WO2022134468A1 - 一种泵喷矢量推进的水下航行器 - Google Patents

一种泵喷矢量推进的水下航行器 Download PDF

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Publication number
WO2022134468A1
WO2022134468A1 PCT/CN2021/096760 CN2021096760W WO2022134468A1 WO 2022134468 A1 WO2022134468 A1 WO 2022134468A1 CN 2021096760 W CN2021096760 W CN 2021096760W WO 2022134468 A1 WO2022134468 A1 WO 2022134468A1
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underwater vehicle
water outlet
power
pump
horizontal
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PCT/CN2021/096760
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English (en)
French (fr)
Inventor
李强
王凯甬
舒明瑞
李明阳
王经纬
郑修宇
张晓华
古锦韬
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清华大学深圳国际研究生院
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Publication of WO2022134468A1 publication Critical patent/WO2022134468A1/zh

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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
    • 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

Definitions

  • the invention relates to an underwater vehicle, in particular to a pump-jet vector propulsion underwater vehicle.
  • Underwater vehicles can navigate below the water surface and carry sensors, robotic arms and other tools to complete operations such as underwater observation, underwater exploration, detection, and even military offensive and defensive tasks.
  • common underwater vehicles include torpedo-type vehicles, underwater gliders, wave gliders, etc., among which the torpedo-type vehicles are the closest to the vehicle in the present invention.
  • the torpedo-type vehicle is generally equipped with one or more propellers on the fuselage, which can realize the three-dimensional motion of the vehicle underwater; there are also torpedo-type vehicles that use the main propeller and the rudder to realize the underwater vehicle.
  • the underwater glider does not use a propeller, it changes the balance of its own buoyancy and gravity through the change of its own oil bag, and uses the component force when the fuselage wing rises and falls in the sea to drive forward; the wave glider uses the The wave energy makes the vehicle itself move up and down in a small range under the action of waves, and is driven forward by the component force of the underwater part of the blade when it rises and falls in the sea.
  • the traditional propeller-driven aircraft is prone to cavitation during propulsion, the power is not strong enough, the maneuverability is weak, and the noise during operation is relatively large.
  • the main purpose of the present invention is to overcome the deficiencies of the above-mentioned background technology, and to provide a pump-jet vector propulsion underwater vehicle.
  • the present invention adopts the following technical solutions:
  • a pump-jet vector propulsion underwater vehicle comprising a central power pump, a plurality of water outlets arranged on a set orientation of the underwater vehicle, a power valve matched with each water outlet, and the central power pump A duct corresponding to each water outlet, the central power pump pumps water from the outside and sends it to the plurality of water outlets, by selectively controlling the opening and closing of the power valve of each water outlet, so that the water follows the set orientation The water is sprayed out from the corresponding water outlet, thereby controlling the navigation and attitude of the underwater vehicle.
  • the power valve is a power valve with an adjustable opening degree, and the flow rate of the corresponding water outlet is controlled by controlling the opening degree of the corresponding power valve.
  • the plurality of water outlets include horizontal water outlets and vertical water outlets.
  • the orientation of the horizontal water outlet is perpendicular to the horizontal advancing direction of the underwater vehicle.
  • the horizontal water outlet includes a horizontal water outlet provided at the front power section of the underwater vehicle, and a horizontal water outlet at the rear power section of the underwater vehicle.
  • the vertical water outlet includes a vertical water outlet provided at the front power section of the underwater vehicle, and a vertical water outlet at the rear power section of the underwater vehicle.
  • the horizontal water outlet includes a horizontal water outlet arranged at the front power section of the underwater vehicle, and a horizontal water outlet at the rear power section of the underwater vehicle, and the vertical water outlet includes a horizontal water outlet arranged at the rear power section of the underwater vehicle.
  • It also includes a main water outlet provided at the stern portion of the underwater vehicle, and the main water outlet is oriented opposite to the horizontal advancing direction of the underwater vehicle.
  • the power valve includes a solenoid valve.
  • the underwater vehicle of the present invention can realize vector propulsion during sailing, can realize the adjustment of pitch angle and heading angle, and can also realize movement in horizontal and vertical directions.
  • the present invention replaces the propeller propeller with the pump jet propeller, so that the underwater vehicle has lower noise, lower vibration, stronger power and higher energy utilization rate when sailing underwater.
  • the layout of multiple pump jet propulsion outlets makes the attitude change of the entire vehicle more flexible and has the effect of vector propulsion.
  • the present invention can concentrate all the propulsion power on the aircraft to output in a single degree of freedom, which can greatly increase the maneuvering performance.
  • the thrusters are structurally simpler and have improved reliability.
  • FIG. 1 is a schematic structural diagram of an underwater vehicle according to an embodiment of the present invention.
  • connection can be used for fixing or for coupling or communication.
