CN211844855U - Water spray control multi-degree-of-freedom moving underwater vehicle - Google Patents

Abstract

The utility model discloses a multi-degree-of-freedom moving underwater vehicle controlled by water spraying, which comprises a fixed horizontal wing, a vertical tail wing, a horizontal tail wing and a main cavity body; the main cavity body is in a vertical rudder shape structure; the two fixed horizontal wings are symmetrically arranged on two sides of the main cavity body, the horizontal tail wing and the vertical tail wing are arranged at the tail part of the main cavity body, the vertical tail wing is arranged on the central line of the tail part of the main cavity body, the horizontal tail wing is arranged at the upper end of the vertical tail wing, the top end of the bow part of the main cavity body is provided with a water inlet, the upper surface, the lower surface, the left surface, the right surface and the rear surface of the tail part of the main cavity body are respectively provided with a water outlet, and a; the utility model realizes the dual purposes of towing and self-navigation, the control modes of towing and self-navigation are basically consistent, and the trouble caused by switching the control modes in the towing and self-navigation processes is avoided; the control of the outward water spraying of the outlets in different directions to generate thrust has the advantages of simple control mode, high control efficiency, strong maneuverability, good directional stability and high autonomous stability.

Description

Water spray control multi-degree-of-freedom moving underwater vehicle

Technical Field

The utility model relates to an underwater vehicle especially relates to a water spray control multi freedom motion underwater vehicle.

Background

The underwater towing system has wide application in the aspects of marine resource detection, marine topographic and geomorphic surveying, military counter-diving operation and the like. Important components of an underwater vehicle system are an underwater vehicle, a streamer, a tug and the like. The towing cables are mainly of two types, one is a towing cable, and the other is an umbilical cable which is mainly used for data and signal transmission; the tug provides power for the aircraft and carries operating personnel of the underwater vehicle; the underwater vehicle system is characterized in that the most key component is the underwater vehicle, various instruments and equipment required by operation are arranged in the underwater vehicle, and meanwhile, the control mode of the underwater vehicle is also designed and optimized according to different operation environments, so that the underwater vehicle system is simple in structure, complete in function, capable of adapting to different use environments and executing complex and variable seabed tasks, and can continuously work due to continuous energy supply of a tug, and the underwater cabled vehicle is fully applied in various aspects.

According to different shapes, the underwater vehicle can be divided into a gyrator type and a non-gyrator type, the gyrator type can be subdivided into a torpedo type, a Myring type and the like, and the non-gyrator type can be subdivided into a frame type, a fish shape and the like. The underwater vehicle mainly plays two roles in seabed operation, wherein the first role is taken as a carrier and carries different instruments and equipment; the second is a depth setter which carries different instruments and equipment to reach the depth required by the operation of the depth setter. Meanwhile, the aircraft, the towing cable and the tug form a coupling structure, and during work, the disturbance of seawater, the heaving, pitching and other motions of the tug, the towing force of the towing cable and the like make the control of the underwater vehicle become a very complicated work. The control of the position and attitude of the vehicle is related to the accuracy of the measurement or surveying work performed by the instruments carried inside the vehicle.

A Sea solar MK II aircraft of CTG company in England adopts a cuboid main body and a fixed forced sinking wing structure. The cuboid body is used for carrying physical, chemical and biological sensors. In terms of a maneuvering mode, the Sea solar MK II aircraft adopts an adjustable attack angle horizontal sinking wing to realize control of the working depth of the aircraft, and a ducted propeller is carried at the tail of the aircraft to realize control of the longitudinal attitude of the aircraft. The cuboid main body has small rolling and pitching damping, and is easy to generate a large rolling angle and a large pitching angle in the towing process, so that the difficulty of attitude adjustment and manipulation of the aircraft is increased, and the transverse horizontal underwater observation with multiple degrees of freedom and perpendicular to the towing direction is difficult to realize. When the ducted propeller at the tail part drags at a high speed, the propeller is easy to generate negative thrust due to a high advancing speed, so that the thrust direction is uncertain. Therefore, when towing at high speed, if the propeller is used as the attitude and heading adjusting device, the above disadvantages are caused.

In summary, in designing an underwater vehicle, the coupling effect of a tug-streamer-vehicle structure needs to be fully considered, and the influence of the external working environment on a towing system needs to be considered. Therefore, perfecting and optimizing the steering control mode of the underwater vehicle becomes the design focus and difficulty of the underwater vehicle.

