Underwater unmanned vehicle

Abstract

The invention belongs to the field of underwater naval vessels, and particularly relates to an underwater unmanned vehicle. In order to enable the underwater unmanned vehicle to sail at a high speed and have good self-stability, the invention discloses the underwater unmanned vehicle. The underwater unmanned vehicle comprises a front cabin section, a steering section and a rear cabin section, the steering section comprises a front connecting piece and a rear connecting piece, the front connecting piece and the rear connecting piece are provided with a front through hole and a rear through hole respectively, the front cabin section is provided with at least two jet flow nozzles, a cavitation generator is arranged in the rear cabin section and connected with an air guide pipeline, and the air guide pipeline is connected with the jet flow nozzles. The front end of the gas guide pipeline is connected with the jet flow nozzles, so that when the cavitation generator is started, high-pressure gas in the cavitation generator is sprayed out from all the jet flow nozzles to form supercavitation bubbles, and the maximum navigational speed of the unmanned underwater vehicle is increased. By postposition of the cavitation generator, the distance between the center of mass and the center of buoyancy can be increased, so that the self-stability of the underwater unmanned vehicle during underwater navigation is improved.

Description

Technical Field

[0001] The invention belongs to the field of underwater ships, and in particular relates to an underwater unmanned vehicle. Background Art

[0002] An underwater unmanned vehicle is a device used to perform detection tasks in complex underwater environments. Traditional underwater unmanned vehicles are equipped with steering structures such as lateral thrusters, vertical thrusters, and rudders, which can enable the underwater unmanned vehicle to turn underwater. However, when the underwater unmanned vehicle is turned using the traditional steering structure, the turning radius of the underwater unmanned vehicle is large, which is not conducive to traveling in complex underwater environments.

[0003] To overcome the above-mentioned problems, a Chinese invention patent application with application publication number CN116002024A and application publication date 2023.04.25 discloses an underwater vehicle, which includes an image capture unit (equivalent to the front cabin section) and a power unit (equivalent to the rear cabin section), and a steering unit (equivalent to the steering section) is provided between the image capture unit and the power unit, and the steering unit includes two flanges and a connecting rod mechanism connected between the two flanges, one of the flanges (equivalent to the front connecting member) is fixedly connected to the image capture unit, and the other flange (equivalent to the rear connecting member) is fixedly connected to the power unit.

[0004] In the above-mentioned underwater vehicle, the turning radius of the underwater unmanned vehicle can be effectively reduced by the steering part. However, the above-mentioned underwater vehicle cannot generate supercavitation when sailing, resulting in a low maximum speed of the above-mentioned underwater vehicle.

[0005] In the prior art, underwater vehicles capable of generating supercavitation are provided. For example, a Chinese invention patent application with application publication number CN117087844A and application publication date 2023.11.21 discloses a fluid-dynamic supercavitation vehicle, in which a cavitator is arranged at the front end of the vehicle.

[0006] The following content is only used to help those skilled in the art to better understand the technical solution of the present invention, and does not represent that the following content is prior art.

[0007] In the above-mentioned aircraft, the cavitator is arranged at the front end of the aircraft. After the above-mentioned cavitator is transferred to the patent with application publication number CN116002024A, the cavitator is arranged on the image capturing part, which results in the image capturing part being heavier, the center of gravity and the center of mass of the entire underwater aircraft being too forward, and the distance between the center of buoyancy and the center of mass being closer, resulting in poor self-stability of the underwater aircraft during navigation. Summary of the invention

[0008] The object of the present invention is to provide an underwater unmanned vehicle to solve the technical problem that after the existing cavitator is transferred to the image capturing part, the underwater vehicle has poor self-stability during navigation.

