CN108545162A - Underwater spectroradiometer based on water jet driving - Google Patents

Abstract

The invention belongs to the field of robots, and specifically relates to an underwater gliding robot driven by water jets, comprising a fuselage shell, a left horizontal wing, a right horizontal wing, an upper vertical wing and a lower vertical wing; The spherical surface of the mouth, the middle part is a cylindrical surface, the rear part is a conical surface whose radius decreases from front to rear, and the tail end is a spherical surface; the left horizontal wing and the right horizontal wing are respectively arranged longitudinally and horizontally on the left and right sides of the middle part of the fuselage shell ; The upper vertical wing and the lower vertical wing are vertically installed on the upper and lower sides of the rear part of the fuselage respectively; The rear ends of the wing and the lower vertical wing are respectively provided with pitch nozzles. The invention has the advantages of scientific design, simple structure, simple control, good maneuverability, reliable use, high energy consumption efficiency, and can be widely used in the fields of underwater detection and carrying.

Description

Underwater gliding robot driven by water jet

technical field

The invention belongs to the field of robots, and in particular relates to an underwater gliding robot driven by water jets.

Background technique

The underwater gliding robot is a new type of underwater vehicle driven by net buoyancy and hydrodynamic force. It has the advantages of long underwater operation time, long cruising distance, mobility, energy consumption, low operating cost, and low dependence on the mother ship. It has been widely used in the field of ocean detection and observation.

At present, the drive of underwater gliding robots is generally driven by propellers. This driving method has a large number of power configurations, heavy weight, and high energy consumption. Each power device requires a high-strength dynamic seal and is easily disturbed by underwater organisms.

Contents of the invention

The purpose of the present invention is to overcome the defects in the prior art and provide an underwater gliding robot driven by water jets.

In order to achieve the above object, the present invention adopts the following technical solutions:

An underwater gliding robot driven by water jets, comprising a fuselage shell, a left horizontal wing, a right horizontal wing, an upper vertical wing, and a lower vertical wing; the front end of the fuselage shell is a spherical surface with a suction nozzle in the center, and the middle part It is a cylindrical surface, the rear part is a conical surface whose radius decreases from front to rear, and the tail end is a spherical surface; the left horizontal wing and the right horizontal wing are respectively horizontally arranged on the left and right sides of the middle part of the fuselage shell along the longitudinal direction. side; the upper vertical wing and the lower vertical wing are respectively vertically installed on the upper and lower sides of the rear part of the fuselage; There are driving nozzles and turning nozzles; the rear ends of the upper vertical wing and the lower vertical wing are respectively provided with pitching nozzles.

The jetting directions of the driving nozzle, the turning nozzle and the pitching nozzle are all along the axial direction of the fuselage shell and inclined towards the inside of the fuselage shell.

Described left horizontal wing, right horizontal wing, upper vertical wing and lower vertical wing are rhombus.

The suction nozzle is connected with the water pump arranged in the fuselage shell; the water pump is respectively connected with the gliding drive proportional reversing valve, the left and right steering proportional reversing valve, and the pitch steering proportional reversing valve; The gliding drive proportional reversing valves are respectively connected to the driving nozzles arranged on the left horizontal wing and the right horizontal wing through check valves; The steering nozzles on the left horizontal wing and the right horizontal wing are connected; the pitch steering proportional reversing valve is respectively arranged on the upper vertical wing and the lower vertical wing through a one-way valve The pitch nozzle connection.

The fuselage shell, left horizontal wing, right horizontal wing, upper vertical wing, and lower vertical wing are integrally sealed shells; the overall weight of the underwater gliding robot is greater than its diving buoyancy, and its center of gravity coincides with the center of buoyancy.

Compared with prior art, the beneficial effect of the present invention is:

The present invention uses water jet as the drive and steering of the gliding robot, which has low energy consumption and simple control; the casing is an integral sealing device, and the power nozzle and suction nozzle are all statically sealed, with good sealing performance and low sealing cost; the driving part has no propeller and With the rotatable rudder surface, during the operation of the whole machine, all the peripheral parts of the shell remain relatively static, and the biological environment in the water area has little impact on its operation. The invention has the advantages of scientific design, simple structure, simple control, good maneuverability, reliable use, high energy consumption efficiency, and can be widely used in the fields of underwater detection and carrying.

