Variable-pitch coaxial reverse-propeller tail shrinkage jet propulsion system based on UUV (Unmanned Underwater Vehicle)

Abstract

The invention belongs to the technical field of ocean engineering equipment, and particularly relates to a variable-pitch coaxial reverse-propeller tail shrinkage jet propulsion system based on a UUV (Unmanned Underwater Vehicle). The system comprises a variable propeller pitch system, a coaxial reverse propeller system and a tail shrinkage spray system. The variable-pitch system drives a worm and a rack to transmit through a variable-pitch motor, a crossed roller bearing and a sliding block mechanism are combined, push-pull motion is converted into fan blade rotation, and bidirectional pitch adjustment is achieved; the coaxial reverse propeller system adopts a bevel gear set to drive a driving shaft and a driven shaft to rotate reversely, eddy current is eliminated, and the propelling efficiency is improved; the tail shrinkage spraying system controls the angle of a tail spraying blade through a connecting rod sliding block mechanism, and the area of a shrinkage spraying opening is adjusted to enhance thrust. The three systems are integrated in a sealing shell, the propeller pitch, the rotating speed and the nozzle state are cooperatively adjusted through a model prediction control algorithm, and the problems that a traditional UUV propelling system is low in efficiency and poor in maneuverability are solved. The invention has the advantages of compact structure, quick response, high energy efficiency and strong adaptability, and is suitable for complex underwater tasks such as ocean scientific research and military reconnaissance.

Description

Technical Field

[0001] The present invention belongs to the field of marine engineering equipment technology, and specifically relates to a propulsion system for an unmanned underwater vehicle (UUV), and in particular to a variable pitch coaxial reverse propeller tail-retracted jet propulsion system based on a UUV. The invention integrates multidisciplinary knowledge such as mechanical design, fluid mechanics, automatic control, and marine engineering, and aims to create an efficient, flexible, and reliable power propulsion solution for UUVs, enabling them to perform diverse tasks in complex marine environments. Background Art

[0002] With the continuous deepening of marine scientific research and the continuous innovation of underwater detection technology, the application of unmanned underwater vehicles (UUVs) in many fields has become more and more extensive. In marine environmental monitoring, UUVs can measure seawater temperature, salinity, dissolved oxygen and other parameters at different depths in real time and accurately, providing long-term and continuous data support for marine ecosystem research; in resource exploration, it can go deep into the deep sea to detect the distribution of mineral resources and help the efficient development of marine resources; in military reconnaissance, relying on its own concealment advantage, UUVs can perform intelligence collection tasks in complex sea areas; in the field of scientific research, UUVs provide key data acquisition methods for deep-sea geological structure, biodiversity and other studies.

[0003] However, traditional UUV propulsion systems have significant deficiencies and are difficult to meet the operational needs of complex underwater environments. Most traditional propulsion systems use fixed-pitch propeller thrusters. Although they can provide stable thrust under specific working conditions, they have poor maneuverability and energy efficiency when facing complex and changeable underwater environments. The underwater environment is complex and diverse, and the water flow speed, depth, and seawater density in different areas vary greatly. Fixed pitch cannot adapt to these changes. In deep sea areas, the seawater density is high, and fixed-pitch propellers need to consume more energy to maintain propulsion; in shallow sea complex water flow areas, it is difficult to flexibly adjust the propulsion force, resulting in low propeller energy efficiency at different navigation speeds and working depths.

[0004] In addition, traditional propulsion systems have defects in precise control and slow response speed. When performing complex tasks such as maneuvering in narrow spaces and high-precision underwater positioning, UUVs need to quickly and accurately adjust propulsion and direction, but traditional propulsion systems are difficult to achieve rapid steering and acceleration and deceleration operations, which greatly limits the operating efficiency and application scope of UUVs.

[0005] Variable pitch design provides an effective way to solve these problems. By adjusting the pitch of the blades, the variable pitch design can optimize the performance of the propeller under different working conditions. Increasing the pitch when sailing at low speed can provide greater thrust and help the UUV overcome resistance; reducing the pitch when sailing at high speed can reduce resistance and improve energy efficiency. This not only improves the maneuverability of the UUV, but also significantly reduces energy consumption and extends the endurance. The realization of variable pitch design depends on high-precision mechanical transmission systems and advanced control algorithms. With the help of sensors to monitor the working status of the propeller in real time, the control system can dynamically adjust the pitch according to actual needs to ensure that the propeller always operates efficiently, so that the UUV can also operate stably in complex underwater environments.