[0009] To achieve the above purpose, the technical solution of the underwater unmanned vehicle provided by the present invention is: An underwater unmanned vehicle comprises a front cabin section, a steering section and a rear cabin section which are connected in sequence, the steering section comprising a front connecting piece for fixed connection with the front cabin section, a rear connecting piece for fixed connection with the rear cabin section and a connecting rod mechanism arranged between the front connecting piece and the rear connecting piece, the front and rear connecting pieces are respectively provided with front and rear perforations, the front cabin section is provided with a jet structure, the jet structure comprises at least two jet nozzles evenly spaced along the circumferential direction, a cavitation generator is arranged in the rear cabin section, an air guide line is connected to the cavitation generator, the front end of the air guide line passes through the rear perforation and the front perforation in sequence and is connected to the jet structure, so that when the cavitation generator is turned on, the high-pressure gas in the cavitation generator is ejected from all the jet nozzles to form supercavitation; the air guide line is sealed with each perforation, and the part of the air guide line between the front perforation and the rear perforation is a hose.

[0010] Furthermore, the cavitation generator is arranged behind the center of mass of the underwater unmanned vehicle.

[0011] Furthermore, a receiving cavity for receiving the cavitation generator is provided in the rear compartment section, and the cavitation generator is arranged close to the rear cavity wall of the receiving cavity.

[0012] Furthermore, the link mechanism includes a central channel and a plurality of link assemblies arranged around the central channel, and the hose is located in the central channel.

[0013] Furthermore, the jet structure includes a plurality of jet nozzles and a transfer pipe, all the jet nozzles are connected to the transfer pipe, and the transfer pipe is connected to the air guide line.

[0014] Furthermore, the front compartment section includes a hollow frustum section, and the radius of the front end of the hollow frustum section is smaller, and wing plates are provided on the side surfaces of the hollow frustum section. The side surfaces of the hollow frustum section and the outer surfaces of the wing plates located behind the jet nozzle constitute a guide surface, and the jet nozzle is arranged facing the guide surface.

[0015] Furthermore, the jet nozzle is arranged toward the rear.

[0016] Furthermore, a hollow cylindrical section is also provided at the front end of the hollow truncated cone section, a hemispherical head is provided at the front end of the air cylindrical section, and the jet structure is arranged on the hollow cylindrical section.

[0017] Furthermore, the airway is formed by a whole airway hose.

[0018] The beneficial effects of the underwater unmanned vehicle of the present invention are as follows: the present invention is an improved invention. By arranging the cavitation generator in the rear compartment, the center of gravity and center of mass of the underwater unmanned vehicle can be located at a relatively rearward position, increasing the distance between the center of mass and the center of buoyancy, thereby improving the self-stability of the underwater unmanned vehicle during underwater navigation. At the same time, the cavitation generator and the jet structure are connected by an air guide pipe. On the one hand, the air guide pipe and each perforation are sealed and matched, which can prevent seawater from entering the underwater unmanned vehicle; on the other hand, when the underwater unmanned vehicle is turning, the hose can deform adaptively.

[0019] When the underwater unmanned vehicle wants to travel at high speed, the cavitation generator is turned on, and the high-pressure gas is ejected from the jet nozzle after passing through the air guide pipe and the jet structure, so that supercavitation is formed on the surface of the underwater unmanned vehicle, reducing the resistance of the underwater unmanned vehicle and increasing the maximum speed of the underwater unmanned vehicle. When the underwater unmanned vehicle turns, the cavitation generator is turned off, and the connecting rod mechanism is activated, thereby realizing the turning of the underwater unmanned vehicle. At this time, the turning radius of the underwater unmanned vehicle is small. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a schematic diagram of the structure of the underwater unmanned vehicle of the present invention; Figure 2 It is a cross-sectional schematic diagram of the underwater unmanned vehicle of the present invention.