Description of drawings

Figure 1 is a schematic diagram of an underwater gliding robot driven by water jets.

Fig. 2 is a schematic diagram of the water jet drive system of the underwater gliding machine based on the water jet drive.

In the figure, 1. fuselage shell; 2. left horizontal wing; 3. right horizontal wing; 4. upper vertical wing; 5. lower vertical wing; 6. suction nozzle; 7. gliding drive nozzle; 8. right steering nozzle; 9. Left steering nozzle; 10. Downward nozzle; 11. Upward nozzle; 12~17. One-way valve; 18. Left and right steering proportional reversing valve; 19. Gliding drive proportional reversing valve; 20. Pitching steering proportional reversing valve Directional valve; 21 water pumps.

Detailed ways

In order to enable those skilled in the art to better understand the technical solutions of the present invention, the present invention will be further described in detail below in conjunction with the accompanying drawings and preferred embodiments.

Fig. 1 shows a kind of underwater gliding robot driven by water jet, comprising a fuselage shell 1, a left horizontal wing 2, a right horizontal wing 3, an upper vertical wing 4 and a lower vertical wing 5; the front end of the fuselage shell is A spherical surface with a suction nozzle 6 in the center, a cylindrical surface in the middle, a conical surface with a decreasing radius from the front to the rear at the rear, and a spherical surface at the tail end; the left horizontal wing and the right horizontal wing are respectively horizontally arranged on the The left and right sides of the middle part of the fuselage shell; the upper vertical wing and the lower vertical wing are respectively vertically installed on the upper and lower sides of the rear part of the fuselage shell; the left horizontal wing and The rear ends of the right and right horizontal wings are respectively provided with driving nozzles 7 and steering nozzles from inside to outside; wherein the left horizontal wing corresponds to the right turning nozzle 8, and wherein the right horizontal wing corresponds to the left turning nozzle 9; the upper vertical wing and the lower vertical wing The rear ends are respectively provided with pitching nozzles, wherein the upper vertical wing corresponds to the downward pitching nozzle 10 , and the lower vertical wing corresponds to the upward pitching nozzle 11 .

The jetting directions of the driving nozzle, the turning nozzle and the pitching nozzle are all along the axial direction of the fuselage shell and inclined towards the inside of the fuselage shell. Described left horizontal wing, right horizontal wing, upper vertical wing and lower vertical wing are rhombus.

The suction nozzle is connected with the water pump 21 arranged in the fuselage shell; the water pump is respectively connected with the gliding drive proportional reversing valve 19, the left and right steering proportional reversing valve 18, and the pitch steering proportional reversing valve 20 The gliding drive proportional reversing valve is connected with the drive nozzle 7 arranged on the left horizontal wing and the right horizontal wing through a check valve respectively; The direction valve is connected with the right turning nozzle 8 arranged on the left horizontal wing and the left turning nozzle 9 arranged on the right horizontal wing; The downward-pitching nozzle 10 of the above-mentioned upper vertical wing and the upward-pitching nozzle 11 on the described lower vertical wing are connected. The fuselage shell, the left horizontal wing, the right horizontal wing, the upper vertical wing, and the lower vertical wing are an integral sealed shell; the overall weight of the underwater gliding robot is greater than its diving buoyancy, and its center of gravity coincides with the center of buoyancy.

Install driving nozzle 7, right turning nozzle 8, left turning nozzle 9 and corresponding one-way valves 14, 15, 12, 13 at the rear end of left horizontal wing and right horizontal wing; The downward nozzle 10, the upward nozzle 11 and the corresponding one-way valves 16, 17, and the reserved pipelines are connected to the one-way valve interfaces of each nozzle. Water pump 21, left and right steering proportional reversing valve 18, gliding drive proportional reversing valve 19 and pitch steering proportional reversing valve 20 are packed into the fuselage shell. According to Fig. 2, connect the suction nozzle 6 and the water inlet of the water pump 21, connect the water outlet of the water pump 21 and the left and right steering proportional reversing valve 18, the gliding drive proportional reversing valve 19 and the pipeline of the pitch steering proportional reversing valve 20; The reserved pipelines on 14 and 15 are connected to the gliding drive proportional reversing valve 19, the reserved pipelines on the check valves 12 and 13 are connected to the left and right steering proportional reversing valve 18, and the upper and lower check valves 16 and 17 are The reserved pipeline is connected to the pitch steering proportional reversing valve 20. Install the left horizontal wing, right horizontal wing, upper vertical wing, and lower vertical wing on the fuselage shell, and balance the weight of the underwater gliding robot so that its weight is slightly greater than its diving buoyancy, and the center of gravity coincides with the position of the center of buoyancy. The overall housing is sealed.