[0006] The coaxial counter-propeller design is also innovative. Traditional unidirectional rotating blades will generate a large number of eddies during the propulsion process, which will increase energy consumption and affect the stability of the propeller. The coaxial counter-propeller design installs two sets of counter-rotating blades on the same axis, which interact with each other to offset the eddies, effectively reduce energy loss, and improve propulsion efficiency. At the same time, by adjusting the speed and pitch of the two sets of blades, more precise thrust control can be achieved, significantly improving the control accuracy, maneuverability and response speed of the UUV. This design has obvious advantages in tasks with high positioning and maneuverability requirements, such as underwater archaeology and environmental monitoring.

[0007] The tail-reduced spray technology sets a reduced spray pipe at the tail of the propeller, which increases the water flow rate by shrinking the water flow area, thereby increasing the thrust, and has a significant effect on improving the propulsion performance of UUVs when sailing at high speeds. Combining the tail-reduced spray technology with variable pitch and coaxial reverse propeller design can further improve propulsion efficiency and maneuverability. By optimizing the reduced spray pipe design and control algorithm, the performance of the entire system can be improved.

[0008] The variable pitch coaxial reverse propeller tail-retracted jet propulsion system based on UUV has broad application prospects. With the continuous growth of global marine resource exploration and environmental protection needs, the market demand for high-performance UUV propulsion systems is also increasing. The propulsion system of the present invention is expected to occupy an important position in the future underwater vehicle market and promote the development of marine industry. Summary of the invention

[0009] 1. Purpose of the invention: The present invention aims to provide a specific structure of a variable pitch coaxial reverse propeller tail-retracted jet propulsion system based on UUV, so as to solve the problems of torque imbalance, low propulsion efficiency, poor low-speed maneuverability, etc. existing in the current underwater UUV single-propeller or fixed-pitch propulsion system.

[0010] 2. Technical solution: A variable pitch coaxial reverse propeller tail-retracted jet propulsion system based on UUV, mainly composed of a variable pitch system, a coaxial reverse propeller system and a tail-retracted jet system. The tail jet motor, pitch motor, main propeller motor, worm rack, bevel gear set and other structural components are sealed in the propulsion system sealing shell. The pitch motor is fixed on the pitch motor bracket, the pitch worm is connected to the pitch motor through bolts, and the pitch worm and the pitch rack are mechanically meshed. The pitch rack and the main propeller motor are fixed on the main propeller motor bracket, and the pitch rack is connected to the active push rod through the left end cross roller bearing. The right end of the active push rod is connected to the right pitch slider, the right pitch slider and the left pitch slider are connected through the right end cross roller bearing, the left pitch slider is connected to the driven push rod, the driven push rod and the active push rod are both connected to the slider shaft, and the slider shaft is connected to the fan blade. The main propulsion motor is fixedly connected to the driving shaft by bolts, the driving shaft is fixedly connected to the driving large bevel gear by bolts, and the driven large bevel gear is fixedly connected to the driven shaft by bolts. Among them, the main propulsion motor adopts a hollow motor, and the variable pitch motor and the main propulsion motor output power coaxially and collinearly, and the two are sealed together in the UUV tail end shell. The tail jet motor is connected to the tail jet motor turntable by bolts, and the two ends of the long connecting rod of the fisheye ball head are respectively connected to the tail jet motor turntable and the tail jet sliding sleeve. The tail jet bracket is fixed to the propulsion system sealing shell by bolts, and the two ends of the short connecting rod of the fisheye ball head are respectively connected to the tail jet sliding sleeve and the tail jet blade, and the tail jet blade is connected to the tail jet bracket by bolts.

[0011] 3. Preferred solution The variable pitch system uses a variable pitch motor to drive the pitch worm to rotate, and the pitch worm drives the pitch rack to produce horizontal push-pull movement. Compared with the existing variable pitch transmission scheme, this scheme uses worm rack transmission, which completes the transmission through only two parts, has mechanical self-locking performance, simple structure and higher stability.

[0012] The variable pitch system uses two crossed roller bearings to effectively reduce the interference and friction caused by the high-speed rotation of the blades on the active push rod and the driven push rod.

[0013] The variable pitch system converts the push-pull motion of the active push rod and the driven push rod into the rotational motion of the slider shaft through the meshing motion of the slider, directly driving the fan blades to rotate. The transmission form is streamlined, efficient and direct.

[0014] The variable pitch system uses the cross roller bearing on the right end to make the active push rod and the driven push rod perform push-pull movements. At the same time, through the appropriate meshing movement of the sliders, the slider shafts on both sides rotate in opposite directions, thereby making the fan blades on both sides change pitch in opposite directions. The transmission is efficient and streamlined.

[0015] The coaxial reverse propeller system uses a bevel gear set to achieve the coaxial and speed reverse rotation of the driving shaft and the driven shaft. Compared with planetary gear transmission, chain or belt transmission, the bevel gear set has the advantages of high transmission efficiency, compact structure and strong reliability.