SUMMERY OF THE UTILITY MODEL

The utility model aims at overcoming the problems in the prior art and providing an underwater vehicle which can be propelled by water spray, controlled, towed for self-navigation and can move with multiple degrees of freedom.

The utility model discloses the purpose is realized through following technical scheme:

a water spray control multi-degree-of-freedom motion underwater vehicle comprises a fixed horizontal wing, a vertical tail wing, a horizontal tail wing and a main cavity body; the main cavity body is in a vertical rudder shape structure, the shapes of the head part and the tail part are in a Myring line shape, the front end of the main cavity body is provided with a cable hole, and communication and power cables extend out of the cable hole;

the two fixed horizontal wings are symmetrically arranged at two sides of the main cavity body, the horizontal tail wing and the vertical tail wing are arranged at the tail part of the main cavity body, the vertical tail wing is arranged in the middle of the tail part of the main cavity body, the tail part of the vertical tail wing and the tail part of the main cavity body are on the same straight line, the horizontal tail wing is arranged at the upper end of the vertical tail wing, and the central lines of the two triangular horizontal tail wings and the vertical tail wing are symmetrically arranged;

the top end of the bow part of the main cavity body is provided with a water inlet, the upper surface, the lower surface, the left surface, the right surface and the rear surface of the tail part of the main cavity body are respectively provided with a water outlet, and a water jet propulsion control system is arranged in the main cavity body;

the water jet propulsion control system mainly comprises a main pipeline, a submersible pump, an auxiliary pipeline, a sleeve, a bent pipe, a cylindrical cavity, a branch flow pipe, a tail pipe, a tooth socket, a gear and a stepping motor; one end of a main pipeline is connected with a water inlet at the top end of a main cavity, the other end of the main pipeline is connected with a water pumping port of a submersible pump, a water outlet of the submersible pump is connected with an auxiliary pipeline arranged at the rear half part of the main cavity, the other end of the auxiliary pipeline is wrapped by a sleeve, the joint is sealed, a circle of tooth grooves are arranged at the port of the outer surface of the sleeve, the tooth grooves are meshed with a gear, the gear is connected with a stepping motor, the other end of the sleeve is connected with a bent pipe, the sleeve and the bent pipe extend into a cylindrical cavity with 6 holes, the sleeve and the bent pipe extend into the cylindrical cavity from the holes at the bottom surface of the cylindrical cavity, the other bottom surface of the sleeve is sealed, the side surface of the cylindrical cavity is respectively provided with a hole in the four directions of up, down, left and right, 4 water outlets on the left surface, the right surface and the rear surface; a tail pipe extends into the cylindrical cavity from the left lower side, and the tail pipe is bent to connect the other end with a water outlet on the rear surface.

In order to further achieve the object of the present invention, it is preferable that the diameter of the branch pipe is 0.5mm to 1mm larger than that of the elbow pipe.

Preferably, the two fixed horizontal wings are triangular wing type, the section shape adopts NACA symmetrical wing type, and the outermost ends of the two fixed horizontal wings are provided with fixed horizontal wing guide plates.

Preferably, the length of the profile of the inner side section of the fixed horizontal wing is 250-300mm, the maximum thickness is 45-50mm, the length of the profile of the outer side section is 90-100mm, and the maximum thickness is 25-30 mm; the length of the fixed horizontal wing guide plate is 280-320mm, the width is 50-55mm, and the thickness is 2-2.5 mm; the vertical distance between the fixed horizontal wing and the bottom of the main cavity is 220-250mm, the vertical distance between the fixed horizontal wing and the top of the main cavity is 80-100mm, the horizontal distance between the fixed horizontal wing and the stem end of the main cavity is 250-280mm, and the horizontal distance between the fixed horizontal wing and the tail end of the main cavity is 550-600 mm.

Preferably, the horizontal tail wing and the vertical tail wing adopt delta wings, the section shapes adopt NACA symmetrical wing shapes, and the outermost end of the horizontal tail wing is provided with a horizontal tail wing guide plate.

Preferably, the length of the inner side section airfoil of the horizontal tail wing is 70-80mm, the maximum thickness is 10-12mm, the length of the outermost side section airfoil is 30-40mm, and the maximum thickness is 4-5 mm; the length of the horizontal tail guide plate is 35-45mm, the width is 6-8mm, and the thickness is 2-2.5 mm;

the length of the inner side section airfoil of the vertical tail wing is 100-120mm, the maximum thickness is 15-18mm, the length of the outermost side section airfoil is 70-80mm, and the maximum thickness is 10-12 mm.

