A piston type low-noise underwater robot vector water jet propeller and propelling method

Abstract

The application provides a piston type low-noise underwater robot vector water jet propeller, which comprises a water jet propeller body, the water jet propeller body comprises a propeller shell, a plurality of electrically-controlled reversible check valves, an electrically-controlled piston, a piston electric push rod, an electric motor, a front end cover, a rear end cover, a motor mounting rack and a propeller body mounting rack. The application is characterized in that four electrically-controlled reversible check valves are mounted on the electrically-controlled piston, the front end cover and the rear end cover respectively, and the electrically-controlled reversible check valves are arranged in the axial horizontal direction and controlled by a controller, so that the direction of water flow ejection can be switched, and the switching of the propeller thrust output direction can be realized. Compared with the propeller, the piston type water jet propeller provided by the application has lower underwater noise, and can make the submersible have smaller navigation noise, so that the submersible can be more conducive to covert navigation and is not easy to be discovered by a sonar. Compared with the propeller, the piston type water jet propeller provided by the application has no rotating structure such as a propeller, so that the piston type water jet propeller is not easy to be entangled by a fishing net rope and the like during underwater navigation, and therefore, the piston type water jet propeller has higher reliability and adaptability compared with the propeller.

Description

Technical Field

[0001] This invention relates to the field of underwater robot technology, and in particular to a piston-type low-noise underwater robot vector water jet propulsion device and propulsion method. Background Technology

[0002] Currently, underwater robots are primarily powered by propeller-driven thrusters. While propellers are simple in structure and easy to control, they also have significant drawbacks, such as high underwater noise and the tendency for the propellers to become entangled. This results in less than ideal performance in certain specialized applications, such as those requiring high stealth, where the high underwater noise of propellers can easily reveal the submersible's location. Furthermore, achieving vector thrust output requires multiple propellers or the addition of vector nozzles to change the thrust direction, significantly increasing the cost and complexity of the thruster. Summary of the Invention

[0003] The technical problem this invention aims to solve is to address the shortcomings of the existing technology by providing a piston-type low-noise underwater robot vector waterjet propulsion device and propulsion method to overcome the aforementioned deficiencies. This invention can be applied to various underwater robots and other underwater detection systems, and features versatility, modularity, ease of integration, and miniaturization.

[0004] To solve the above-mentioned technical problems, the technical solution adopted by the present invention is as follows:

[0005] A piston-type low-noise underwater robot vector water jet propulsion device includes a water jet propulsion body. The water jet propulsion body includes a propulsion housing, multiple electrically controlled reversible one-way valves, an electrically controlled piston, a piston electric push rod, a motor, a front end cover, a rear end cover, a motor mounting bracket, and a propulsion body mounting bracket. The front end cover and the rear end cover are respectively installed at the front and rear ends of the propulsion housing. The propulsion body mounting bracket is installed outside the propulsion housing, and the motor mounting bracket is installed inside the propulsion housing. The motor is mounted on the motor mounting bracket. The electrically controlled piston is placed inside the propulsion housing and can slide freely. The electrically controlled piston is connected to the motor through the piston electric push rod. The motor drives the electrically controlled piston to reciprocate through the piston electric push rod. Multiple electrically controlled reversible one-way valves are respectively installed on the electrically controlled piston, the front end cover, and the rear end cover, and the multiple electrically controlled reversible one-way valves and the motor are respectively connected to a controller.

[0006] Furthermore, the front end cover and the rear end cover are sealed to the propeller housing, and the electrically controlled reversible check valve is sealed to the front end cover, the rear end cover, and the electrically controlled piston.

[0007] Furthermore, the motor is installed in the middle of the motor mounting bracket, and the motor adopts a waterproof and pressure-resistant design.

[0008] Furthermore, four electrically controlled reversible check valves evenly distributed along the circumference are installed on the electrically controlled piston, the front cover, and the rear cover, respectively.