  • first and second are only used for descriptive purposes, and should not be construed as indicating or implying relative importance or implying the number of indicated technical features. Thus, a feature defined as “first”, “second” may expressly or implicitly include one or more of that feature. In the description of the embodiments of the present invention, “plurality” means two or more, unless otherwise expressly and specifically defined.
  • a pump-jet vector propulsion underwater vehicle includes a central power pump 5, a plurality of water outlets 2, 8 arranged on the set orientation of the underwater vehicle, and The power valve (such as the solenoid valve 3) matched with each water outlet 2, 8 and the duct 6 correspondingly communicated with the central power pump 5 and each water outlet 2, 8, the central power pump 5 pumps water from the outside and sends To the plurality of water outlets 2, 8, by selectively controlling the opening and closing of the power valve of each water outlet, water is sprayed out from the corresponding water outlets 2, 8 according to the set orientation, thereby controlling the water outlet. Navigation and attitude of underwater vehicle.
  • the power valve such as the solenoid valve 3
  • the power valve is a power valve with an adjustable opening, and the flow of the corresponding water outlet 2 and 8 is controlled by controlling the opening of the corresponding power valve.
  • the plurality of water outlets include horizontal water outlets and vertical water outlets.
  • the orientation of the horizontal water outlet is perpendicular to the horizontal advancing direction of the underwater vehicle. It should be understood that it is not necessary to make the orientation of the horizontal water outlet perpendicular to the horizontal advancing direction of the underwater vehicle, and the two can also be other included angles, and the horizontal water outlet can also achieve the goal of underwater navigation.
  • the device exerts a lateral thrust.
  • the horizontal water outlet includes a horizontal water outlet provided at the front power section of the underwater vehicle, and a horizontal water outlet at the rear power section of the underwater vehicle.
  • the vertical water outlet includes a vertical water outlet provided at the front power section of the underwater vehicle, and a vertical water outlet at the rear power section of the underwater vehicle .
  • the horizontal water outlet includes a horizontal water outlet provided in the front power section of the underwater vehicle, and a horizontal water outlet in the rear power section of the underwater vehicle, and at the same time,
  • the vertical water outlet includes a vertical water outlet provided at the front power section of the underwater vehicle, and a vertical water outlet at the rear power section of the underwater vehicle.
  • the underwater vehicle further comprises a main water outlet (8) arranged at the stern of the underwater vehicle, and the main water outlet is oriented towards the horizontal advancing direction of the underwater vehicle on the contrary.
  • the embodiment of the present invention is based on the underwater vehicle propelled by the pump-jet vector, through the central power pump and the outlet set in a plurality of different directions.
  • the combined propulsion of the nozzle to realize the vector propulsion of the whole machine has many advantages.
  • the aircraft using the pump-jet vector propulsion has high propulsion efficiency, low radiation noise and high critical speed, and the pump-jet propulsion can be better integrated with the fuselage of the aircraft.
  • the degree of chemical transformation is high, and multiple pump nozzles can be arranged on one aircraft, with better flexibility and maneuverability, and the attitude of the aircraft can be controlled more conveniently and stably.
  • the propulsion power is concentrated in a single degree of freedom for output, which can greatly increase the maneuvering performance, and is simpler in structure than a vector thruster that changes the direction of the nozzle, and improves reliability.
  • a pump-jet vector propulsion underwater vehicle includes a central power pump 5, a plurality of water outlets 2, 8, etc., as well as a solenoid valve 3 matched with the water outlet and a corresponding duct 6 connected to the water outlet, as well as the vehicle.
  • Main body 4 bow part 1, stern part 7.
  • the embodiment of the present invention takes a central power pump 5 and five water outlets 2 as an example, and the structural composition includes a vehicle body 4, a central pump 5, five water outlets 2, five underwater solenoid valves 3 and corresponding
  • the connecting duct 6, the front power section is provided with a vertical water outlet and a horizontal water outlet, and the rear power section is also provided with a vertical water outlet and a horizontal water outlet, and at the stern of the aircraft, there is a Main outlet 8.
  • the five underwater solenoid valves 3 are respectively used to control the opening and closing and the thrust of the five pump-jet thrusters.
  • the water can be jetted out from the corresponding water outlets 2 and 8 according to the set orientation, thereby controlling the navigation of the underwater vehicle. and attitude.
  • the flow rate of the water outlet can be controlled by controlling the opening degree of the corresponding solenoid valve 6, so as to control the navigation and attitude of the aircraft more flexibly.
  • the pitch angle attitude of the aircraft can be changed, so as to realize up-floating and diving; Turn right and turn around; when the vertical water outlets of the front and rear power sections work at the same time, it can move on the vertical plane; when the side water outlets of the front and rear power sections work at the same time, it can move on the horizontal plane; the main water outlet at the stern controls the craft 's speed.
  • the Background of the Invention section may contain background information about the problem or environment of the invention and is not necessarily a description of the prior art. Therefore, what is contained in the Background section is not an admission of prior art by the applicant.

