The present disclosure relates to the technical field of underwater robots, in particular to a wingless hydraulic extrusion spiral rotation and forward movement type intelligent unmanned underwater vehicle.
The underwater world contains a lot of energy and rich resources, which play an important role in human understanding of the world and social development. As an important means of exploring the underwater world, an intelligent underwater vehicle is an underwater vehicle that can be carried by an aircraft, a surface ship, a submarine, etc. The intelligent underwater vehicle has main functions of searching, rescuing and autonomous ocean exploration, and can also carry a detector, an underwater prefabricated weapon, a mine, etc., can independently complete a series of tasks. Autonomous underwater vehicles are currently widely valued by countries around the world, and are effective tools for human beings in the modern society to know the ocean and develop and utilize the ocean.
At present, most intelligent underwater vehicles use lead-acid batteries, alkaline batteries or lithium batteries for energy supply. Once the battery fails, the vehicle will not be able to operate normally. In addition, when a submersible executes an underwater task at high mobility, it often causes a decrease in the endurance, reduces the underwater working time, and affects the performance index of the submersible. In order to improve the stability of the autonomous underwater vehicle, implement the transformation of ability, achieve the purpose of autonomously generating power and operating independently, ensure normal operation, and achieve an effect of saving energy, it is necessary to design a novel intelligent unmanned autonomous underwater vehicle.
The technical problem to be solved in the present disclosure is to provide a wingless hydraulic extrusion spiral rotation and forward movement type intelligent unmanned underwater vehicle. The unmanned underwater vehicle can autonomously provide power for navigation, which greatly saves the energy, thereby the unmanned underwater vehicle can undertake tasks such as maritime patrol and reconnaissance and maritime relay communication.
In order to solve the above technical problems, the present disclosure adopts the following technical solutions:
A wingless hydraulic extrusion spiral rotation and forward movement type intelligent unmanned underwater vehicle includes a cabin body and a control module.
The cabin body includes a power reaction cabin and a power fuel storage cabin, and a power reaction cabin water supply device is fixedly arranged on the cabin body.
The power reaction cabin and the power fuel storage cabin are separated by a partition plate. Power fuel in the power fuel storage cabin may enter the power reaction cabin. A tail part of the power reaction cabin is provided with a jet forward propeller.
The control module is fixed on the cabin body.
At least two jet rotation propellers are arranged on the cabin body. A center axis of an outlet of each jet propeller and a center axis of the cabin body form an included angle of 10-40 degrees; the jet propeller includes a main propelling pipe, an auxiliary propelling pipe, and a jet magnification ring; and the jet magnification ring includes an outer ring and an inner ring.
In one implementation mode, a tail end of the main propelling pipe is provided with at least three auxiliary propelling pipes uniformly arranged on a circumference in an outwards diffusion manner, and an outlet of each auxiliary propelling pipe is led into the jet magnification ring.
In one implementation mode, the outlet of each auxiliary propelling pipe is bent, so that the direction of the outlet deviates from the center axis of the auxiliary propelling pipe by 40-90 degrees.
In one implementation mode, the power fuel storage cabin includes a power fuel extrusion hood and a power fuel outlet valve; a tail end of the power fuel extrusion hood is lined within the power fuel storage cabin and is freely slidable back and forth and sealable; the power fuel outlet valve is located at the tail part of the power fuel storage cabin, passes through the partition plate between the power reaction cabin and the power fuel storage cabin, and extends into the power reaction cabin; and power fuel is arranged in the power fuel storage cabin.
In one implementation mode, the power fuel outlet valve is a check valve.
In one implementation mode, the power fuel is a substance that can react with water and produce gas and/or energy.
In one implementation mode, the power fuel is gelatinous liquid formed by sodium metal particles or sodium metal powder and kerosene or other nonreactive oil substances. The power fuel in the power fuel storage cabin adopts the gelatinous liquid formed by sodium metal particles or sodium metal powder and kerosene or other nonreactive oil substances; the sodium metal particles or sodium metal powder is uniformly suspended in the above medium and are sprayed into the reaction cabin through the power fuel outlet valve at the rear part of the power fuel storage cabin to react with water to produce gas and/or energy that is used as movement energy of the underwater vehicle.
In one implementation mode, the power reaction cabin water supply device includes a water supply pump, a filter, and a water inlet check valve; the water supply pump is mounted in the power reaction cabin water supply device; the filter is mounted at the lower part of the power reaction cabin water supply device; and the water inlet check valve is used for connecting the power reaction cabin water supply device with the reaction cabin.
In one implementation mode, the control module includes an environmental sensor, a depth sensor, a temperature sensor, a controller, a main control board, an energy management board, a radio station component, a positioning module, an attitude sensor module, an electronic compass module, and a battery; and the environmental sensor, the depth sensor, the temperature sensor, the controller, the main control board, the energy management board, the radio station component, the positioning module, the attitude sensor module, the electronic compass module, and the battery are all arranged in the control module subassembly.
Any range recited herein includes any sub-range composed of end values and any numerical value between the end values and the end values or any numerical value between the end values.
Unless otherwise specified, each raw material in the present disclosure can be commercially obtained. Equipment used in the present disclosure can be performed with conventional equipment in the art or with reference to the prior art in the art.
Compared with the prior art, the present disclosure has the following beneficial effects:
The unmanned underwater vehicle can autonomously provide power to achieve spiral rotation type forward movement, which greatly saves the energy, thereby the unmanned underwater vehicle can undertake tasks such as maritime patrol and reconnaissance and maritime relay communication.
The specific implementation modes of the present disclosure are further described below in detail in combination with the accompanying drawings.
