000712 assembly Effects 0.000 claims 1
- 238000000429 assembly Methods 0.000 claims 1
- 230000000694 effects Effects 0.000 abstract description 11
- 239000012530 fluid Substances 0.000 description 16
- 238000010586 diagram Methods 0.000 description 9
- 238000003754 machining Methods 0.000 description 8
- 239000000243 solution Substances 0.000 description 3
- 230000000903 blocking effect Effects 0.000 description 2
- 125000004122 cyclic group Chemical group 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000002347 injection Methods 0.000 description 2
- 239000007924 injection Substances 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000002441 reversible effect Effects 0.000 description 2
- 239000000853 adhesive Substances 0.000 description 1
- 230000001070 adhesive effect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 239000002360 explosive Substances 0.000 description 1
- 230000000750 progressive effect Effects 0.000 description 1
- 230000001681 protective effect Effects 0.000 description 1
- 230000002829 reductive effect Effects 0.000 description 1
- 239000013535 sea water Substances 0.000 description 1
- 230000035939 shock Effects 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H11/00—Marine propulsion by water jets
- B63H11/02—Marine propulsion by water jets the propulsive medium being ambient water
- B63H11/04—Marine propulsion by water jets the propulsive medium being ambient water by means of pumps
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B1/00—Hydrodynamic or hydrostatic features of hulls or of hydrofoils
- B63B1/32—Other means for varying the inherent hydrodynamic characteristics of hulls
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T70/00—Maritime or waterways transport
- Y02T70/10—Measures concerning design or construction of watercraft hulls
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- Chemical & Material Sciences (AREA)
- Engineering & Computer Science (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- Structures Of Non-Positive Displacement Pumps (AREA)
Abstract
The invention relates to an underwater movement device based on a deformation Tesla valve, which comprises: a slip control system, a power supply system and a bottom platform; the sliding control system comprises a transmission unit and a control hose deformation unit, and the control hose deformation unit is positioned on the lower surface of the bottom platform; the control hose deformation unit comprises a deformation hose, a control deformation block and a plurality of stand columns, wherein the stand columns are arranged on the control deformation block, the deformation hose is connected with the control deformation block through the stand columns, and the control deformation block is connected with the transmission unit; the power supply system comprises a brushless motor water pump; the brushless motor water pump is fixed on the upper surface of the bottom platform and is communicated with the deformation hose through a through hole on the bottom platform. The invention can avoid cavitation effect generated by contact of the propeller and the underwater environment, and reduce noise pollution.
Description
Technical Field
The invention relates to the technical field of underwater robots, in particular to an underwater movement device based on a deformation Tesla valve.
Background
At present, the main driving mode of ships and underwater robots is propeller propulsion, and the biggest problem of propeller propulsion technology development is cavitation effect, namely, when the propeller rotates at a high speed, the faster the water flow speed on the accelerating blades is, the larger the pressure is, a large number of bubbles are generated, namely, cavitation bubbles are rapidly broken under the pressure of seawater, strong shock waves are generated, a large amount of noise is generated, and the damage effect on the propeller is also generated. Technological development of propeller propellers has tended to be mature, but there is still no effective solution to the problem of damage and noise generated by high speed rotation of the propeller, while jet pump technology can reduce cavitation noise of the propeller tips.
