CN108545162A - Underwater spectroradiometer based on water jet driving - Google Patents
Underwater spectroradiometer based on water jet driving Download PDFInfo
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- CN108545162A CN108545162A CN201810657572.5A CN201810657572A CN108545162A CN 108545162 A CN108545162 A CN 108545162A CN 201810657572 A CN201810657572 A CN 201810657572A CN 108545162 A CN108545162 A CN 108545162A
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- tail
- nozzle
- horizontal tail
- body housing
- vertical tail
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Classifications
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- 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
- B63G8/16—Control of attitude or depth by direct use of propellers or jets
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Toys (AREA)
- Manipulator (AREA)
Abstract
The invention belongs to robot fields, and in particular to a kind of underwater spectroradiometer based on water jet driving, including body housing, left horizontal tail, right horizontal tail, upper vertical tail, and lower vertical tail,；Body housing front end is the spherical surface that center carries suction nozzle, and middle part is cylindrical surface, and rear portion is the circular conical surface that radius reduces from front to back, and tail end is spherical surface；Left horizontal tail, right horizontal tail are horizontally placed on the arranged on left and right sides in the middle part of body housing along longitudinal direction respectively；Upper vertical tail, lower vertical tail, are vertically arranged to the upper and lower both sides in body housing rear portion along longitudinal direction respectively；Left horizontal tail and right horizontal tail rear end are provided with driving nozzle and turn to nozzle from inside to outside respectively；The rear end of upper vertical tail, and lower vertical tail, is respectively arranged with pitching nozzle.Design science of the present invention, simple in structure, control is simple, and mobility is good, and using reliable, energy consumption efficiency is high, the advantages of can be widely applied to the fields such as undersea detection, delivery.
Description
Technical field
The invention belongs to robot fields, and in particular to a kind of underwater spectroradiometer based on water jet driving.
Background technology
Underwater spectroradiometer is a kind of underwater aircraft by net buoyancy and hydrodynamic(al) power drive, it has underwater
Activity duration is long, and endurance distance is remote, and mobility energy consumption, operating cost is low, the advantages such as low to lash ship dependence, extensive in recent years
Detection using Yu Haiyang and observation field.
Currently, the driving of underwater spectroradiometer generally uses propeller to drive, this type of drive power configuration quantity
More, weight is big, high energy consumption, and each power plant is required to the dynamic sealing of high intensity, and is susceptible to aquatic organism interference.
Invention content
The purpose of the present invention is to overcome the defects in the prior art, provides a kind of underwater gliding driven based on water jet
Robot.
The present invention to achieve the above object, using following technical scheme：
It is a kind of based on water jet driving underwater spectroradiometer, including body housing, left horizontal tail, right horizontal tail, it is upper hang down
The straight wing and lower vertical tail,；The body housing front end is the spherical surface that center carries suction nozzle, and middle part is cylindrical surface, and rear portion is before
The circular conical surface that radius reduces backward, tail end is spherical surface；The left horizontal tail, right horizontal tail are horizontally placed on institute along longitudinal direction respectively
The arranged on left and right sides in the middle part of body housing stated；The upper vertical tail, lower vertical tail, are vertically arranged to the machine along longitudinal direction respectively
The upper and lower both sides in body shell rear portion；The left horizontal tail and right horizontal tail rear end is provided with driving nozzle from inside to outside respectively
And turn to nozzle；The rear end of the upper vertical tail, and lower vertical tail, is respectively arranged with pitching nozzle.
The injection direction for driving nozzle, turning to nozzle and the pitching nozzle is along the fuselage columella
Line direction and to body housing medial deviation.
Left horizontal tail, right horizontal tail, upper vertical tail, and the lower vertical tail, is diamond shape.
The suction nozzle is connect with the water pump being arranged in the body housing；The water pump is changed with gliding drive ratio respectively
It is connected to valve, left and right turn proportional reversing valve and pitching ratio of turning reversal valve；Proportional reversing valve difference is driven in the gliding
It is connect with the driving nozzle being arranged on the left horizontal tail and the right horizontal tail by check valve；The left and right
Ratio of turning reversal valve passes through check valve and the steering being arranged on the left horizontal tail and the right horizontal tail respectively
Nozzle connects；The pitching ratio of turning reversal valve respectively by check valve be arranged in the upper vertical tail, and described
Lower vertical tail, on pitching nozzle connection.