[0021] Description of reference numerals: 1. Front cabin section; 2. Jet nozzle; 3. Wing plate; 4. Front connecting piece; 5. Connecting rod mechanism; 6. Rear connecting piece; 7. Air guide hose; 8. Rear cabin section; 9. Cavitation generator; 10. Propeller. DETAILED DESCRIPTION

[0022] In order to solve the problems in the background technology, the core inventive concept of the present invention is: a structure for forming supercavitation is arranged on the underwater unmanned vehicle, so as to increase the maximum speed of the underwater unmanned vehicle. At the same time, the structure for forming supercavitation includes a cavitation generator. The cavitation generator is arranged in the rear cabin section, which can make the center of gravity and center of mass of the underwater unmanned vehicle be located at a rearward position, increase the distance between the center of mass and the center of buoyancy, thereby improving the self-stability of the underwater unmanned vehicle during underwater navigation.

[0023] The present invention is further described in detail below in conjunction with embodiments.

[0024] The specific embodiment of the underwater unmanned vehicle provided by the present invention is as follows: like Figure 1~2As shown, as a basic specific implementation method of the first category, the underwater unmanned vehicle includes a front compartment section 1, a steering section and a rear compartment section 8 which are connected in sequence, the steering section includes a front connector 4 for fixedly connecting to the front compartment section 1, a rear connector 6 for fixedly connecting to the rear compartment section 8 and a connecting rod mechanism 5 arranged between the front connector 4 and the rear connector 6, the front and rear connectors are respectively provided with front and rear perforations, the front compartment section 1 is provided with a jet structure, the jet structure includes at least two jet nozzles evenly spaced along the circumferential direction, a cavitation generator 9 is provided in the rear compartment section 8, an air guide line is connected to the cavitation generator 9, the front end of the air guide line passes through the rear perforation and the front perforation in sequence and is connected to the jet structure, so that when the cavitation generator 9 is turned on, the high-pressure gas in the cavitation generator 9 is ejected from all jet nozzles to form supercavitation; the air guide line is sealed with each perforation, and the part of the air guide line located between the front perforation and the rear perforation is a hose.

[0025] The front connecting member 4 and the rear connecting member 6 are preferably connecting plates, but may also be structures such as connecting blocks and connecting tubes. When the connecting member is a connecting tube, the internal channel of the connecting tube constitutes a through hole.

[0026] The number of the jet nozzles can be two, three, eight, twelve or other numbers, as long as the number of the jet nozzles is not less than two and the underwater unmanned vehicle can move in a straight line when the jet nozzles eject high-pressure gas.

[0027] The cavitation generator 9 may include a high-pressure gas tank for storing high-pressure gas, or may store chemical substances that can generate high-pressure gas in real time. The cavitation generator 9 that can release high-pressure gas is a mature prior art in the field, and is not an improvement point of the present invention, and will not be described in detail here.

[0028] In the 1-1 type of specific implementation, the air duct is composed of a whole air duct hose 7, and the structure is simple.

[0029] In the specific implementation manner of category 1-2, the air guide line includes a hose and a hard tube located at both ends of the hose, the hard tube is sealed with the perforation, and the hard tube and the hose are sealed and connected via a watertight pipe joint.

[0030] Compared with the prior art, in the present invention, only a jet structure is provided on the front compartment 1, and no cavitation generator 9 is provided, and the cavitation generator 9 is provided in the rear compartment 8. Since it is impossible to provide a counterweight on the turning section, the arrangement position of the cavitation generator 9 is carefully designed. On the one hand, the cavitation generator 9 can be used as a counterweight to adjust the center of gravity and center of mass of the underwater unmanned vehicle; on the other hand, compared with the technical solution of providing the cavitation generator 9 on the front compartment 1 and providing a large number of counterweights in the rear compartment 8, after the cavitation generator 9 is provided in the rear compartment 8, the weight of the front compartment 1 is relatively light, which can reduce the volume and mass of the counterweight in the rear compartment 8 (that is, reduce the volume and mass of the entire underwater unmanned vehicle), and at the same time, the center of mass and center of gravity of the underwater unmanned vehicle are moved backward.