Preferably, the head and tail of the main cavity are in a Myring line shape; the main cavity has a width of 150-.

Preferably, the diameter of the main pipeline 10 is 50-60mm, the diameter of the secondary pipeline 12 is 40-50mm, the diameter of the sleeve 13 is 45-55mm, the diameter of the 4 branch pipes 16 is 30-35mm, and the diameter of the tail pipe 17 is 40-45 mm.

Preferably, the bottom surface of the cylindrical cavity 15 has a diameter of 90-100mm, a height of 70-80mm, and a thickness of the tube wall and the cylindrical cavity of 2-3 mm.

Preferably, the upper surface of the bow end of the main cavity body is provided with a dragging part, and the dragging part is provided with a dragging hole; the number of the towing holes is 4-7, the diameter is 8-10mm, and the distance is 15-20 mm; the diameter of the cable hole is 30-40 mm.

The utility model adopts the water spraying control to control the navigation state of the aircraft well no matter the towing speed is too high (the direction of the control force of the propeller is uncertain) or too low (the flow velocity on the surface of the flap is too low, the lift force is insufficient); the huge space of the main cavity can carry a large amount of monitoring instruments, and the gravity center can be reduced to adjust the floating center, so that the stability of the aircraft is improved.

Compared with the prior art, the utility model, have following advantage and beneficial effect:

(1) has wide application and multiple functions. The utility model relates to a multi freedom motion underwater vehicle of water spray control has realized dragging the self-propelled dual-purpose under the prerequisite that control mode is simple relatively, is dragging moreover unanimous basically with the control mode of self-propelled in-process, has saved and has dragged the trouble that brings with self-propelled in-process control mode difference. In addition, the two states of towing and self-propulsion are relatively simple to change, and the requirements of various detection tasks can be met by controlling the operation time of the submersible pump. Meanwhile, the huge volume of the main cavity can simultaneously and flexibly carry various different devices to complete different underwater detection tasks.

(2) The control mode is simple and convenient, and the control equipment is simple. The utility model relates to a water spray control multi freedom motion underwater vehicle passes through control step motor rotation, drives sleeve pipe and return bend rotation through gear, tooth's socket meshing transmission, makes the return bend at the spout of rotation in-process and the mouth of pipe of the ascending 4 tributary pipes of upper and lower left and right sides and tail pipe identical to the control water is from the direction blowout of the difference of upper surface, lower surface, left surface, right surface and rear surface.

(3) The control efficiency is high, and the mobility is strong. The utility model discloses control the outside water spray of equidirectional export and produce thrust, the underwater vehicle equidirectional deflection a small-angle of messenger, then the angle of attack that drives fixed horizontal wing or rudder formula main cavity body changes, produces great heaving force and changes bow power, makes the navigation ware realize the multi freedom motion. In the self-navigation process, the underwater vehicle is kept to spray water backwards to generate thrust to realize self-navigation, meanwhile, outlets in different directions are controlled to spray water outwards to generate thrust, so that the underwater vehicle deflects at a small angle in different directions, and then the underwater vehicle navigates along the deflected angle to realize multi-degree-of-freedom navigation in the self-navigation process. The underwater vehicle can move in multiple degrees of freedom by controlling water spraying to generate a small angle regardless of towing or self-navigation, so that the control efficiency is improved, and the maneuverability of the whole underwater vehicle is improved.

(4) The direction stability is good, and the autonomous stability is high. The utility model relates to a huge rudder formula main cavity body of multi freedom motion underwater vehicle of water spray control and than the stability of wide triangle-shaped fixed horizontal wing can be realized at the navigation in-process. The outer surface of the whole underwater vehicle is not provided with redundant control mechanisms and accessories, so that the uniformity of the surface flow field of the underwater vehicle can be ensured, and the stability in the navigation process can be ensured. Meanwhile, the main cavity has a flexible space in the vertical direction, and a heavy instrument or ballast can be added at the bottom, so that the gravity center is reduced, and the autonomous stability of the underwater vehicle is realized.

(5) The resistance is converted into power, the drag force is reduced, and the energy is saved. The utility model relates to a realized turning into main cavity body front end hydrostatic pressure to its afterbody blowout rivers kinetic energy favourable conversion. The utility model discloses a with rivers by main cavity body front end water inlet introduction water spray propulsion control system, through the immersible pump with higher speed, guide high-speed rivers from the delivery port blowout and produce the mode of thrust and manipulation power and reach the purpose that control underwater vehicle changes bow and heave. This steering force is generated in a manner that reduces drag resistance and drag instability of the underwater vehicle, and increases steering efficiency of the underwater vehicle.