In order to illustrate the present disclosure more clearly, the present disclosure will be further described below with reference to the preferred embodiments. Those skilled in the art should understand that the content specifically described below is illustrative rather than restrictive, and should not limit the protection scope of the present disclosure.
It should be noted that when an element is referred to as being “fixed to” or “disposed on” another element, it can be directly on the other element or indirectly on the other element. When an element is referred to as being “connected to” another element, it can be directly connected to the other element or indirectly connected to the other element.
It should be understood that orientations or positional relationships indicated by the terms “length”, “width”, “upper”, “lower”, “front”, “rear”, “left”, “right”, “vertical”, “horizontal”, “top”, “bottom”, “inside”, “outside”, etc. are based on the orientations or positional relationships shown in the accompanying drawings, which are only for the convenience of describing the present disclosure and simplifying the description, instead of indicating or implying that devices or elements indicated must have particular orientations, and be constructed and operated in the particular orientations, so that these terms are not construed as limiting the present disclosure.
In addition, the terms “first” and “second” are used for descriptive purposes only and are not to be understood to indicate or imply relative importance or to imply the number of indicated technical features. Therefore, features defined by “first” and “second” can explicitly instruct or impliedly include one or more features. In the description of the present disclosure, unless expressly specified otherwise, the meaning of the “plurality” is two or more than two.
Referring to
A wingless hydraulic extrusion spiral rotation and forward movement type intelligent unmanned underwater vehicle includes a cabin body 100 and a control module 4. The cabin body 100 includes a power fuel storage cabin 1 and a power reaction cabin 2. A power reaction cabin water supply device 3 is fixedly arranged on the cabin body 100.
The power reaction cabin 2 and the power fuel storage cabin 1 are separated by a partition plate. The power reaction cabin 2 is located on the left side of the power fuel storage cabin 1. Power fuel in the power fuel storage cabin 1 may enter the power reaction cabin 2. A tail part of the power reaction cabin is provided with a jet forward propeller 21.
The control module 4 is fixed on the power fuel storage cabin 1.
The power reaction cabin water supply device 3 is fixed on the upper part of the power reaction cabin 2.
At least two jet rotation propellers 5 are arranged on the cabin body 100. A center axis of an outlet of each jet rotation propeller 5 and a center axis of the cabin body form an included angle of 10-40 degrees; the jet rotation propeller 5 includes a main propelling pipe 51, an auxiliary propelling pipe 52, and a jet magnification ring 53; and the jet magnification ring 53 includes an outer ring 531 and an inner ring 532, referring to
In the present disclosure, the center axis of an outlet of each jet rotation propeller 5 and the center axis of the cabin body form an included angle of 10-40 degrees, so that when jetted water applies a counter-acting force to the cabin body, the cabin body rotates step by step, and the vehicle can keep stable rotation and forward movement under the impact of seawater.
In some embodiments, referring to
Referring to
In some embodiments, referring to
In some preferable embodiments, the power fuel outlet valve 12 is a check valve.
In some embodiments, referring to
In some preferable embodiments, the power fuel is gelatinous liquid formed by sodium metal particles or sodium metal powder and kerosene or other nonreactive oil substances. The power fuel in the power fuel storage cabin adopts the gelatinous liquid formed by sodium metal particles or sodium metal powder and kerosene or other nonreactive oil substances; the sodium metal particles or sodium metal powder is uniformly suspended in the above medium and are sprayed into the reaction cabin through the power fuel outlet valve at the rear part of the power fuel storage cabin to react with water to produce gas and/or energy that is used as movement energy of the underwater vehicle.
The power fuel in the power fuel storage cabin 1 may enter the power reaction cabin 2 in one way and is mixed with the water in the power reaction cabin for reaction. Gas is released, and pressure is generated, so that a gas-water mixed solution is jetted to the outside through the jet rotation propeller 5, so as to push the vehicle to rotatably forward. By means of adjusting the direction and jet pressure of the jet rotation propeller 5, acceleration, deceleration, floating and sinking of the vehicle can be adjusted.
In some embodiments, referring to
In some embodiments, the control module 4 includes an environmental sensor, a depth sensor, a temperature sensor, a controller, a main control board, an energy management board, a radio station component, a positioning module, an attitude sensor module, an electronic compass module, and a lithium battery pack; and the environmental sensor, the depth sensor, the temperature sensor, the controller, the main control board, the energy management board, the radio station component, the positioning module, the attitude sensor module, the electronic compass module, and the lithium battery pack are all arranged in the control module subassembly.
The working principle of the wingless hydraulic extrusion spiral rotation and forward movement type intelligent unmanned underwater vehicle of the present disclosure is as follows:
Referring to
The above-mentioned process is repeated, so that the present disclosure can autonomously provide power for navigation, which greatly saves the energy, thereby the unmanned underwater vehicle can undertake tasks such as maritime patrol and reconnaissance and maritime relay communication.
The present disclosure combines the traditional concept with the self-sufficient design mode, so that the underwater vehicle has two modes, that is, it can be controlled manually or can generate kinetic energy independently for running. The underwater navigation can be performed like an unmanned surface ship, such as maritime patrol and reconnaissance, maritime relay communication, marine environment survey, polluted water monitoring, and other tasks. The underwater vehicle has strong environmental adaptability, better maneuverability and higher safety.
Apparently, the above-mentioned embodiments of the present disclosure are merely examples for illustrating the present disclosure, and are not intended to limit the implementation modes of the present disclosure. Those of ordinary skill in the art can further make other changes or modifications in different forms on the basis of the above-mentioned descriptions. It is not possible to give an exhaustive list of all implementation modes here. All obvious changes or modifications derived from the technical solutions of the present disclosure still fall within the protection scope of the present disclosure.