[0031] By arranging the cavitation generator 9 in the rear compartment 8, the center of gravity and center of mass of the underwater unmanned vehicle can be located at a relatively rearward position, increasing the distance between the center of mass and the center of buoyancy, thereby improving the self-stability of the underwater unmanned vehicle when navigating underwater. At the same time, the cavitation generator 9 and the jet structure are connected by an air guide pipe. On the one hand, the air guide pipe and each perforation are sealed to prevent seawater from entering the underwater unmanned vehicle; on the other hand, when the underwater unmanned vehicle turns, the hose can deform adaptively.

[0032] When the underwater unmanned vehicle wants to travel at high speed, the cavitation generator 9 is turned on, and the high-pressure gas is ejected from the jet nozzle after passing through the air guide pipe and the jet structure, so that supercavitation is formed on the surface of the underwater unmanned vehicle, reducing the resistance of the underwater unmanned vehicle and increasing the maximum speed of the underwater unmanned vehicle. When the underwater unmanned vehicle turns, the cavitation generator 9 is turned off, and the connecting rod mechanism 5 is actuated, thereby realizing the turning of the underwater unmanned vehicle. At this time, the turning radius of the underwater unmanned vehicle is small.

[0033] In order to further improve the self-stability of the underwater unmanned vehicle during underwater navigation, the present invention makes the following improvements to the location of the cavitation generator 9 in the rear compartment 8: In the preferred second type of specific implementation, the cavitation generator 9 is arranged behind the center of mass of the underwater unmanned vehicle, so that the center of mass and center of gravity of the underwater unmanned vehicle are located further back; at the same time, since the displacement volume of the underwater unmanned vehicle has not changed, the center of buoyancy of the underwater unmanned vehicle has not changed, and the distance between the center of mass and the center of buoyancy can be further increased, thereby further improving the self-stability of the underwater unmanned vehicle during underwater navigation.

[0034] In the 2-1 type of specific implementation, a housing cavity for accommodating the cavitation generator 9 is provided in the rear compartment section 8, and the cavitation generator 9 is located in the middle of the housing cavity.

[0035] In the specific implementation of type 2-2, the difference from the specific implementation of type 2-1 is that the cavitation generator 9 is arranged close to the rear wall of the accommodating cavity. At this time, the cavitation generator 9 is located at the rear, the distance between the center of mass and the center of buoyancy of the underwater unmanned vehicle is the largest, and the underwater unmanned vehicle has the best self-stability when navigating underwater.

[0036] In the third type of specific implementation, the cavitation generator 9 is arranged at the center of mass of the underwater unmanned vehicle. At this time, the cavitation generator 9 is still located in the rear compartment 8. Compared with the technical solution in which the cavitation generator 9 is arranged on the front compartment 1, the cavitation generator 9 is arranged at a relatively rearward position, so the center of mass of the underwater unmanned vehicle is also located at a relatively rearward position, and the distance between the center of buoyancy and the center of mass is also larger. The underwater unmanned vehicle also has better self-stability when navigating underwater.

[0037] In order to better protect the hose, in the present invention, the arrangement position of the hose is improved as follows: In the preferred fourth embodiment, the connecting rod mechanism 5 includes a central channel and a plurality of connecting rod assemblies arranged around the central channel, and the hose is located in the central channel. In this case, the connecting rod assembly can protect the hose, thereby preventing the hose from being damaged. At the same time, the structure of the underwater unmanned vehicle is also more compact, which can effectively reduce the size of the underwater unmanned vehicle.

[0038] In the fifth embodiment, the hose is located outside the connecting rod assembly. In this case, the hose needs to have a thicker outer protective layer.

[0039] In order to simplify the structure, in the present invention, the jet structure is improved as follows: In the preferred sixth embodiment, the jet structure includes a plurality of jet nozzles 2 and a transfer pipe, all of the jet nozzles 2 are connected to the transfer pipe, and the transfer pipe is connected to the air guide line, and the structure is simple.