Abstract

一种泵喷矢量推进的水下航行器，包括中心动力泵、布置在水下航行器的设定方位上的多个出水口、与各出水口相配合的动力阀以及与所述中心动力泵和各出水口相应连通的涵道，所述中心动力泵从外部抽水并送到所述多个出水口，通过选择性地控制各出水口的动力阀的打开和关闭，使水按照设定方位从相应的出水口喷流出去，由此控制所述水下航行器的航行和姿态。本发明的水下航行器在水下航行时，噪音、振动低，动力更加强劲，能量利用率更高，同时多个泵喷推进器出口的布局，使得整个航行器的姿态变化更加灵活，具有矢量推进的效果。将推进功率集中在单一自由度上输出，可以大幅增加了机动性能，且比传统的矢量推进器结构上更加简单，并提高了可靠性。

Description

一种泵喷矢量推进的水下航行器 技术领域
本发明涉及水下航行器，特别是涉及一种泵喷矢量推进的水下航行器。
背景技术
水下航行器能够在水面以下航行并可携带传感器、机械臂等工具，完成水下观测、水下勘探、侦测甚至是军事上的进攻防守等作业任务。
目前，常见的水下航行器有鱼雷型航行器、水下滑翔机、波浪滑翔机等，其中鱼雷型航行器与本发明中的航行器最为接近。鱼雷型航行器一般在机身上布置有一台或多台螺旋桨推进器，可实现航行器在水下的三维运动；也有鱼雷型航行器通过主螺旋桨和舵片配合使用来实现航行器在水下的三维运动；水下滑翔机不采用螺旋桨推进器，其通过自身携带油囊的变化来改变自身浮力重力的平衡，利用机身机翼在海水中升降时的分力来驱动前进；波浪滑翔机通过利用波浪能，使航行器本身在波浪的作用下，上下小幅度运动，通过水下部分的桨叶在海水中升降时的分力来驱动前进。传统采用螺旋桨推进的航行器在推进时容易产生空泡、动力不够强劲、机动性能较弱、运行时噪音较大等缺点。
需要说明的是，在上述背景技术部分公开的信息仅用于对本申请的背景的理解，因此可以包括不构成对本领域普通技术人员已知的现有技术的信息。
发明内容
本发明的主要目的在于克服上述背景技术的不足，提供一种泵喷矢量推进的水下航行器。
为实现上述目的，本发明采用以下技术方案：
一种泵喷矢量推进的水下航行器，包括中心动力泵、布置在水下航行器的设定方位上的多个出水口、与各出水口相配合的动力阀以及与所述中心动力泵和各出水口相应连通的涵道，所述中心动力泵从外部抽水并送到所述多个出水口，通过选择性地控制各出水口的动力阀的打开和关闭，使水按照设定方位从相应的出水口喷流出去，由此控制所述水下航行器的航 行和姿态。
进一步地：
所述动力阀为开度可调的动力阀，通过控制相应动力阀的开度大小来控制相应出水口的流量。
所述多个出水口包括水平出水口和竖直出水口。
所述水平出水口的朝向与所述水下航行器的水平前进方向相垂直。
所述水平出水口包括设置在所述水下航行器的前动力段的水平出水口，以及在所述水下航行器的后动力段的水平出水口。
所述竖直出水口包括设置在所述水下航行器的前动力段的竖直出水口，以及在所述水下航行器的后动力段的竖直出水口。
所述水平出水口包括设置在所述水下航行器的前动力段的水平出水口，以及在所述水下航行器的后动力段的水平出水口，所述竖直出水口包括设置在所述水下航行器的前动力段的竖直出水口，以及在所述水下航行器的后动力段的竖直出水口。
还包括设置在所述水下航行器的艉部的主出水口，所述主出水口的朝向与所述水下航行器的水平前进方向相反。
所述动力阀包括电磁阀。
本发明具有如下有益效果：