Drawings

FIG. 1 is a schematic side view of a water jet control multi-degree of freedom moving underwater vehicle profile;

FIG. 2 is a schematic plan view of the configuration of a water jet control multi-degree of freedom moving underwater vehicle;

FIG. 3 is a schematic diagram of a front view of a shape structure of a water spray control multi-degree of freedom moving underwater vehicle;

FIG. 4 is a schematic side view of a waterjet propulsion control system for a waterjet controlled multiple degree of freedom moving underwater vehicle;

FIG. 5 is a schematic top view of a waterjet propulsion control system for a waterjet controlled multiple degree of freedom moving underwater vehicle;

FIG. 6 is a schematic diagram of a cylindrical cavity pipeline of a water jet propulsion control system of a water jet control multi-degree-of-freedom moving underwater vehicle;

the figures show that: the device comprises a fixed horizontal wing 1, a fixed horizontal wing guide plate 2, a vertical tail wing 3, a horizontal tail wing 4, a horizontal tail wing guide plate 5, a main cavity 6, a dragging part 7, a water inlet 8, a water outlet 9, a main pipeline 10, a submersible pump 11, an auxiliary pipeline 12, a sleeve 13, an elbow 14, a cylindrical cavity 15, a branch pipe 16, a tail pipe 17, a tooth socket 18, a gear 19 and a stepping motor 20.

Detailed Description

For better understanding of the present invention, the following description of the present invention is made with reference to the accompanying drawings, but the embodiments of the present invention are not limited thereto.

As shown in fig. 1-3, a water-jet controlled multi-degree-of-freedom moving underwater vehicle comprises a fixed horizontal wing 1, a fixed horizontal wing guide plate 2, a vertical tail wing 3, a horizontal tail wing 4, a horizontal tail wing guide plate 5, a main cavity 6 and a dragging part 7; the main cavity 6 is vertical rudder appearance structure, and the appearance of head and afterbody adopts the Myring is linear, and main cavity bow upper surface is equipped with towing part 7, is provided with the towing hole on the towing part, and the front end is equipped with the cable hole, and communication and power cable stretch out from the cable hole. Preferably, the number of the towing holes is 4-7, the diameter is 8-10mm, the distance is 15-20mm, and the diameter of the cable hole is 30-40 mm.

The top end of the bow part of the main cavity body 6 is provided with a water inlet 8, the upper surface, the lower surface, the left surface, the right surface and the rear surface of the tail part of the main cavity body are respectively provided with a water outlet 9, and a water jet propulsion control system is arranged in the main cavity body.

Two fixed horizontal wings 1 symmetrical arrangement are in 6 both sides of main cavity body, horizontal tail 4 and vertical tail 3 arrange the afterbody at main cavity body 6, two tails adopt the triangle wing equally, the section wing section adopts NACA symmetrical wing section, vertical tail 3 arranges in the middle of main cavity body afterbody, vertical tail 3's afterbody and main cavity body 6's afterbody are on same straight line, horizontal tail 4 arranges in vertical tail 3 upper end, two triangle horizontal tail 4 vertical tail 3 central lines on the symmetrical arrangement, horizontal tail 4 outermost ends are equipped with horizontal tail guide plate 5 and are imitated in order to increase the wing. Two fixed horizontal wings 1 are the triangle wing section, and the section wing section adopts NACA symmetry wing section, and two fixed horizontal wings 1 outermost ends are provided with fixed horizontal wing guide plate 2 and imitate in order to increase the wing.