[0040] In the seventh specific implementation manner, the jet structure includes a plurality of jet nozzles 2, and each jet nozzle 2 is connected to an air guide pipeline respectively.

[0041] In the present invention, the direction of the jet nozzle is also improved as follows: In the eighth embodiment, the jet nozzle is arranged toward the rear. At this time, compared with the technical solution in which the jet nozzle is toward the front or the jet nozzle is perpendicular to the axis of the underwater unmanned vehicle, the high-pressure gas ejected from the jet nozzle can in turn push the underwater unmanned vehicle to accelerate, thereby enabling the underwater unmanned vehicle to sail at a higher speed and saving energy used to drive the propeller 10 to rotate.

[0042] In the 8-1 type specific implementation method, the front cabin section 1 includes a hollow frustum section, and the radius of the front end of the hollow frustum section is relatively small, and a wing plate 3 is provided on the side of the hollow frustum section. The side of the hollow frustum section and the outer surface of the wing plate 3 located behind the jet nozzle constitute a guide surface, and the jet nozzle is arranged facing the guide surface, so that the high-pressure gas can flow close to the outer peripheral surface of the underwater unmanned vehicle, which is conducive to the formation of supercavitation.

[0043] It should be noted that when the underwater unmanned vehicle turns, the sea water will provide a turning force to the wing plate 3, so that the underwater unmanned vehicle can turn better.

[0044] In the 8-1-1 type of specific implementation, the jet nozzles are arranged obliquely rearward, and the extension lines of all the jet nozzles are compared to a point, and the point is located on the axis of the underwater unmanned vehicle.

[0045] In the specific implementation manner of category 8-1-2, the jet nozzle is arranged toward the rear, at which time, the thrust of the jet nozzle on the underwater unmanned vehicle is the greatest.

[0046] In the specific implementation of type 8-2, the difference from the specific implementation of type 8-1 is that the direction of the jet nozzle is parallel to the side of the hollow truncated cone segment, and at this time, the high-pressure gas ejected from the jet nozzle is parallel to the side. Compared with the specific implementation of type 8-1, in the specific implementation of type 8-2, the angle between the direction of the jet nozzle and the axis of the underwater unmanned vehicle is larger.

[0047] In the 8-3 type of specific implementation, compared with the 8-2 type of specific implementation, the angle between the direction of the jet nozzle and the axis of the underwater unmanned vehicle is larger. At this time, the effective thrust of the high-pressure gas on the underwater unmanned vehicle is smaller.

[0048] On the basis of the specific implementation methods of categories 8-1, 8-2 and 8-3, in order to simplify the structure and further reduce the resistance of the underwater unmanned vehicle when it is sailing underwater, in the specific implementation method of category 9, the front end of the hollow truncated cone section is also provided with a hollow cylindrical section, the front end of the air cylindrical section is provided with a hemispherical head, and the jet structure is arranged on the hollow cylindrical section. On the one hand, the contact surface between the hemispherical head and the seawater is a spherical surface, which can effectively reduce the resistance of the underwater unmanned vehicle when it is sailing underwater; on the other hand, the jet structure is arranged on the hollow cylindrical section, and the structure is simple.

[0049] In the specific implementation manner of category 9-1, the hollow truncated cone segment and the hollow cylindrical segment are manufactured separately. After the jet structure is installed on the hollow cylindrical segment, the hollow cylindrical segment is fixed to the hollow truncated cone segment by welding or the like to facilitate assembly.

[0050] In the specific implementation manner of category 9-2, the hollow frustum segment, the hollow cylinder segment, the jet structure and the hemispherical head are integrally manufactured through 3D printing technology.

[0051] In the present invention, when the underwater unmanned vehicle performs a detection task, if the underwater unmanned vehicle relies on ultrasonic waves for detection, the cavitation generator 9 can be turned on or off; if the underwater unmanned vehicle relies on a camera for detection, the cavitation generator 9 needs to be turned off and the underwater unmanned vehicle is placed in a low-speed state, thereby facilitating the control of the distance between the underwater unmanned vehicle and the object to be detected.