The Tesla check valve is invented by Nigla Tesla in 1920, the valve body does not contain movable components, and the unidirectional flow of fluid in the valve can be realized only by means of geometric shapes, and the principle can be expressed as follows: the two sides of a straight pipe are provided with a plurality of annular shunt pipelines with certain fixed bending angles along the same direction of the straight pipe, fluid flows to the tail end of the straight pipe after flowing through the annular shunt pipelines, when the fluid flows to the opposite direction of the annular shunt pipelines, the fluid flows in the Tesla valve without any blocking influence, when the fluid flows to the same direction of the annular shunt pipelines, the fluid flowing out of the annular shunt pipelines can apply fluid opposite impact to the fluid flowing through the straight pipe when flowing through one annular shunt pipeline, namely, two fluid with inconsistent flow directions collide to cause energy attenuation, because the fluid flow velocity in the straight pipe is high, the flow rate is higher than that of the fluid in the shunt annular pipeline, the fluid in the straight pipe still flows along the original direction after reducing part of speed, and the fluid in the Tesla straight pipe gradually tends to be static along with the uninterrupted fluid opposite impact action applied to the straight pipe by the annular shunt pipelines, namely, the fluid cannot flow out of the tail end of the straight pipe, and the unidirectional conduction effect is achieved. Tesla valves are now widely used in injection devices for large-displacement aircraft.
Disclosure of Invention
The invention aims to provide an underwater movement device based on a deformation Tesla valve, which can avoid cavitation effect generated by contact of a propeller and an underwater environment and reduce noise pollution.
In order to achieve the above object, the present invention provides the following solutions:
the invention provides an underwater motion device based on a deformation Tesla valve, which comprises: a slip control system, a power supply system and a bottom platform;
the sliding control system comprises a transmission unit and a control hose deformation unit, and the control hose deformation unit is positioned on the lower surface of the bottom platform; the control hose deformation unit comprises a deformation hose and a control deformation block, and the control deformation block comprises a plurality of upright posts; the deformation hose is connected with the control deformation block through the upright post, and the control deformation block is connected with the transmission unit;
the power supply system comprises a brushless motor water pump; the brushless motor water pump is fixed on the upper surface of the bottom platform and is communicated with the deformation hose through a through hole on the bottom platform.
Optionally, the deformation hose includes straight tube pipeline, water inlet channel and a plurality of cyclic annular pipeline, straight tube pipeline and each cyclic annular pipeline intercommunication, water inlet channel is through the through-hole on the bottom platform with brushless motor water pump's delivery port intercommunication.
Optionally, the control deformation block is provided with a plurality of trapezoid notches, each trapezoid notch is internally provided with an extending end, and each extending end is provided with the upright post; the trapezoid notch is used for limiting the bending angle of the deformed hose; the upright post is used for extruding the annular pipeline under the drive of the control deformation block, so that the annular pipeline is bent and deformed, and Tesla check valves with different bending angles are formed.
Optionally, the transmission unit comprises a sliding block and a screw transmission assembly, wherein the screw transmission assembly comprises a screw sliding piece, a motor, a screw supporting seat and a ball screw; the screw rod sliding piece is sleeved on the ball screw rod and driven by the motor to do reciprocating motion on the ball screw rod.
Optionally, a bolt is arranged on the sliding block, processing holes matched with the bolt are formed in the screw rod sliding piece and the control deformation block, and the control deformation block is connected with the screw rod sliding piece through the bolt and the processing holes.
Optionally, the number of the control deformation block, the sliding block and the transmission assembly is two.
Optionally, the transmission unit includes a first cam, a second cam, a sliding slot, and a motor; the motor is fixed on the upper surface of the bottom platform, and the sliding notch is formed in the lower surface of the bottom platform; the first cam and the second cam are both positioned on the lower surface of the bottom platform, are respectively connected with the motor and the control deformation block, and are used for driving the control deformation block to slide on the sliding notch.
Optionally, the power supply system further comprises:
a motor fixing base;
the underwater motion device further includes:
waterproof shell, through motor unable adjustment base with brushless motor water pump is connected.
Optionally, a pore canal matched with the water inlet of the brushless motor water pump is formed in the waterproof shell.