[0009] Furthermore, the electrically controlled reversible check valve includes two nozzles, a check valve housing, a valve needle, an armature valve core, a front coil, a front valve needle sleeve, a rear valve needle sleeve, a rear coil, and a control cable. The two nozzles are respectively installed at the front and rear ends inside the check valve housing. The armature valve core is slidably installed inside the check valve housing and located between the two nozzles. The valve needle is slidably installed inside the armature valve core through the front and rear valve needle sleeves. The front and rear coils are respectively fixed at the front and rear ends of the check valve housing. A control cable is installed at the rear end of the check valve housing. The coil wires of the front and rear coils are led out from the control cable to the outside of the check valve housing.

[0010] Furthermore, a sealing ring is provided on the inner circumferential surface of each of the two nozzles, a sealing ring is provided on the inner circumferential surface of the front end and the inner circumferential surface of the rear end of the armature valve core, and two sealing rings are provided on the outer circumferential surface of the front sliding sleeve of the valve needle and the outer circumferential surface of the rear sliding sleeve of the valve needle.

[0011] Furthermore, the nozzle includes a nozzle body, which is a cylinder. Two conical holes are symmetrically opened inside the nozzle body. A partition is provided between the two conical holes. The partition is provided with a plurality of first water flow channels evenly distributed along the circumferential direction. The first water flow channels are circular through holes. A groove is provided in the center of the partition.

[0012] Furthermore, the armature valve core includes an integrally formed first hollow conical segment, a hollow cylindrical segment, and a second hollow conical segment, and the valve needle includes an integrally formed first conical segment, a cylindrical segment, and a second conical segment; the length of the valve needle is greater than the length of the armature valve core.

[0013] Both the front and rear sliding sleeves of the valve needle are annular bodies, and multiple second water flow channels are evenly distributed along the circumference of the annular bodies, with each second water flow channel being a circular through hole.

[0014] This invention also provides a propulsion method for a piston-type low-noise underwater robot vector waterjet propulsion system, comprising the following steps:

[0015] The controller obtains the output direction data and the magnitude data of the thrust by acquiring control data;

[0016] On one hand, the controller adjusts the flow direction of each electrically controlled reversible check valve according to the thrust output direction data to control the water jet direction. When the thrust output direction data is forward, the controller controls the flow direction of all electrically controlled reversible check valves on the front cover, rear cover, and electrically controlled piston to be forward. At this time, when the motor drives the piston electric push rod to rotate and control the electrically controlled piston to push forward, the water will enter the inside of the propeller housing from the four electrically controlled reversible check valves on the rear cover. The water inside the propeller housing will be sprayed forward from the four electrically controlled reversible check valves on the front cover to the outside of the propeller housing, generating forward thrust by means of water backflow. The controller controls the motor to rotate forward and reverse, driving the piston electric push rod to drive the electrically controlled piston to reciprocate along the axial direction, generating continuous thrust.

[0017] When the thrust direction of the control data is backward, the controller controls the flow direction of the electrically controlled reversible one-way valves on the front cover, rear cover, and electrically controlled piston to be backward. At this time, when the motor drives the piston electric push rod to rotate and push the electrically controlled piston backward, water will enter the inside of the thruster housing from the electrically controlled reversible one-way valve on the front cover, and the water inside the thruster housing will be sprayed backward from the electrically controlled reversible one-way valve on the rear cover to the outside of the thruster housing. The backward thrust is generated by the backflow of water. The controller controls the motor to rotate forward and backward, driving the piston electric push rod to drive the electrically controlled piston to reciprocate along the axial direction, generating continuous thrust.

[0018] When the thruster needs vector propulsion, the controller acquires the vector propulsion direction data and controls the electronically controlled reversible check valve located at a suitable position on the front or rear cover on the water outlet side to close, thereby adjusting the output direction of the thrust and realizing the vector propulsion control of the thruster.

[0019] On the other hand, the controller adjusts the thrust by adjusting the motor speed based on the thrust magnitude data.

[0020] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0021] This invention features four electrically controlled reversible check valves installed on the electrically controlled piston, the front cover, and the rear cover, all arranged horizontally along the axial direction. These electrically controlled reversible check valves are controlled by a controller, enabling the switching of the direction of water jet output, thereby achieving the switching of the thrust output direction of the propeller.