[0052] It should be noted that the present invention only classifies the specific embodiments according to specific features, which does not mean that other categories do not contain this specific feature. For example, the structure of the first category of specific embodiments may be the same as that of the second or third category of specific embodiments.

[0053] Finally, it should be noted that the above is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, it is still possible for those skilled in the art to modify the technical solutions recorded in the aforementioned embodiments without creative work, or to replace some of the technical features therein with equivalents, or to organically combine different types of specific implementations, thereby combining the attached Figure 1~2 The specific implementation methods given in the specification are, of course, those skilled in the art can also combine the specific implementation methods not given in the other drawings of the specification. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. An underwater unmanned vehicle, comprising a front cabin section, a steering section and a rear cabin section connected in sequence, the steering section comprising a front connecting member for fixed connection with the front cabin section, a rear connecting member for fixed connection with the rear cabin section and a connecting rod mechanism arranged between the front connecting member and the rear connecting member, characterized in that: Front and rear perforations are respectively provided on the front and rear connecting parts, a jet structure is provided on the front compartment section, the jet structure includes at least two jet nozzles evenly spaced along the circumferential direction, a cavitation generator is provided in the rear compartment section, an air guide pipe is connected to the cavitation generator, the front end of the air guide pipe passes through the rear perforation and the front perforation in sequence and is connected to the jet structure, so that when the cavitation generator is turned on, the high-pressure gas in the cavitation generator is ejected from all the jet nozzles to form supercavitation; the air guide pipe is sealed with each perforation, and the part of the air guide pipe between the front perforation and the rear perforation is a hose.

2. The underwater unmanned vehicle according to claim 1, characterized in that: The cavitation generator is arranged behind the center of mass of the underwater unmanned vehicle.

3. The underwater unmanned vehicle according to claim 2, characterized in that: A receiving cavity for receiving the cavitation generator is arranged in the rear compartment section, and the cavitation generator is arranged closely against the rear cavity wall of the receiving cavity.

4. The underwater unmanned vehicle according to any one of claims 1 to 3, characterized in that: The link mechanism comprises a central channel and a plurality of link assemblies arranged around the central channel, and the hose is located in the central channel.

5. The underwater unmanned vehicle according to any one of claims 1 to 3, characterized in that: The jet structure includes a plurality of jet nozzles and a transfer pipe, all the jet nozzles are connected to the transfer pipe, and the transfer pipe is connected to the air guide pipeline.

6. The underwater unmanned vehicle according to any one of claims 1 to 3, characterized in that: The front cabin section includes a hollow frustum section, and the radius of the front end of the hollow frustum section is small. A wing plate is provided on the side of the hollow frustum section. The side of the hollow frustum section and the outer surface of the wing plate located behind the jet nozzle constitute a guide surface, and the jet nozzle is arranged facing the guide surface.

7. The underwater unmanned vehicle according to claim 6, characterized in that: The jet nozzle is arranged toward the rear.

8. The underwater unmanned vehicle according to claim 6, characterized in that: A hollow cylindrical section is also arranged at the front end of the hollow truncated cone section, a hemispherical head is arranged at the front end of the air cylindrical section, and the jet structure is arranged on the hollow cylindrical section.

9. The underwater unmanned vehicle according to any one of claims 1 to 3, characterized in that: The airway is composed of a whole airway hose.

10. The underwater unmanned vehicle according to claim 4, characterized in that: The front cabin section includes a hollow frustum section, and the radius of the front end of the hollow frustum section is small. A wing plate is provided on the side of the hollow frustum section. The side of the hollow frustum section and the outer surface of the wing plate located behind the jet nozzle constitute a guide surface, and the jet nozzle is arranged facing the guide surface.

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