According to the specific embodiment provided by the invention, the invention discloses the following technical effects:
the invention provides an underwater motion device based on a deformation Tesla valve, which comprises: a slip control system, a power supply system and a bottom platform; the sliding control system comprises a transmission unit and a control hose deformation unit, and the control hose deformation unit is positioned on the lower surface of the bottom platform; the control hose deformation unit comprises a deformation hose, a control deformation block and a plurality of stand columns, wherein the stand columns are arranged on the control deformation block, the deformation hose is connected with the control deformation block through the stand columns, and the control deformation block is connected with the transmission unit; the power supply system comprises a brushless motor water pump; the brushless motor water pump is fixed on the upper surface of the bottom platform and is communicated with the deformation hose through a through hole on the bottom platform. The invention can avoid cavitation effect generated by contact of the propeller and the underwater environment, and reduce noise pollution.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions of the prior art, the drawings that are needed in the embodiments will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present invention, and that other 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 the structure of an underwater motion device based on a deformed Tesla valve of the present invention;
FIG. 2 is a schematic diagram of the explosive structure of the underwater motion device based on the deformation Tesla valve of the present invention;
FIG. 3 is a side view of the underwater motion device based on a deformed Tesla valve of the present invention;
FIG. 4 is a front view of the underwater motion device based on a deformed Tesla valve of the present invention;
FIG. 5 is a cross-sectional view of the underwater motion device based on a deformed Tesla valve of the present invention;
FIG. 6 is a schematic diagram of the motion of the underwater motion device based on a deformed Tesla valve of the present invention;
FIG. 7 is a plan view of the initial state of a deformation hose of the underwater motion device based on a deformation Tesla valve of the present invention;
FIG. 8 is a plan view of a deformed hose of the present invention in an advanced state of an underwater motion device based on a deformed Tesla valve;
FIG. 9 is a plan view of a deformed hose in a retracted state of the underwater motion device based on a deformed Tesla valve of the present invention;
FIG. 10 is a schematic view of the cam drive principle of the underwater motion device based on a deformed Tesla valve of the present invention;
FIG. 11 is a schematic diagram of the principle of the link drive of the underwater motion device based on a deformed Tesla valve of the present invention;
FIG. 12 is a schematic diagram II of the principle of the link drive of the underwater motion device based on a deformed Tesla valve of the present invention;
FIG. 13 is a schematic view of a motion platform formed by a plurality of underwater motion devices based on deformation Tesla valves.
Symbol description:
the device comprises a bottom platform-1, a control deformation block-2, an extension end-21, a deformation hose-3, a column-4, a brushless motor water pump-5, a bottom platform through hole-101, a brushless motor water pump water inlet-51, a brushless motor water pump water outlet-52, a straight pipe pipeline-31, a water inlet channel-32, an annular pipeline-33, a deformation hose water outlet-34, a deformation hose water outlet-35, a sliding block-6, a lever transmission component-7, a screw rod sliding piece-71, a first bolt-61, a second bolt-62, a third bolt-63, a fourth bolt-64, a first processing hole-711, a second processing hole-712, a third processing hole-22, a fourth processing hole-23, a motor fixing base-8, a waterproof shell-9, a first cam-10, a second cam-11 and a push rod-12.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. 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.
The invention aims to provide an underwater movement device based on a deformation Tesla valve, which can avoid cavitation effect generated by contact of a propeller and an underwater environment and reduce noise pollution.
In order that the above-recited objects, features and advantages of the present invention will become more readily apparent, a more particular description of the invention will be rendered by reference to the appended drawings and appended detailed description.
First embodiment:
as shown in fig. 1 and 2, the underwater moving device based on the deformation tesla valve of the present invention comprises: a slip control system, a power supply system and a bottom platform 1.
The sliding control system comprises a transmission unit and a control hose deformation unit, wherein the control hose deformation unit is positioned on the lower surface of the bottom platform 1; the control hose deformation unit comprises a deformation hose 3, a control deformation block 2 and a plurality of stand columns 4, wherein the stand columns 4 are arranged on the control deformation block 2, the deformation hose 3 is connected with the control deformation block 2 through the stand columns 4, and the control deformation block 2 is connected with the transmission unit.