[0022] The piston-electric push rod of this invention is connected at its front end to an electrically controlled piston and at its rear end to a motor. The motor is controlled by a control system to achieve forward and reverse rotation, thereby realizing the forward and backward movement of the electric push rod and the electrically controlled piston. During the movement of the electrically controlled piston, water enters from one side of the propeller body and is ejected from the other side, generating thrust by spraying water through an electrically controlled reversible one-way valve. By controlling the opening and closing of the electrically controlled reversible one-way valve on the end cap (front or rear cover) on the water outlet side, a two-dimensional vector output of the propeller thrust can be achieved, enabling the submersible's steering and pitch control. The electrically controlled piston of this invention is made of high-strength, lightweight materials, which can effectively reduce momentum during movement and weaken the impact of changes in the position of the electrically controlled piston on the propeller's center of gravity.

[0023] The piston-type waterjet propulsion system provided by this invention has lower underwater noise compared to propeller propulsion, enabling submersibles to operate with less noise, which is more conducive to stealthy navigation and makes them less likely to be detected by sonar. Because the piston-type waterjet propulsion system provided by this invention does not have a propeller or other rotating structure, it is less likely to be entangled in fishing nets or ropes during underwater navigation. Therefore, it has higher reliability and adaptability compared to propeller propulsion systems. Attached Figure Description

[0024] Figure 1 This is a schematic diagram of the piston-type low-noise underwater robot vector water jet propulsion system of the present invention.

[0025] Figure 2 This is a schematic diagram of the electrically controlled reversible check valve structure of the present invention;

[0026] Figure 3 This is a schematic diagram of the structure of the electrically controlled reversible check valve of the present invention when the flow direction is forward;

[0027] Figure 4 This is a schematic diagram of the electrically controlled reversible check valve of the present invention when the flow direction is backward;

[0028] Figure 5 This is a flowchart illustrating the propulsion method of the piston-type low-noise underwater robot vector water jet propulsion system of the present invention.

[0029] In the diagram, 1. Thruster housing; 2. Front end cover; 3. Rear end cover; 4. Electrically controlled reversible check valve; 401. Nozzle; 4011. Conical orifice; 4012. Baffle plate; 4013. First water flow channel; 4014. Groove; 402. Check valve housing; 404. Valve needle; 4041. First conical section; 4042. Cylindrical section; 4043. Second conical section; 405. Armature valve core; 40 51. First hollow conical section; 4052. Hollow cylindrical section; 4053. Second hollow conical section; 406. Front coil; 407. Front sliding sleeve of valve needle; 408. Rear sliding sleeve of valve needle; 409. Rear coil; 410. Cable nozzle; 411. Control cable; 412. Second water flow channel; 5. Electrically controlled piston; 6. Piston electric push rod; 7. Motor; 8. Motor mounting bracket; 9. Thruster body mounting bracket. Detailed Implementation

[0030] The specific embodiments of the present invention will be described in further detail below with reference to the accompanying drawings and examples. The following examples are for illustrative purposes only and are not intended to limit the scope of the invention.

[0031] Example 1

[0032] The present invention provides a piston-type low-noise underwater robot vector water jet propulsion device with a modular structure, which can be used in various types of underwater robots and submersibles.

[0033] like Figure 1 As shown, a piston-type low-noise underwater robot vector water jet propulsion device includes a water jet propulsion body and a controller. The water jet propulsion body includes a propulsion housing 1, multiple electrically controlled reversible one-way valves 4, an electrically controlled piston 5, a piston electric push rod 6, a motor 7, a front end cover 2, a rear end cover 3, a motor mounting bracket 8, and a propulsion body mounting bracket 9. The front end cover 2 and the rear end cover 3 are respectively installed at the front and rear ends of the propulsion housing 1. The propulsion body mounting bracket 9 is installed outside the propulsion housing 1. The motor mounting bracket 8 is installed inside the propulsion housing 1, and the motor 7 is installed on the motor mounting bracket 8. The electrically controlled piston 5 is placed inside the propulsion housing 1 and can slide freely. The electrically controlled piston 5 is connected to the motor 7 through the piston electric push rod 6. The motor 7 drives the electrically controlled piston 5 to reciprocate through the piston electric push rod 6. Multiple horizontally arranged electrically controlled reversible one-way valves 4 are respectively installed on the electrically controlled piston 5, the front end cover 2, and the rear end cover 3. The multiple electrically controlled reversible one-way valves 4 and the motor 7 are respectively connected to the controller.