本发明的水下航行器在航行时能够实现矢量的推进，可实现俯仰角、航向角的调整，也可以实现水平方向和竖直方向的移动。与传统的螺旋桨推进的航行器相比，本发明通过泵喷推进器代替螺旋桨推进器，使得水下航行器在水下航行时，更加低噪音、低振动，动力更加强劲，能量利用率更高，同时多个泵喷推进器出口的布局，使得整个航行器的姿态变化更加灵活，具有矢量推进的效果。不同于通过改变喷口方向向不同方向偏转以产生不同方向推力的矢量推进器，本发明可将航行器上所有推进功率集中在单一自由度上输出，可以大幅增加机动性能，本发明比传统的矢量推进器结构上更加简单，并提高了可靠性。
附图说明
图1为本发明一种实施例的水下航行器的结构示意图。
具体实施方式
以下对本发明的实施方式作详细说明。应该强调的是，下述说明仅仅是示例性的，而不是为了限制本发明的范围及其应用。
需要说明的是，当元件被称为“固定于”或“设置于”另一个元件， 它可以直接在另一个元件上或者间接在该另一个元件上。当一个元件被称为是“连接于”另一个元件，它可以是直接连接到另一个元件或间接连接至该另一个元件上。另外，连接既可以是用于固定作用也可以是用于耦合或连通作用。
需要理解的是，术语“长度”、“宽度”、“上”、“下”、“前”、“后”、“左”、“右”、“竖直”、“水平”、“顶”、“底”“内”、“外”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本发明实施例和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本发明的限制。
此外，术语“第一”、“第二”仅用于描述目的，而不能理解为指示或暗示相对重要性或者隐含指明所指示的技术特征的数量。由此，限定有“第一”、“第二”的特征可以明示或者隐含地包括一个或者更多该特征。在本发明实施例的描述中，“多个”的含义是两个或两个以上，除非另有明确具体的限定。
参阅图1，在一种实施例中，一种泵喷矢量推进的水下航行器，包括中心动力泵5、布置在水下航行器的设定方位上的多个出水口2、8、与各出水口2、8相配合的动力阀(如电磁阀3)以及与所述中心动力泵5和各出水口2、8相应连通的涵道6，所述中心动力泵5从外部抽水并送到所述多个出水口2、8，通过选择性地控制各出水口的动力阀的打开和关闭，使水按照设定方位从相应的出水口2、8喷流出去，由此控制所述水下航行器的航行和姿态。
在优选的实施例中，所述动力阀为开度可调的动力阀，通过控制相应动力阀的开度大小来控制相应出水口2、8的流量。
在优选的实施例中，所述多个出水口包括水平出水口和竖直出水口。
在优选的实施例中，所述水平出水口的朝向与所述水下航行器的水平前进方向相垂直。应理解，使所述水平出水口的朝向与所述水下航行器的水平前进方向相垂直并不是必须的，两者也可以是其他夹角，所述水平出水口也能达到对水下航行器施加侧向推动力的作用。
在一些优选的实施例中，所述水平出水口包括设置在所述水下航行器的前动力段的水平出水口，以及在所述水下航行器的后动力段的水平出水口。
在一些优选的实施例中，所述竖直出水口包括设置在所述水下航行器 的前动力段的竖直出水口，以及在所述水下航行器的后动力段的竖直出水口。
在更优选的实施例中，所述水平出水口包括设置在所述水下航行器的前动力段的水平出水口，以及在所述水下航行器的后动力段的水平出水口，同时，所述竖直出水口包括设置在所述水下航行器的前动力段的竖直出水口，以及在所述水下航行器的后动力段的竖直出水口。