The power supply system comprises a brushless motor water pump 5; the brushless motor water pump 5 is fixed on the upper surface of the bottom platform 1 and is communicated with the deformation hose 3 through a through hole 101 on the bottom platform 1. The brushless motor water pump 5 absorbs water from the environment through the water inlet 51, is discharged into the deformation hose 3 through the water outlet 52, and pushes the underwater moving device to move after being discharged out of the deformation hose 3.
Further, the deformation hose 3 includes a straight pipe 31, a water inlet channel 32 and a plurality of annular pipes 33, the straight pipe 31 is communicated with each annular pipe 33, and the water inlet channel 32 is communicated with the water outlet 52 of the brushless motor water pump through a through hole 101 on the bottom platform. The straight pipe 31 is fixed on the bottom platform 1. When the deformation hose 3 is not extruded by the upright post 4, the annular pipelines 33 are perpendicular to the straight pipe pipelines 31, and the number and the shape of the annular pipelines 33 can be set according to practical situations.
Further, as shown in fig. 3 and 4, the water inlet 51 of the brushless motor water pump and the axis of the water outlet 52 are not in the same vertical plane, the water outlet 34 of the deformation hose 3 and the water inlet 51 of the brushless motor water pump 5 are in the same opening direction, and the water outlet 52 of the brushless motor water pump 5 is screwed into the through hole 101 of the bottom platform 1 in a threaded connection manner.
Fig. 5 is a connection diagram and a schematic diagram of a power supply system, the bottom platform 1 is a mounting frame of the whole underwater movement device, the deformation hose 3 may be fixed on the bottom platform 1 by threaded connection or adhesive, and the water inlet channel 32 of the deformation hose 3 passes through the through hole 101 on the bottom platform 1 and is communicated with the water outlet 52 of the brushless motor water pump 5, so as to form a complete driving mode pipe connection. The water flow is sucked in by the water inlet channel 51 of the brushless motor water pump 5 and pumped into the water outlet channel 52, reaches the water inlet channel 32 of the deformation hose 3 after passing through the water outlet channel 52, flows into the inner cavity of the deformation hose 3, and finally is discharged into the external environment through the water outlets 34 and 35 at the two ends of the deformation hose 3, so as to form a complete flow circulation channel.
Further, as shown in fig. 2, the control deformation block 2 is provided with a plurality of trapezoid slots, each trapezoid slot is internally provided with an extending end 21, and each extending end 21 is provided with the upright post 4; the trapezoid notch is used for limiting the bending angle of the deformed hose; the upright post 4 is used for extruding the annular pipeline 33 under the drive of the control deformation block 2, so that the annular pipeline 33 is bent and deformed, and Tesla check valves with different bending angles are formed to control the flow speed and direction of fluid, thereby controlling the speed and direction of the integral output underwater motion of the underwater motion device. Wherein the bending angle of the annular pipeline 33 does not exceed the base angle of the trapezoid notch, and meanwhile, a certain space is reserved between the annular pipelines at two sides so that the deformation hose 3 is fixed on the bottom platform 1.
Preferably, as shown in fig. 2, the transmission unit comprises a sliding block 6 and a screw transmission assembly 7, the screw transmission assembly 7 comprising a screw slider 71, a motor, a screw support and a ball screw; the screw slider 71 is sleeved on the ball screw and is driven by the motor to reciprocate on the ball screw stroke.
Further, bolts are provided on the slider 6, machining holes matching with the bolts are provided on the screw slider 71 and the control deformation block 2, and the control deformation block 2 is connected with the screw slider 71 through the bolts 61 and the machining holes. The screw rod sliding piece 71 is driven to slide through a motor, the sliding block 6 is driven to slide, the control deformation block 2 is driven to move, and finally the deformation hose is deformed, wherein the control deformation block 2 and the screw rod sliding piece 71 synchronously reciprocate on a ball screw rod. The bolts specifically comprise a first bolt 61, a second bolt 62, a third bolt 63 and a fourth bolt 64, the machining holes formed in the screw rod sliding piece 71 comprise a first machining hole 711 and a second machining hole 712, and the machining holes formed in the control deformation block 2 comprise a third machining hole 22 and a fourth machining hole 23. The first and second bolts 61, 62 are matched with the first and second machined holes 711, 712, and the third and fourth bolts 63, 64 are matched with the third and fourth machined holes 22, 23.