[0034] The electronically controlled piston 5 of the present invention is made of high-strength and lightweight material, which can effectively reduce momentum during the movement process and at the same time weaken the influence of the position change of the electronically controlled piston 5 on the center of gravity of the propeller.

[0035] The front cover 2 and the rear cover 3 are sealed to the propeller housing 1, and the electrically controlled reversible check valve 4 is sealed to the front cover 2, the rear cover 3, and the electrically controlled piston 5.

[0036] The motor 7 is installed in the middle of the motor mounting bracket 8, and the motor 7 adopts a waterproof and pressure-resistant design.

[0037] Four electrically controlled reversible check valves 4 are installed on the electrically controlled piston 5, the front cover 2, and the rear cover 3, respectively, and are evenly distributed around the circumference. The four electrically controlled reversible check valves 4 are arranged in a cross shape with the top, bottom, left, and right sides, and the included angle between adjacent electrically controlled reversible check valves 4 is 90°.

[0038] like Figure 2 As shown, the electrically controlled reversible check valve 4 includes two nozzles 401, a check valve housing 402, a valve needle 404, an armature valve core 405, a front coil 406, a front valve needle sleeve 407, a rear valve needle sleeve 408, a rear coil 409, a wire nozzle 410, and a control cable 411. The two nozzles 401 are respectively installed at the front and rear ends inside the check valve housing 402. The armature valve core 405 is slidably installed inside the check valve housing 402 and located between the two nozzles 401. Between them, the valve needle 404 is slidably mounted inside the armature valve core 405 through the valve needle front sliding sleeve 407 and the valve needle rear sliding sleeve 408. The front coil 406 and the rear coil 409 are respectively fixed inside the one-way valve housing 402 at the front and rear ends. A wire nozzle 410 is installed at the rear end of the one-way valve housing 402. The coil wires of the front coil 406 and the rear coil 409 are led out from the wire nozzle 410 through the control cable 411 to the outside of the one-way valve housing 402. The control cable 411 is connected to the controller.

[0039] A sealing ring 403 is provided on the inner circumferential surface of each of the two nozzles 401, a sealing ring 403 is provided on the inner circumferential surface of the front end and the inner circumferential surface of the rear end of the armature valve core 405, and two sealing rings 403 are provided on the outer circumferential surface of the front sliding sleeve 407 and the outer circumferential surface of the rear sliding sleeve 408 of the valve needle.

[0040] The nozzle 401 includes a nozzle body, which is a cylinder. Two conical holes 4011 are symmetrically opened inside the nozzle body. A partition 4012 is provided between the two conical holes 4011. The partition 4012 is provided with a plurality of first water flow channels 4013 evenly distributed along the circumferential direction. The first water flow channels 4013 are circular through holes. A groove 4014 is provided at the center of the partition 4012.

[0041] The armature valve core 405 includes an integrally formed first hollow conical segment 4051, a hollow cylindrical segment 4052, and a second hollow conical segment 4053. The valve needle 404 includes an integrally formed first conical segment 4041, a cylindrical segment 4042, and a second conical segment 4043. The length of the valve needle 404 is greater than the length of the armature valve core 405, and the valve needle 404 is a solid structure.

[0042] Both the valve needle front sleeve 407 and the valve needle rear sleeve 408 are annular bodies, and multiple second water flow channels 412 are evenly distributed along the circumference on the annular bodies, and the second water flow channels 412 are circular through holes.