As shown in fig. 4-6, the water jet propulsion control system mainly includes a main pipe 10, a submersible pump 11, a secondary pipe 12, a sleeve 13, an elbow pipe 14, a cylindrical cavity 15, a branch pipe 16, a tail pipe 17, a tooth space 18, a gear 19, and a stepping motor 20. One end of a main pipeline 10 of the water jet propulsion control system is connected with a water inlet 8 at the top end of a main cavity, the other end of the main pipeline is connected with a water pumping port of a submersible pump 11, a water outlet of the submersible pump 11 is connected with an auxiliary pipeline 12 arranged at the rear half part of the main cavity, the other end of the auxiliary pipeline 12 is wrapped by a sleeve 13, sealing treatment is adopted at a joint, a circle of tooth sockets 18 are arranged at the port position of the outer surface of the sleeve 13, the tooth sockets 18 are meshed with a gear 19, the gear 19 is connected with a stepping motor 20, the other end of the sleeve 13 is connected with a 90-degree bent pipe 14, the sleeve 13 and the bent pipe 14 extend into a cylindrical cavity 15 with 6 holes, the sleeve 13 and the bent pipe 14 extend into the cylindrical cavity 15 from holes at the bottom surface, the other bottom surface is sealed, the side surfaces of the cylindrical cavity 15 are respectively provided with a hole in the four directions, the other ends of the 4 branch flow tubes 16 are correspondingly connected with 4 water outlets 9 on the upper surface, the lower surface, the left surface, the right surface and the rear surface; a tail pipe 17 is arranged to extend into the cylindrical cavity 15 structure from the lower left, and the tail pipe 17 is bent to connect the other end with a water outlet 9 on the rear surface.

As shown in fig. 6, the internal pipe layout requirement of the cylindrical cavity 15 structure is as follows: the 90-degree elbow 14 rotates continuously in the nozzle direction under the gear meshing transmission of the stepping motor, and is sequentially matched with the four branch pipes 16 and the nozzles of the tail pipe 17 in the up-down, left-right directions in the rotating process, and in order to enable more water to flow into 5 branch pipes 16 after flowing out of the elbow 14, the diameter of the nozzle of each branch pipe 16 is set to be about 0.5mm-1mm larger than that of the nozzle of the elbow 14.

Water enters the main pipeline 10 from the water inlet 8, flow to the secondary pipeline 12 through the immersible pump 11 with higher speed, then the secondary pipeline 12 flows to the sleeve intraductally, spout from the return bend 14 that stretches into the cylinder type cavity 15, it is rotatory through controlling step motor 20, through gear 19, tooth's socket 18 meshing transmission drives sleeve pipe 13 and return bend 14 and rotates, make the spout of return bend 14 in the rotation process coincide with the mouth of pipe of 4 tributary pipes 16 and tail pipe 17 on the upper and lower left and right sides direction, thereby control water is from the upper surface, the lower surface, the left surface, the different direction blowout of right surface and back surface.

Preferably, in the water jet propulsion control system, the diameter of the main pipeline 10 is 50-60mm, the diameter of the secondary pipeline 12 is 40-50mm, the diameter of the casing pipe 13 is 45-55mm, the diameter of the 4 branch flow pipes 16 is 30-35mm, and the diameter of the tail pipe 17 is 40-45 mm.

Preferably, the bottom surface of the cylindrical cavity 15 has a diameter of 90-100mm, a height of 70-80mm, and a thickness of the tube wall and the cylindrical cavity is 2-3 mm.

Preferably, the main chamber 6 has a width of 150-. The fixed horizontal wing 1 adopts a triangular wing profile, the length of the wing profile of the inner side section is 250-300mm, the maximum thickness is 45-50mm, the length of the wing profile of the outer side section is 90-100mm, the maximum thickness is 25-30mm, the length of the guide plate 2 of the fixed horizontal wing is 280-320mm, the width is 50-55mm, the thickness is 2-2.5mm, the vertical distance between the fixed horizontal wing 1 and the bottom of the main cavity is 220-250mm, the vertical distance between the fixed horizontal wing and the top of the main cavity is 80-100mm, the horizontal distance between the fixed horizontal wing and the bow end of the main cavity is 250-280mm, and the horizontal distance between the fixed horizontal wing and the tail end of the main cavity is 550-600 mm. The vertical tail 3 adopts a triangular wing profile, the length of the wing profile with the inner side section is 100-120mm, the maximum thickness is 15-18mm, the length of the wing profile with the outermost side section is 70-80mm, and the maximum thickness is 10-12 mm. The horizontal tail 4 adopts a triangular wing profile, the length of the wing profile with the inner side section is 70-80mm, and the maximum thickness is 10-12 mm. The length of the wing profile of the outermost section is 30-40mm, and the maximum thickness is 4-5 mm; the length of the horizontal tail guide plate 5 is 35-45mm, the width is 6-8mm, and the thickness is 2-2.5 mm.