Preferably, as shown in fig. 2, the number of the control deformation block 2, the sliding block 6 and the transmission assembly is two. In the specific embodiment of the invention, the control deformation block comprises a left control deformation block, a right control deformation block, a left sliding block, a right sliding block and a left transmission assembly and a right transmission assembly.
Further, as shown in fig. 2, the power supply system further includes: and a motor fixing base 8.
The underwater motion device further includes: waterproof shell 9, through motor unable adjustment base 8 with brushless motor water pump 5 is connected, motor unable adjustment base 8 with use threaded connection or bonding to carry out fixed connection between the waterproof shell 9. In the specific embodiment of the invention, the waterproof shell 9 is connected through a processing hole formed in the top of the waterproof shell. The waterproof housing 9 is provided with a pore canal matched with the water inlet 51 of the brushless motor water pump 5, and a space is reserved at the bottom of the waterproof housing 9 to meet the waterproof function requirement of the transmission unit. The waterproof housing 9 is of a transparent and closed cuboid structure.
Fig. 6 is a schematic diagram of the overall motion principle of the first embodiment of the present invention, the power supply portion discharges water into the inner cavity of the deformation hose 3 through the brushless motor water pump 5 and the deformation hose 3, the sliding control system is controlled by the screw transmission assembly, drives the control deformation block 2 to slide through the screw sliding piece 71 and the sliding block 6, transfers the linear motion into the annular pipeline of the deformation hose 3, and forms tesla valves with different bending angles through controlling the torque output by the screw transmission assembly 7, so as to drive the underwater motion device to integrally output the speed and direction of the underwater motion.
Further, regarding the magnitude and direction of the underwater motion device to control the output underwater motion speed, please refer to fig. 7 to 9 together, the bottom surface of the underwater motion device is projected as a two-dimensional plane for explanation. As shown in fig. 7, before the sliding block 6 is controlled by the screw driving assembly 7, the sliding block 6 is stopped at the middle of the side length of the bottom platform 1, and is set as a starting position, at this time, the deformation hose 3 is not pressed by the control deformation block 2, that is, a tesla valve structure is not formed, water flows through the brushless motor water pump 5, enters the inner cavity of the deformation hose 3 through the water inlet channel 32 of the deformation hose 3, flows out from the water outlets 34 and 35 of the deformation hose 3, at this time, the water flows are not blocked in both directions, the water flow speeds of the two water outlets 34 and 35 of the deformation hose 3 are equal, at this time, the underwater movement device is not moving in its entirety, that is, the underwater movement device is kept stationary.
Further, as shown in fig. 8, the screw driving assembly 7 controls the screw sliding member 71 to move along the direction of the water outlet 34 of the deformed hose 3, the control deformed block 2 is driven by the sliding block 6 to move towards the water outlet channel 34 of the deformed hose 3 synchronously, at this time, the annular pipeline 33 of the deformed hose 3 is extruded to form a tesla check valve which is in unidirectional conduction along the water outlet 34 to the water outlet channel 35 of the deformed hose 3, that is, the water flow can only flow unidirectionally along the water outlet 34 to the water outlet 35 of the deformed hose 3, if the reverse flow is blocked by the tesla valve, at this time, the underwater moving device starts to move forward (that is, the moving direction of the underwater moving device is consistent with the moving direction of the screw sliding member).