Body housing, left horizontal tail, right horizontal tail, upper vertical tail, and lower vertical tail, are integral sealing shell；Underwater gliding
Robot overall weight is more than its buoyancy of diving under water, and its center of gravity is overlapped with centre of buoyancy.
Compared with prior art, the beneficial effects of the invention are as follows：
The present invention uses driving and steering of the water jet as gliding machine people, and low energy consumption, and control is simple；Shell is whole
Sealing device, the nozzle and suction nozzle of power are static sealing, and good seal performance seals at low cost；Drive part does not have spiral
Paddle and rotatable rudder face, during overall operation, all components of closure periphery keep relative static conditions, waters biotic environment
It is small to its j ob impact.Design science of the present invention, simple in structure, control is simple, and mobility is good, uses reliable, energy consumption efficiency
Height, the advantages of can be widely applied to the fields such as undersea detection, delivery.
Description of the drawings
Fig. 1 is the underwater spectroradiometer schematic diagram driven based on water jet.
Fig. 2 is the underwater gliding machine water jet drive system schematic diagram driven based on water jet.
In figure, 1, body housing；2, left horizontal tail；3, right horizontal tail；4, upper vertical tail,；5, lower vertical tail,；6, suction nozzle；7, sliding
Xiang drives nozzle；8, right turn nozzle；9, left steering nozzle；10, nutation nozzle；11, it faces upward nozzle；12~17, check valve；
18, left and right turn proportional reversing valve；19, gliding driving proportional reversing valve；20, pitching ratio of turning reversal valve；21 water pumps.
Specific implementation mode
In order to make those skilled in the art more fully understand technical scheme of the present invention, below in conjunction with the accompanying drawings and most
The present invention is described in further detail for good embodiment.
Fig. 1 shows a kind of underwater spectroradiometer driven based on water jet, including body housing 1, left horizontal tail 2, You Shui
The flat wing 3, upper vertical tail, 4 and lower vertical tail, 5；The body housing front end is the spherical surface that center carries suction nozzle 6, and middle part is cylinder
Face, rear portion are the circular conical surface that radius reduces from front to back, and tail end is spherical surface；The left horizontal tail, right horizontal tail are respectively along vertical
To the arranged on left and right sides being horizontally placed in the middle part of the body housing；The upper vertical tail, lower vertical tail, are vertical along longitudinal direction respectively
It is installed on the upper and lower both sides in body housing rear portion；The left horizontal tail and right horizontal tail rear end difference are from inside to outside
It is provided with driving nozzle 7 and turns to nozzle；Wherein left horizontal tail corresponds to right turn nozzle 8, wherein right horizontal tail corresponds to
To nozzle 9；The rear end of the upper vertical tail, and lower vertical tail, is respectively arranged with pitching nozzle, wherein upper vertical tail, corresponds to
Nutation nozzle 10, lower vertical tail, correspond to nozzle 11 of facing upward.
The injection direction for driving nozzle, turning to nozzle and the pitching nozzle is along the fuselage columella
Line direction and to body housing medial deviation.Left horizontal tail, right horizontal tail, upper vertical tail, and the lower vertical tail, is water chestnut
Shape.
The suction nozzle is connect with the water pump 21 being arranged in the body housing；The water pump respectively with gliding drive ratio
Reversal valve 19, left and right turn proportional reversing valve 18 and pitching ratio of turning reversal valve 20 connect；The gliding is driven ratio and is changed
It is connect respectively with the driving nozzle 7 being arranged on the left horizontal tail and the right horizontal tail by check valve to valve；
The left and right turn proportional reversing valve respectively by check valve and be arranged the left horizontal tail right turn nozzle 8 and
The connection of left steering nozzle 9 in the right horizontal tail is set；The pitching ratio of turning reversal valve passes through check valve respectively
It is connect with the nozzle 11 of facing upward being arranged on the nutation nozzle 10 and the lower vertical tail, of the upper vertical tail,.Described
Body housing, left horizontal tail, right horizontal tail, upper vertical tail, and lower vertical tail, are integral sealing shell；Underwater spectroradiometer is whole
Body weight is more than its buoyancy of diving under water, and its center of gravity is overlapped with centre of buoyancy.