[0043] The nozzle 401 of the electrically controlled reversible check valve 4 of the present invention can limit the valve needle 404. When the current coil 406 is turned on, such as Figure 3 As shown, the armature valve core 405 is magnetically attracted to the front end, where it seals tightly against the tapered hole 4011 of the nozzle 401. When water flows backward, the valve needle 404 moves backward under water pressure, eventually sealing tightly against the rear end of the armature valve core 405, blocking the backward flow of water. Conversely, when water flows forward, the valve needle 404 moves forward under water pressure, until its tip presses against the groove 4014 of the nozzle 401, preventing a seal with the armature valve core 405. Therefore, water can be ejected from the first water flow channel 4013 of the nozzle 401. In summary, when the current coil 406 is on, the electronically controlled one-way valve 4 can be switched forward, allowing water to flow forward. Figure 3 The direction indicated by the middle arrow.

[0044] When the rear coil 409 is turned on, as Figure 4 As shown, the armature valve core 405 is magnetically attracted to the rear end, where it seals tightly against the tapered hole 4011 of the rear nozzle 401. When water flows forward, the valve needle 404 moves forward under water pressure, eventually sealing tightly against the front end of the armature valve core 405, blocking the forward flow of water. When water flows backward, the valve needle 404 moves backward under water pressure, eventually pressing against the groove 4014 of the rear nozzle 401, preventing a seal with the armature valve core 405. Therefore, water can be ejected from the rear nozzle 401. In summary, when the rear coil 409 is activated, the electrically controlled reversible check valve 4 directs the flow direction backward, allowing water to flow backward. Figure 4 The direction indicated by the middle arrow.

[0045] Example 2

[0046] like Figure 5 As shown, a propulsion method for a piston-type low-noise underwater robot vector waterjet propulsion device, implemented using the piston-type low-noise underwater robot vector waterjet propulsion device in Embodiment 1, includes the following steps:

[0047] On one hand, the controller acquires control data to obtain the output direction data and magnitude data of the thrust. Based on the output direction data of the thrust, the controller adjusts the flow direction of each electrically controlled reversible check valve 4 to control the direction of water jet. When the output direction data of the thrust is forward, the controller controls all the electrically controlled reversible check valves 4 on the front cover 2, rear cover 3, and electrically controlled piston 5 to flow forward. At this time, when the motor 7 drives the piston electric push rod 6 to rotate and control the electrically controlled piston 5 to push forward, the water will enter the inside of the thruster housing 1 from the four electrically controlled reversible check valves 4 on the rear cover 3. The water inside the thruster housing 1 will be sprayed forward from the four electrically controlled reversible check valves 4 on the front cover 2 to the outside of the thruster housing 1. The forward thrust is generated by the backflow of the water. The controller controls the motor 7 to rotate forward and reverse, driving the piston electric push rod 6 to drive the electrically controlled piston 5 to reciprocate along the axial direction, generating continuous thrust.

[0048] When the thrust direction of the control data is backward, the controller controls the flow direction of the electrically controlled reversible one-way valve 4 on the front cover 2, rear cover 3, and electrically controlled piston 5 to be backward. At this time, when the motor 7 drives the piston electric push rod 6 to rotate and push the electrically controlled piston 5 backward, the water will enter the inside of the thruster housing 1 from the electrically controlled reversible one-way valve 4 on the front cover 2. The water inside the thruster housing 1 will be sprayed out of the thruster housing 1 from the electrically controlled reversible one-way valve 4 on the rear cover 3. The backward thrust is generated by the backflow of the water. At this time, the controller controls the motor 7 to rotate forward and reverse, driving the piston electric push rod 6 to drive the electrically controlled piston 5 to move back and forth along the axis, generating a continuous thrust.

[0049] When the thruster needs vector propulsion, the controller acquires the vector propulsion direction data and controls the electronically controlled reversible check valve 4 located at a suitable position on the front or rear cover 3 on the water outlet side to close, thereby adjusting the output direction of the thrust and realizing the vector propulsion control of the thruster.