During use, put the underwater glider into the water, open the gliding drive proportional reversing valve 19, that is, the electromagnet 3DT is energized, the left and right drive nozzles 7 spray water, and the underwater gliding robot glides forward; open the left and right steering proportional reversing valve 18 Turn, that is, the electromagnet 1DT is energized, the right steering nozzle 8 sprays water, and the glider turns right; the left and right steering proportional reversing valve 18 is opened to turn left, that is, the electromagnet 2DT is energized, and the left steering nozzle 9 sprays water, and the glider turns right; open The pitch steering proportional reversing valve 20 is pitched down, that is, the electromagnet 4DT is energized, and the pitching steering nozzle 10 sprays water to realize the downward steering of the glider; the pitch steering proportional reversing valve 20 is turned on, that is, the electromagnet 5DT is energized, and the pitching steering is realized. Nozzle 11 sprays water, realizes that glider turns upwards. Through the magnitude of the voltage of each electromagnet, the magnitude of the water spray flow of the corresponding nozzle can be realized, thereby adjusting the speed of gliding and turning.

The above content is only a preferred embodiment of the present invention. For those of ordinary skill in the art, according to the idea of the present invention, there will be changes in the specific implementation and application scope. limits.

Claims (5)

1. a kind of underwater spectroradiometer based on water jet driving, which is characterized in that including body housing, left horizontal tail, You Shui The flat wing, upper vertical tail, and lower vertical tail,；The body housing front end is the spherical surface that center carries suction nozzle, and middle part is cylindrical surface, Rear portion is the circular conical surface that radius reduces from front to back, and tail end is spherical surface；The left horizontal tail, right horizontal tail water along longitudinal direction respectively The flat arranged on left and right sides being set in the middle part of the body housing；The upper vertical tail, lower vertical tail, are vertically-mounted along longitudinal direction respectively In the upper and lower both sides in body housing rear portion；The left horizontal tail and right horizontal tail rear end is arranged from inside to outside respectively There is driving nozzle and turns to nozzle；The rear end of the upper vertical tail, and lower vertical tail, is respectively arranged with pitching nozzle.

2. the underwater spectroradiometer according to claim 1 based on water jet driving, which is characterized in that the driving Nozzle turns to the injection direction of nozzle and the pitching nozzle along the body housing axis direction and into body housing Lateral deviation is oblique.

3. the underwater spectroradiometer according to claim 1 based on water jet driving, which is characterized in that the left water The flat wing, right horizontal tail, upper vertical tail, and lower vertical tail, are diamond shape.

4. it is according to claim 1 based on water jet driving underwater spectroradiometer, which is characterized in that the suction nozzle with The water pump connection being arranged in the body housing；The water pump drives proportional reversing valve, left and right turn ratio with gliding respectively Reversal valve and the connection of pitching ratio of turning reversal valve；The gliding drives proportional reversing valve respectively by check valve and setting Driving nozzle connection on the left horizontal tail and the right horizontal tail；The left and right turn proportional reversing valve point It is not connect with the steering nozzle being arranged on the left horizontal tail and the right horizontal tail by check valve；Described bows Double rear proportional reversing valve respectively by check valve with bowing on the upper vertical tail, and the lower vertical tail, is set Face upward nozzle connection.

5. the underwater spectroradiometer according to claim 1 based on water jet driving, which is characterized in that body housing, a left side Horizontal tail, right horizontal tail, upper vertical tail, and lower vertical tail, are integral sealing shell；Underwater spectroradiometer overall weight is big In its buoyancy of diving under water, and its center of gravity is overlapped with centre of buoyancy.