Further, as shown in fig. 9, the screw driving assembly 7 controls the screw sliding member 71 to move along the direction of the water outlet channel 35 of the deformed hose 3, the control deformed block 2 is driven by the sliding block 6 to synchronously move toward the water outlet channel 35 of the deformed hose 3, at this time, the annular pipeline of the deformed hose 3 is extruded to form a tesla check valve which is unidirectionally conducted along the water outlet 35 to the water outlet 34 of the deformed hose 3, that is, the water flow can only unidirectionally flow along the water outlet 35 to the water outlet 34 of the deformed hose 3, if the reverse flow is blocked by the tesla valve, the underwater moving device starts to move backwards.
Specific embodiment II:
the second embodiment of the present invention is different from the first embodiment only in the specific arrangement of the transmission unit, and the transmission unit in the second embodiment is further described below.
As shown in fig. 10, the transmission unit includes a first cam 10, a second cam 11, a sliding slot, and a motor; the motor is fixed on the upper surface of the bottom platform 1, and the sliding notch is formed in the lower surface of the bottom platform 1; the first cam 10 and the second cam 11 are both positioned on the lower surface of the bottom platform 1, and are respectively connected with the motor and the control deformation block 2, and are used for driving the control deformation block 2 to slide on the sliding notch. Specifically, an output shaft of a motor passes through the bottom platform 1 and is connected with the first cam 10 and the second cam 11, and the motor and the first cam 10 and the second cam 11 control the movement direction of the control deformation block 2 and change the bending degree of the deformation hose, so that the movement direction of the underwater movement device is changed.
Specifically, the operation principle of the underwater moving device will be described with reference to fig. 9. By way of example, the control of the direction of movement of the deformation block 2: when the underwater moving device is required to move along the direction of the water outlet channel 35 of the deformation hose 3, the first cam 10 is set as an active driving cam, the second cam 11 is set as a passive driving cam, the motor for controlling the rotation of the first cam 10 rotates clockwise within a certain angle range in the arrow direction shown in the motor diagram, the motor for controlling the second cam 11 does not provide torque, the rotation of the first cam 10 pushes the control deformation block 2 to slide rightwards, the second cam 11 is pushed by the control deformation block 2 to rotate anticlockwise, the deformation hose 3 is extruded by the control deformation block 2 to bend, the bending degree is shown in fig. 9, water flows unidirectionally along the water outlet channel 34 of the deformation hose 3 under the state of being kept, and the underwater moving device is pushed reversely to advance along the direction of the water outlet channel 35.
Referring to fig. 8, when the underwater moving device moves in the direction of the water outlet passage 34 of the deformation hose 3, the second cam 11 is used as an active driving cam, the first cam 10 is used as a passive driving cam, the motor controlling the rotation of the second cam 11 rotates clockwise within a certain angle range in the direction of the arrow shown in the figure, the motor controlling the first cam 10 does not provide torque, the rotation of the second cam 11 pushes the control deformation block 2 to slide leftwards, the first cam 10 is pushed by the control deformation block 2 to rotate anticlockwise, the deformation hose 3 is pushed by the control deformation block 2 to bend, the bending degree is as shown in fig. 8, water flows unidirectionally along the water outlet passage 35 of the deformation hose 3 under the state of being kept, and the underwater moving device is pushed reversely to advance in the direction of the water outlet passage 34.
Third embodiment:
the third embodiment of the present invention is different from the second embodiment only in the specific arrangement of the transmission unit, and the transmission unit in the third embodiment is further described below.
As shown in fig. 11 to 12, the transmission unit includes a push rod 12, a first motor and a second motor, the first motor and the second motor are mounted on the bottom platform 1, output shafts of the first motor and the second motor are respectively connected with two push rods rotating around the shaft, a sliding notch for controlling the deformation block 2 is opened on the bottom platform 1, the control deformation block 2 is fixedly connected, and the control deformation block 2 is limited to move only in two directions of a track of the sliding notch. The first motor and the second motor are connected with the push rod, the push rod is connected with the control deformation block 2, the push rod is driven to move by the first motor and the second motor, the push rod drives the control deformation block to slide, the deformation hose 3 is extruded by the control deformation block 2 to generate bending, water flows unidirectionally along the water outlet channel 34 or 35 of the deformation hose 3, and the underwater movement device is reversely pushed to advance along the direction of the water outlet channel 35 or 34.