Specifically, in the towing process, when the underwater vehicle is going to generate heaving motion, the nozzle of the bent pipe 14 is controlled by rotating the stepping motor 20 to be matched with the pipe orifices of the two branch pipes 16 above or below, so that water flows out from the water outlet 9 on the upper surface or the lower surface, upward or downward thrust is generated at the tail of the underwater vehicle, the underwater vehicle is caused to generate forward inclination or stern inclination, the attack angle of the fixed horizontal wing 1 is changed, the fixed horizontal wing 1 is caused to generate thrust force or upward lift force, and the whole underwater vehicle is forced to sink or rise; when the underwater vehicle needs to generate fore turning motion, the nozzle of the stepping motor rotating control elbow is matched with the pipe orifices of the two branch pipes 16 on the left side or the right side, so that water flows out from the water outlet 9 on the left surface or the right surface, left or right thrust is generated at the tail of the underwater vehicle, the underwater vehicle generates fore shaking, the attack angle of the main cavity 6 is changed, the main cavity 6 generates fore turning force, and the underwater vehicle generates fore turning motion towards the right or the left.

Similarly, in the self-navigation process, the nozzle of the bent pipe 14 is controlled by rotating the stepping motor 20 to be matched with the pipe orifice of the tail pipe 17 at the lower left, the water outlet 9 at the rear surface sprays water backwards to generate thrust, so that the underwater vehicle navigates, when heave motion is to be generated, the nozzle of the bent pipe 14 is controlled by rotating the stepping motor 20 to be matched with the pipe orifices of the two branch pipes 16 at the upper side or the lower side, so that water flows out from the water outlet 9 at the upper surface or the lower surface, upward or downward thrust is generated at the tail part of the underwater vehicle, the underwater vehicle generates forward inclination or backward inclination, when the bent pipe 14 is rotated to a required angle, the nozzle of the tail pipe 17 at the lower left is matched with the nozzle of the tail pipe, the water outlet 9 at the rear surface sprays water backwards to generate thrust, and the underwater vehicle begins; when the underwater vehicle needs to generate fore-turning movement, the nozzle of the bent pipe 14 is controlled by rotating the stepping motor 20 to be matched with the pipe orifices of the two branch pipes 16 on the left side or the right side, so that water flows out from the water outlet 9 on the left surface or the right surface, the left thrust or the right thrust is generated at the tail part of the underwater vehicle, the underwater vehicle generates fore-turning, when the underwater vehicle turns to a required angle, the nozzle of the bent pipe 14 is rotated to be matched with the pipe orifice of the tail pipe 17 on the lower left side, the water outlet 9 on the rear surface sprays water backwards to generate thrust, and the underwater vehicle starts to sail along the turned angle, so that the fore-.

The utility model discloses no matter be the control under the drag state, still the control under the self-propelled state, all provide a little induced force through the water spray and produce the motion in each direction. Under the dragging state, the attack angle of the fixed horizontal wing and the main cavity body is changed by small induced force provided by water spraying to generate larger direction control force to complete the movement in each direction; in the self-propelled state, the direction of sailing is changed by small induced force provided by water jet, and the aircraft is advanced along the direction under the propulsion of the water jet to complete the movement in all directions.

The utility model relates to a water spray control multi freedom motion underwater vehicle's during operation:

according to different detection tasks, ocean monitoring equipment of corresponding types is arranged in a main cavity of the vertical rudder, and due to the fact that instruments of different types are different in weight and placement requirements of different instruments are different, the factors can affect the integral gravity center of the underwater vehicle. Some ballast can be properly added at the bottom of the main cavity, and the gravity center can be adjusted and lowered, so that the gravity center and the floating center of the underwater vehicle are in the position requirement of positive floating and autonomous stable function. After the towing device is adjusted, the towing cable is tied at the towing hole for trial towing, and the gravity center position is continuously adjusted according to towing conditions, so that the underwater vehicle can guarantee a good towing state.