[0050] When the thrust is output forward, the water flow position is controlled by opening one, two or three electrically controlled reversible one-way valves 4 on the front cover 3. By opening different combinations of electrically controlled reversible one-way valves 4, the direction of the thrust can be changed, and the vector output of the water jet propulsion can be achieved.

[0051] When the thrust is output backward, the outflow position of the water can be controlled by opening one, two, or three electrically controlled reversible check valves 4 on the rear end cover 3. By opening different combinations of electrically controlled reversible check valves 4, the direction of the thrust can be changed, achieving vector output of the water jet propulsion. For example, when the thrust is output backward, if only the electrically controlled reversible check valve 4 above the rear end cover 3 is opened, the water will only be sprayed out from the upper electrically controlled reversible check valve 4. Due to the eccentric output of the thrust, the point of application of the thrust is above the center of gravity. Therefore, the resultant force is biased downward, which will cause the propulsion unit or submersible to move downward.

[0052] On the other hand, the controller adjusts the thrust by adjusting the speed of motor 7 based on the thrust magnitude data.

[0053] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope defined by the claims of the present invention.

Claims

1. A piston-type low-noise underwater robot vector waterjet propulsion device, characterized in that, The device includes a water jet propulsion body, which comprises a propulsion housing (1), multiple electrically controlled reversible check valves (4), an electrically controlled piston (5), a piston electric push rod (6), a motor (7), a front end cover (2), a rear end cover (3), a motor mounting bracket (8), and a propulsion body mounting bracket (9). The front end cover (2) and the rear end cover (3) are respectively installed at the front and rear ends of the propulsion housing (1), the propulsion body mounting bracket (9) is installed outside the propulsion housing (1), and the motor mounting bracket (8) is installed inside the propulsion housing (1). The motor (7) is mounted on the motor mounting bracket (8), the electric control piston (5) is placed inside the thruster housing (1) and can slide freely. The electric control piston (5) is connected to the motor (7) through the piston electric push rod (6). The motor (7) drives the electric control piston (5) to reciprocate through the piston electric push rod (6). Multiple electric control reversible check valves (4) are installed on the electric control piston (5), the front end cover (2) and the rear end cover (3) respectively. The multiple electric control reversible check valves (4) and the motor (7) are connected to the controller respectively. The electrically controlled reversible check valve includes two nozzles (401), a check valve housing (402), a valve needle (404), an armature valve core (405), a front coil (406), a front valve needle sleeve (407), a rear valve needle sleeve (408), a rear coil (409), a wire nozzle (410), and a control cable (411). The two nozzles (401) are respectively installed at the front and rear ends inside the check valve housing (402). The armature valve core (405) is slidably installed inside the check valve housing (402) and located at the two nozzles. Between the nozzles (401), the valve needle (404) is slidably mounted inside the armature valve core (405) through the valve needle front sleeve (407) and the valve needle rear sleeve (408). The front coil (406) and the rear coil (409) are respectively fixed at the front end and the rear end inside the one-way valve housing (402). A wire nozzle (410) is installed at the rear end of the one-way valve housing (402). The coil wires of the front coil (406) and the rear coil (409) are led out from the wire nozzle (410) to the outside of the one-way valve housing (402) through the control cable (411).

2. The piston-type low-noise underwater robot vector waterjet propulsion device as described in claim 1, characterized in that, The front cover (2) and the rear cover (3) are sealed to the propeller housing (1), and the electrically controlled reversible check valve (4) is sealed to the front cover (2), the rear cover (3), and the electrically controlled piston (5).

3. The piston-type low-noise underwater robot vector waterjet propulsion device as described in claim 1, characterized in that, The motor (7) is installed in the middle of the motor mounting bracket (8), and the motor (7) adopts a waterproof and pressure-resistant design.

4. A piston-type low-noise underwater robot vector waterjet propulsion device as described in claim 1, characterized in that, Four electrically controlled reversible check valves (4) are installed on the electrically controlled piston (5), the front end cover (2) and the rear end cover (3) respectively.