Further, the lead screw slide assembly may be driven by gears or ratchets, etc., without limitation.
Fig. 13 is a combination mode of the underwater motion device based on the deformation tesla valve, namely the underwater motion platform can realize the motion function of 6 degrees of freedom (respectively along the motion of the XYZ three axes and the attitude control of the pitch angle, the roll angle and the yaw angle) of a three-dimensional space in an underwater environment.
The invention has the technical effects that:
the underwater motion device provided by the invention is applied to the field of underwater robot driving, overcomes the cavitation effect and noise problems of propeller driving, provides a new thought of using a Tesla valve in a driving mode, and is suitable for an injection driving type underwater robot. Specifically, the invention has the following technical characteristics:
1) The design method has the advantages that the thinking that the geometry of the Tesla valve is fixed is jumped out, the structure of the Tesla valve is innovated and improved, the deformation of the Tesla valve is converted into linear motion to drive, the Tesla valves with different blocking effects can be formed by controlling the distance of the linear motion, the motion speed of the underwater motion device can be controlled by adjusting the Tesla valves with different bending angles, and the stepless speed regulation of the underwater motion device can be realized.
2) The direction of the underwater movement device can be controlled by controlling the movement direction of the transmission unit, and compared with the driving of the propeller, the device has the advantage that the front and back pulps are distinguished, the mounting mode is more flexible, and the device is applicable to various structures.
3) The motor is driven by a brushless motor water pump, so that cavitation effect generated by direct high-speed rotation of large blades in water is avoided, and noise is reduced.
4) Potential safety accidents caused by the fact that the blades are exposed outside and drive are avoided, and the dangerous situation that water plants are wound is avoided even if a protective fence is not additionally arranged; compared with the propeller which must keep a certain distance with the underwater obstacle, the invention can slide along the wet arm.
5) The structure is simple, the device can adapt to various sizes, is made into a modularized assembly, or is applied to a driving mode adapting to specific environments, and provides motion support for different kinds of underwater robots; the underwater motion devices are assembled to form the underwater motion platform, and the whole system can be controlled to move in three dimensions underwater.
In the present specification, each embodiment is described in a progressive manner, and each embodiment is mainly described in a different point from other embodiments, and identical and similar parts between the embodiments are all enough to refer to each other.
The principles and embodiments of the present invention have been described herein with reference to specific examples, the description of which is intended only to assist in understanding the methods of the present invention and the core ideas thereof; also, it is within the scope of the present invention to be modified by those of ordinary skill in the art in light of the present teachings. In view of the foregoing, this description should not be construed as limiting the invention.
Claims (7)
1. An underwater motion device based on a deformed tesla valve, characterized in that it comprises: a slip control system, a power supply system and a bottom platform;
the sliding control system comprises a transmission unit and a control hose deformation unit, and the control hose deformation unit is positioned on the lower surface of the bottom platform; the control hose deformation unit comprises a deformation hose, a control deformation block and a plurality of stand columns, wherein the stand columns are arranged on the control deformation block, the deformation hose is connected with the control deformation block through the stand columns, and the control deformation block is connected with the transmission unit;
the power supply system comprises a brushless motor water pump; the brushless motor water pump is fixed on the upper surface of the bottom platform and is communicated with the deformation hose through a through hole on the bottom platform;
the deformation hose comprises a straight pipe pipeline, a water inlet channel and a plurality of annular pipelines, wherein the straight pipe pipeline is communicated with each annular pipeline, and the water inlet channel is communicated with a water outlet of the brushless motor water pump through a through hole on the bottom platform; the water inlet channel is arranged between two ends of the straight pipe pipeline and is communicated with the straight pipe pipeline, and two ends of the straight pipe pipeline are provided with water outlets;
the control deformation block is provided with a plurality of trapezoid notches, each trapezoid notch is internally provided with an extending end, and each extending end is provided with the upright post; the trapezoid notch is used for limiting the bending angle of the deformed hose; the upright post is used for extruding the annular pipeline under the drive of the control deformation block, so that the annular pipeline is bent and deformed, and Tesla check valves with different bending angles are formed.