In the towing process, when a heaving motion is needed, a switch of a submersible pump 11 is turned on, water flows in from a water inlet 8, is accelerated by the submersible pump 11, flows to a secondary pipeline 12, flows into an elbow pipe 14 in a cylindrical cavity 15 through a sleeve pipe 13, then a nozzle of the elbow pipe 14 is controlled by rotating a stepping motor 20 to be matched with pipe orifices of two branch pipes 16 above or below, so that water flows out from a water outlet 9 on the upper surface or the lower surface along the branch pipes above or below, an upward thrust or a downward thrust is generated at the tail part of an underwater vehicle, the underwater vehicle generates forward inclination or aft inclination, the attack angle of a fixed horizontal wing 1 is changed, the fixed horizontal wing 1 generates a larger force to sink or lift, and the whole underwater vehicle is forced to sink or rise; when the turning motion is needed, a switch of a submersible pump 11 is turned on, water flows in from a water inlet 8, is accelerated by the submersible pump 11, flows to an auxiliary pipeline 12, flows into a bent pipe 14 in a cylindrical cavity 15 through a sleeve 13, then the nozzle of the bent pipe 14 is controlled by rotating a stepping motor 20 to be matched with the pipe openings of two branch pipes 16 on the left side or the right side, so that water flows out from a water outlet 9 on the left surface or the right surface along the branch pipes on the left side or the right side, left thrust or right thrust is generated at the tail part of an underwater vehicle, the underwater vehicle generates heading, the attack angle of a main cavity 6 is changed, the main cavity 6 generates larger turning force, and the underwater vehicle generates turning motion towards the right or left.

In the self-navigation process, water flows in from a water inlet 8, is accelerated by a submersible pump 11, flows to an auxiliary pipeline 12, flows into an elbow 14 in a cylindrical cavity 15 through a sleeve 13, then a nozzle of the elbow is controlled by rotating a stepping motor 20 to be matched with a pipe orifice of a tail pipe 17 at the lower left, so that water flow is sprayed backwards from a rear surface water outlet 9 along the tail pipe 17 to generate thrust, and the underwater vehicle navigates. When heave movement is needed, the nozzle of the elbow 14 is controlled by rotating the stepping motor 20 to be matched with the pipe orifices of the two branch pipes 16 above or below, so that water flows out from the water outlet 9 on the upper surface or the lower surface, upward or downward thrust is generated at the tail part of an underwater vehicle, the underwater vehicle generates forward inclination or backward inclination, when the underwater vehicle rotates to a required angle, the nozzle of the elbow 14 is rotated to be matched with the pipe orifice of the tail pipe 17 below and left, the water outlet 9 on the rear surface sprays water backwards to generate thrust, and the underwater vehicle starts sailing along the rotated angle, so that heave movement is realized; when the heading is required to move, the nozzle of the elbow 14 is controlled by rotating the stepping motor 20 to be matched with the pipe orifices of the two branch pipes 16 on the left side or the right side, so that water flows out from the water outlet 9 on the left surface or the right surface, the left thrust or the right thrust is generated at the tail part of the underwater vehicle, the underwater vehicle generates heading, when the underwater vehicle rotates to a required angle, the nozzle of the elbow is rotated to be matched with the pipe orifice of the tail pipe 17 on the left lower side, the water outlet 9 on the rear surface sprays water backwards to generate the thrust, and the underwater vehicle starts sailing along the rotated angle, so that the heading movement is realized.

It should be noted that any changes or substitutions which are not imaginable by the inventive work are intended to be covered by the scope of protection of the present invention. Therefore, the protection scope of the present invention should be subject to the protection scope defined by the claims.

Claims (10)

1. A water spray control multi-degree-of-freedom motion underwater vehicle comprises a fixed horizontal wing, a vertical tail wing, a horizontal tail wing and a main cavity body; the main cavity body is in a vertical rudder shape structure, the shapes of the head part and the tail part are in a Myring line shape, the front end of the main cavity body is provided with a cable hole, and communication and power cables extend out of the cable hole;

the two fixed horizontal wings are symmetrically arranged at two sides of the main cavity body, the horizontal tail wing and the vertical tail wing are arranged at the tail part of the main cavity body, the vertical tail wing is arranged in the middle of the tail part of the main cavity body, the tail part of the vertical tail wing and the tail part of the main cavity body are on the same straight line, the horizontal tail wing is arranged at the upper end of the vertical tail wing, and the central lines of the two triangular horizontal tail wings and the vertical tail wing are symmetrically arranged;

the method is characterized in that: the top end of the bow part of the main cavity body is provided with a water inlet, the upper surface, the lower surface, the left surface, the right surface and the rear surface of the tail part of the main cavity body are respectively provided with a water outlet, and a water jet propulsion control system is arranged in the main cavity body;