在优选的实施例中，水下航行器还包括设置在所述水下航行器的艉部的主出水口(8)，所述主出水口的朝向与所述水下航行器的水平前进方向相反。
不同于通过改变喷口方向，向不同方向偏转以产生不同方向的推力的矢量推进器，本发明实施例基于泵喷矢量推进的水下航行器，通过中心动力泵和设置在多个不同方位的出水口组合推进来实现全机矢量推进，具有许多优势。应用泵喷矢量推进的航行器相较于使用普通螺旋桨推进器的航行器，推进效率高，辐射噪音低，临界航速高，而且泵喷推进能够与航行器的机身更好地结合起来，一体化程度较高，在一个航行器上能够布置多个泵喷出水口，灵活机动性能更好，更方便稳定地控制航行器的姿态。本发明实施例将推进功率集中在单一自由度上输出，可以大幅增加了机动性能，且比改变喷口方向的矢量推进器结构上更加简单，并提高了可靠性。
以下进一步举例描述本发明具体实施例。
一种泵喷矢量推进的水下航行器在结构组成上包含中心动力泵5、多个出水口2、8等以及与出水口相匹配的电磁阀3和相应连通的涵道6，以及航行器本体4、艏部1、艉部7。本发明的实施例以一个中心动力泵5和五个出水口2为例，在结构组成上包含航行器本体4、一个中心泵5、五个出水口2、五个水下电磁阀3和相应的连接涵道6，其中前动力段设置有一个竖直出水口和一个水平出水口，后动力段也设置有一个竖直出水口和一个水平出水口，在航行器的艉部，设置有一个主出水口8。五个水下电磁阀3分别用于控制五个泵喷推进器的开合和推力大小。在其工作时，通过选择性地控制各出水口的电磁阀的打开和关闭，使水按照设定方位从相应的出水口2、8喷流出去，由此控制所述水下航行器的航行和姿态。进一步地，可通过控制相应的电磁阀6的开度大小，来控制出水口的流量，从而更灵活地控制航行器的航行和姿态。前动力段的竖直出水口工作时，能够改变航行器的俯仰角姿态，从而实现上浮下潜；前动力段的水平出水口工 作时，能够改变航行器的航向角姿态，从而实现左转、右转和掉头；前后动力段的竖直出水口同时工作时，能够实现竖直面上移动；前后动力段的侧面出水口同时工作时，能够实现水平面上移动；艉部主出水口控制航行器的航速。
本发明的背景部分可以包含关于本发明的问题或环境的背景信息，而不一定是描述现有技术。因此，在背景技术部分中包含的内容并不是申请人对现有技术的承认。
以上内容是结合具体/优选的实施方式对本发明所作的进一步详细说明，不能认定本发明的具体实施只局限于这些说明。对于本发明所属技术领域的普通技术人员来说，在不脱离本发明构思的前提下，其还可以对这些已描述的实施方式做出若干替代或变型，而这些替代或变型方式都应当视为属于本发明的保护范围。在本说明书的描述中，参考术语“一种实施例”、“一些实施例”、“优选实施例”、“示例”、“具体示例”、或“一些示例”等的描述意指结合该实施例或示例描述的具体特征、结构、材料或者特点包含于本发明的至少一个实施例或示例中。在本说明书中，对上述术语的示意性表述不必须针对的是相同的实施例或示例。而且，描述的具体特征、结构、材料或者特点可以在任一个或多个实施例或示例中以合适的方式结合。在不相互矛盾的情况下，本领域的技术人员可以将本说明书中描述的不同实施例或示例以及不同实施例或示例的特征进行结合和组合。尽管已经详细描述了本发明的实施例及其优点，但应当理解，在不脱离专利申请的保护范围的情况下，可以在本文中进行各种改变、替换和变更。