In left horizontal tail, right horizontal tail rear end installation driving nozzle 7, right turn nozzle 8, left steering nozzle 9 and corresponding
Check valve 14,15,12,13；In upper vertical tail, lower vertical tail, rear end installation nutation nozzle 10, face upward nozzle 11 and corresponding list
To valve 16,17, and is accessed in each nozzle check valve interface and reserve pipeline.Water pump 21, left and right turn ratio are packed into body housing
Example reversal valve 18, gliding driving proportional reversing valve 19 and pitching ratio of turning reversal valve 20.By Fig. 2 connections suction nozzle 6 and water pump 21
Water inlet, connection 21 water outlet of water pump and left and right turn proportional reversing valve 18, gliding driving proportional reversing valve 19 and pitching turn to
The pipeline of proportional reversing valve 20；Reserved pipeline on check valve 14,15 is connected to gliding driving proportional reversing valve 19, it will be unidirectional
Reserved pipeline on valve 12,13 is connected to left and right turn proportional reversing valve 18, and the reserved pipeline on check valve 16,17 is connected to
Pitching ratio of turning reversal valve 20.Left horizontal tail, right horizontal tail and upper vertical tail, lower vertical tail, are installed in body housing, and right
Underwater spectroradiometer weight trim makes its weight slightly larger than its buoyancy of diving under water, and center of gravity is overlapped with hull position, and to its entirety
Body seal.
In use, underwater glider is entered water, opening gliding driving proportional reversing valve 19, i.e. electromagnet 3DT is powered, left,
Right driving nozzle 7 is sprayed water, and underwater spectroradiometer glides forward；It opens left and right turn proportional reversing valve 18 to turn right, i.e. electromagnet
1DT is powered, and right turn nozzle 8 is sprayed water, and realizes that aerodone is turned right；It opens left and right turn proportional reversing valve 18 to turn left, i.e. electromagnet
2DT is powered, and left steering nozzle 9 is sprayed water, and realizes that aerodone is turned right；Open 20 nutation of pitching ratio of turning reversal valve, i.e. electromagnet
4DT is powered, and nutation turns to nozzle 10 and sprays water, and realizes that aerodone nutation turns to；It opens pitching ratio of turning reversal valve 20 to face upward, i.e.,
Electromagnet 5DT is powered, and upper double rear nozzle 11 is sprayed water, and realizes double rear on aerodone.It, can by each electromagnet voltage swing
The size for realizing respective nozzle spray flow, to adjust the speed of gliding and steering.
The above content is only presently preferred embodiments of the present invention, for those of ordinary skill in the art, according to the present invention
Thought, there will be changes in the specific implementation manner and application range, and the content of the present specification should not be construed as to the present invention
Limitation.
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.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810657572.5A CN108545162B (en) | 2018-06-20 | 2018-06-20 | Underwater gliding robot based on water jet driving |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810657572.5A CN108545162B (en) | 2018-06-20 | 2018-06-20 | Underwater gliding robot based on water jet driving |
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| CN108545162A true CN108545162A (en) | 2018-09-18 |
| CN108545162B CN108545162B (en) | 2023-04-28 |
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Cited By (4)
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| CN109501984A (en) * | 2018-11-27 | 2019-03-22 | 中国人民解放军92578部队 | A kind of foldable wing sail and underwater unmanned platform |
| CN111572704A (en) * | 2020-06-23 | 2020-08-25 | 西北工业大学 | Open-loop active flow control device of underwater glider based on steady jet |
| CN111674534A (en) * | 2020-06-23 | 2020-09-18 | 西北工业大学 | Closed-loop active flow control device of underwater glider based on constant-temperature blowing and sucking flow |
| CN111688892A (en) * | 2020-06-23 | 2020-09-22 | 西北工业大学 | Active flow control system for wing body fusion underwater glider |
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| CN111572704A (en) * | 2020-06-23 | 2020-08-25 | 西北工业大学 | Open-loop active flow control device of underwater glider based on steady jet |
| CN111674534A (en) * | 2020-06-23 | 2020-09-18 | 西北工业大学 | Closed-loop active flow control device of underwater glider based on constant-temperature blowing and sucking flow |
| CN111688892A (en) * | 2020-06-23 | 2020-09-22 | 西北工业大学 | Active flow control system for wing body fusion underwater glider |
| CN111674534B (en) * | 2020-06-23 | 2021-05-18 | 西北工业大学 | Closed-loop active flow control device of underwater glider based on constant-temperature blowing and sucking flow |
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