5. A piston-type low-noise underwater robot vector waterjet propulsion device as described in claim 1, characterized in that, A sealing ring (403) is provided on the inner circumferential surface of each of the two nozzles (401), a sealing ring (403) is provided on the inner circumferential surface of the front end and the inner circumferential surface of the armature valve core (405), and two sealing rings (403) are provided on the outer circumferential surface of the valve needle front slide sleeve (407) and the outer circumferential surface of the valve needle rear slide sleeve (408).

6. A piston-type low-noise underwater robot vector waterjet propulsion device as described in claim 1, characterized in that, The nozzle (401) includes a nozzle body, which is a cylinder. Two conical holes (4011) are symmetrically opened inside the nozzle body. A partition (4012) is provided between the two conical holes (4011). The partition (4012) is provided with a plurality of first water flow channels (4013) evenly distributed along the circumferential direction. The first water flow channels (4013) are circular through holes. A groove (4014) is provided in the center of the partition (4012).

7. A piston-type low-noise underwater robot vector waterjet propulsion device as described in claim 1, characterized in that, The armature valve core (405) includes an integrally formed first hollow conical segment (4051), a hollow cylindrical segment (4052), and a second hollow conical segment (4053), and the valve needle (404) includes an integrally formed first conical segment (4041), a cylindrical segment (4042), and a second conical segment (4043); the length of the valve needle (404) is greater than the length of the armature valve core (405); Both the valve needle front sleeve (407) and the valve needle rear sleeve (408) are annular bodies, and multiple second water flow channels (412) are evenly distributed along the circumference on the annular body, and the second water flow channels (412) are circular through holes.

8. A propulsion method for a piston-type low-noise underwater robot vector waterjet propulsion device as described in any one of claims 1-7, characterized in that, Includes the following steps: The controller obtains the output direction data and the magnitude data of the thrust by acquiring control data; On the one hand, the controller adjusts the flow direction of each electrically controlled reversible check valve (4) according to the thrust output direction data to control the spray direction of the water flow. When the thrust output direction data is forward, the controller controls the flow direction of all electrically controlled reversible check valves (4) on the front cover (2), rear cover (3) and electrically controlled piston (5) to be forward. At this time, when the motor (7) drives the piston electric push rod (6) to rotate and control the electrically controlled piston (5) to push forward, the water flow will enter the inside of the thruster housing (1) from the four electrically controlled reversible check valves (4) on the rear cover (3). The water inside the thruster housing (1) will spray forward from the four electrically controlled reversible check valves (4) on the front cover (2) to the outside of the thruster housing (1). The forward thrust is generated by the backflow of the water flow. At this time, the controller controls the motor (7) to rotate forward and reverse, drives the piston electric push rod (6) to drive the electrically controlled piston (5) to move back and forth along the axis, and generates continuous thrust. When the thrust direction of the control data is backward, the controller controls the flow direction of the electrically controlled reversible one-way valve (4) on the front cover (2), rear cover (3) and electrically controlled piston (5) to be backward. At this time, when the motor (7) drives the piston electric push rod (6) to rotate and push the electrically controlled piston (5) backward, the water will enter the inside of the thruster housing (1) from the electrically controlled reversible one-way valve (4) on the front cover (2), and the water inside the thruster housing (1) will be sprayed out backward from the electrically controlled reversible one-way valve (4) on the rear cover (3) to the outside of the thruster housing (1). The backward thrust is generated by the backflow of water. At this time, the controller controls the motor (7) to rotate forward and backward, drives the piston electric push rod (6) to drive the electrically controlled piston (5) to move back and forth along the axis, and generates continuous thrust. When the thruster needs vector propulsion, the controller acquires the vector propulsion direction data and controls the electronically controlled reversible check valve (4) located at a suitable position on the front end cover (2) or rear end cover (3) on the water outlet side to close, thereby adjusting the output direction of the thrust and realizing the vector propulsion control of the thruster; On the other hand, the controller adjusts the thrust by adjusting the speed of the motor (7) based on the thrust magnitude data.

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