2. The underwater motion device based on a deformation tesla valve according to claim 1, characterized in that the transmission unit comprises a sliding block and a screw transmission assembly comprising a screw slider, a motor, a screw support seat and a ball screw; the screw rod sliding piece is sleeved on the ball screw rod and driven by the motor to do reciprocating motion on the ball screw rod.
3. The underwater motion device based on the deformation tesla valve according to claim 2, wherein the sliding block is provided with a bolt, the screw rod sliding piece and the control deformation block are provided with processing holes matched with the bolt, and the control deformation block is connected with the screw rod sliding piece through the bolt and the processing holes.
4. The underwater motion device based on a deformation tesla valve according to claim 2, characterized in that the number of control deformation blocks, sliding blocks and screw transmission assemblies is two.
5. The underwater motion device based on a deformation tesla valve according to claim 1, characterized in that the transmission unit comprises a first cam, a second cam, a sliding notch and a motor; the motor is fixed on the upper surface of the bottom platform, and the sliding notch is formed in the lower surface of the bottom platform; the first cam and the second cam are both positioned on the lower surface of the bottom platform and are respectively connected with the motor and the control deformation block and used for driving the control deformation block to slide on the sliding notch.
6. The subsea exercise device based on a deformable tesla valve of claim 1, wherein the power supply system further comprises:
a motor fixing base;
the underwater motion device further includes:
waterproof shell, through motor unable adjustment base with brushless motor water pump is connected.
7. The underwater motion device based on the deformation tesla valve of claim 6, wherein the waterproof shell is provided with a pore canal matched with the water inlet of the brushless motor water pump.
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| CN202210662089.2A CN114919725B (en) | 2022-06-13 | 2022-06-13 | Underwater movement device based on deformation Tesla valve |
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| DE102013009513A1 (en) * | 2013-06-06 | 2014-12-11 | Volkswagen Aktiengesellschaft | Device for inflating the inside of at least one side window of a motor vehicle door |
| CN106741759A (en) * | 2017-03-18 | 2017-05-31 | 欧舶智能科技（上海）有限公司 | A kind of new pressure storage type Submerged moving body attitude control system |
| KR20180103489A (en) * | 2017-03-10 | 2018-09-19 | 대우조선해양 주식회사 | Water-Jet Propulsion Device using Tesla Pump |
| CN108820169A (en) * | 2018-07-27 | 2018-11-16 | 北京理工大学 | A kind of electronic catheter type hydraulic propeller |
| DE102022000635A1 (en) * | 2022-02-22 | 2022-05-05 | Mercedes-Benz Group AG | reverse current limiter |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US11319026B2 (en) * | 2020-04-24 | 2022-05-03 | Alex Denisov | Hull surface air lubrication structure for marine vehicles |
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Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102013009513A1 (en) * | 2013-06-06 | 2014-12-11 | Volkswagen Aktiengesellschaft | Device for inflating the inside of at least one side window of a motor vehicle door |
| KR20180103489A (en) * | 2017-03-10 | 2018-09-19 | 대우조선해양 주식회사 | Water-Jet Propulsion Device using Tesla Pump |
| CN106741759A (en) * | 2017-03-18 | 2017-05-31 | 欧舶智能科技（上海）有限公司 | A kind of new pressure storage type Submerged moving body attitude control system |
| CN108820169A (en) * | 2018-07-27 | 2018-11-16 | 北京理工大学 | A kind of electronic catheter type hydraulic propeller |
| DE102022000635A1 (en) * | 2022-02-22 | 2022-05-05 | Mercedes-Benz Group AG | reverse current limiter |
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| CN114919725A (en) | 2022-08-19 |
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