the water jet propulsion control system mainly comprises a main pipeline, a submersible pump, an auxiliary pipeline, a sleeve, a bent pipe, a cylindrical cavity, a branch flow pipe, a tail pipe, a tooth socket, a gear and a stepping motor; one end of a main pipeline is connected with a water inlet at the top end of a main cavity, the other end of the main pipeline is connected with a water pumping port of a submersible pump, a water outlet of the submersible pump is connected with an auxiliary pipeline arranged at the rear half part of the main cavity, the other end of the auxiliary pipeline is wrapped by a sleeve, the joint is sealed, a circle of tooth grooves are arranged at the port of the outer surface of the sleeve, the tooth grooves are meshed with a gear, the gear is connected with a stepping motor, the other end of the sleeve is connected with a bent pipe, the sleeve and the bent pipe extend into a cylindrical cavity with 6 holes, the sleeve and the bent pipe extend into the cylindrical cavity from the holes at the bottom surface of the cylindrical cavity, the other bottom surface of the sleeve is sealed, the side surface of the cylindrical cavity is respectively provided with a hole in the four directions of up, down, left and right, 4 water outlets on the left surface, the right surface and the rear surface; a tail pipe extends into the cylindrical cavity from the left lower side, and the tail pipe is bent to connect the other end with a water outlet on the rear surface.

2. The water spray controlled multiple degree of freedom moving underwater vehicle as recited in claim 1, wherein the orifice diameter of the branch pipe is 0.5mm-1mm larger than the orifice diameter of the elbow pipe.

3. The water spray controlled multi-degree-of-freedom moving underwater vehicle as recited in claim 1, wherein the two fixed horizontal wings are triangular wing type, the cross section is of NACA symmetrical wing type, and the outermost ends of the two fixed horizontal wings are provided with fixed horizontal wing deflectors.

4. The underwater vehicle with water spraying control and multiple degrees of freedom motion as recited in claim 3, wherein the length of the profile of the inner side cross section of the fixed horizontal wing is 250-300mm, the maximum thickness is 45-50mm, the length of the profile of the outer side cross section is 90-100mm, and the maximum thickness is 25-30 mm; the length of the fixed horizontal wing guide plate is 280-320mm, the width is 50-55mm, and the thickness is 2-2.5 mm; the vertical distance between the fixed horizontal wing and the bottom of the main cavity is 220-250mm, the vertical distance between the fixed horizontal wing and the top of the main cavity is 80-100mm, the horizontal distance between the fixed horizontal wing and the stem end of the main cavity is 250-280mm, and the horizontal distance between the fixed horizontal wing and the tail end of the main cavity is 550-600 mm.

5. The water spray control multi-degree-of-freedom moving underwater vehicle as claimed in claim 1, wherein the horizontal tail and the vertical tail are triangular wings, the section shapes are NACA symmetrical wing profiles, and a horizontal tail guide plate is arranged at the outermost end of the horizontal tail.

6. The underwater vehicle with water spraying control and multiple degrees of freedom motion of claim 5 is characterized in that the length of the inner section airfoil of the horizontal tail wing is 70-80mm, the maximum thickness is 10-12mm, the length of the outermost section airfoil is 30-40mm, and the maximum thickness is 4-5 mm; the length of the horizontal tail guide plate is 35-45mm, the width is 6-8mm, and the thickness is 2-2.5 mm;

the length of the inner side section airfoil of the vertical tail wing is 100-120mm, the maximum thickness is 15-18mm, the length of the outermost side section airfoil is 70-80mm, and the maximum thickness is 10-12 mm.

7. The underwater vehicle with water spraying control and multiple degrees of freedom motion of claim 1 is characterized in that the head and tail of the main cavity are in a Myring line shape; the main cavity has a width of 150-.

8. The water-jet-controlled multi-degree-of-freedom moving underwater vehicle as recited in claim 1, wherein the diameter of the main pipeline (10) is 50-60mm, the diameter of the auxiliary pipeline (12) is 40-50mm, the diameter of the casing (13) is 45-55mm, the diameter of the 4 branch flow pipes (16) is 30-35mm, and the diameter of the tail pipe (17) is 40-45 mm.

9. The underwater vehicle with water spray control and multiple degrees of freedom motion as recited in claim 1, characterized in that the bottom diameter of the cylindrical cavity (15) is 90-100mm, the height is 70-80mm, and the thickness of the tube wall and the cylindrical cavity is 2-3 mm.

10. The underwater vehicle with water spray control and multiple degrees of freedom motion of claim 1 is characterized in that a towing part is arranged on the upper surface of the bow end of the main cavity, and towing holes are arranged on the towing part; the number of the towing holes is 4-7, the diameter is 8-10mm, and the distance is 15-20 mm; the diameter of the cable hole is 30-40 mm.

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