Claims (10)

  1. 一种泵喷矢量推进的水下航行器，其特征在于，包括中心动力泵、布置在水下航行器的设定方位上的多个出水口、与各出水口相配合的动力阀以及与所述中心动力泵和各出水口相应连通的涵道，所述中心动力泵从外部抽水并送到所述多个出水口，通过选择性地控制各出水口的动力阀的打开和关闭，使水按照设定方位从相应的出水口喷流出去，由此控制所述水下航行器的航行和姿态。
  2. 如权利要求1所述的水下航行器，其特征在于，所述动力阀为开度可调的动力阀，通过控制相应动力阀的开度大小来控制相应出水口的流量。
  3. 如权利要求1或2所述的水下航行器，其特征在于，所述多个出水口包括水平出水口和竖直出水口。
  4. 如权利要求3所述的水下航行器，其特征在于，所述水平出水口的朝向与所述水下航行器的水平前进方向相垂直。
  5. 如权利要求3所述的水下航行器，其特征在于，所述水平出水口包括设置在所述水下航行器的前动力段的水平出水口，以及在所述水下航行器的后动力段的水平出水口。
  6. 如权利要求3所述的水下航行器，其特征在于，所述竖直出水口包括设置在所述水下航行器的前动力段的竖直出水口，以及在所述水下航行器的后动力段的竖直出水口。
  7. 如权利要求3所述的水下航行器，其特征在于，所述水平出水口包括设置在所述水下航行器的前动力段的水平出水口，以及在所述水下航行器的后动力段的水平出水口，且所述竖直出水口包括设置在所述水下航行器的前动力段的竖直出水口，以及在所述水下航行器的后动力段的竖直出水口。
  8. 如权利要求3所述的水下航行器，其特征在于，还包括设置在所述水下航行器的艉部的主出水口，所述主出水口的朝向与所述水下航行器的水平前进方向相反。
  9. 如权利要求7所述的水下航行器，其特征在于，还包括设置在所述水下航行器的艉部的主出水口，所述主出水口的朝向与所述水下航行器的水平前进方向相反。
  10. 如权利要求1或2所述的水下航行器，其特征在于，所述动力阀 包括电磁阀。
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