[0016] The tail jet retraction system drives the long connecting rod of the fisheye ball head to pull the tail jet sliding sleeve through the tail jet motor, and the short connecting rod of the fisheye ball head connects the tail jet sliding sleeve and the tail jet blade, and the connecting rod slider mechanism is used to realize the rotation of the tail jet blade. Different from the common fighter tail jet retraction system, the present invention has a more streamlined structure, higher stability, larger retraction ratio, and is suitable for underwater environment.

[0017] The tail retracted spray system designs the three bracket connecting rod sides of the tail spray sliding sleeve and the tail spray bracket to be in a colinear form, which is conducive to the inflow of water, while reducing the disturbance of the bracket connecting rod to the water flow and improving the overall stability of the tail retracted spray system.

[0018] The tail retracted spray system utilizes a slider groove to achieve horizontal sliding of the tail spray sleeve. Slide grooves are provided on the propulsion system sealing shell and the tail spray bracket to ensure smooth sliding of the tail spray sleeve.

[0019] The tail reduction spray system can be installed with an appropriate number of tail spray blades according to actual needs. The more tail spray blades there are, the closer the shape of the tail reduction spray port is to a circle.

[0020] The tail retractable spray system uses fisheye ball head connecting rods in many places, taking advantage of its multi-degree-of-freedom motion characteristics to achieve complex movement changes in a limited space, thereby improving the flexibility and reliability of the system.

[0021] The present invention seals structural components such as the tail jet motor, the variable pitch motor, the main propulsion motor, the worm rack, and the bevel gear set in a sealing shell of the propulsion system, reduces dynamic sealing components, and effectively improves the underwater performance and life of the propulsion system. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is an overall schematic diagram of a propulsion system based on UUV in an embodiment of the present invention.

[0023] Figure 2 This is a perspective view of the interior of the UUV tail propulsion system in an embodiment of the present invention.

[0024] Figure 3 It is a schematic diagram of the appearance of a variable pitch coaxial reverse propeller tail-retracted jet propulsion system based on UUV in an embodiment of the present invention.

[0025] Figure 4 Schematic diagram of the structure of a variable pitch coaxial counter-propeller propulsion system in an embodiment of the present invention.

[0026] Figure 5 It is a top view of the structure of a variable pitch coaxial counter-propeller propulsion system in an embodiment of the present invention.

[0027] Figure 6 It is a schematic diagram of the structure of the tail-retracted jet propulsion system in an embodiment of the present invention.

[0028] Figure 7 It is a top view of the tail-retractable jet propulsion system structure in an embodiment of the present invention.

[0029] Figure 8 It is a schematic diagram of the structure of the tail jet motor turntable, tail jet sliding sleeve, tail jet bracket and tail jet blade in an embodiment of the present invention.

[0030] Fig. 9 The front and back views of a variable pitch coaxial reverse propeller tail-retracted jet propulsion system based on a UUV in an embodiment of the present invention.

[0031] Fig.10 It is a schematic diagram of the front and rear of a variable pitch coaxial reverse propeller tail retractable jet propulsion system based on a UUV in an embodiment of the present invention.

[0032] In the figure, 1. UUV main body shell; 2. UUV tail shell; 3. Variable pitch coaxial reverse propeller tail retractable jet propulsion system; 4. Variable pitch motor bracket; 5. Variable pitch motor; 6. Variable pitch rack; 7. Variable pitch worm; 8. Left end cross roller bearing; 9. Active push rod; 10. Main push motor bracket; 11. Main push motor; 12. Active shaft; 13. Bevel gear set bracket; 14. Active large bevel gear; 15. Driven small bevel gear; 16. Driven large bevel gear; 17. Driven shaft; 18. Driven push rod; 19. Pitch slider; 20. Right end cross roller bearing; 21. Slider shaft; 22. Fan blade; 23. Propulsion system sealing shell; 24. Tail jet motor; 25. Tail jet motor turntable; 26. Fisheye ball head long connecting rod; 27. Tail jet sliding sleeve; 28. Tail jet bracket; 29. ​​Fisheye ball head short connecting rod; 30. Tail jet blade. DETAILED DESCRIPTION

[0033] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0034] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0035] A variable pitch coaxial reverse propeller tail-reduced spray propulsion system based on UUV includes a variable pitch system, a coaxial reverse propeller system and a tail-reduced spray system. The efficient operation of the propulsion system in actual application scenarios depends on the close coordination of multiple key parts. The specific implementation method is described in detail below with reference to the accompanying drawings.

[0036] 1. Overall structure and layout (combined with Figure 1 - Figure 3) FIG1 is an overall schematic diagram of a propulsion system based on a UUV in an embodiment of the present invention, showing the layout of the propulsion system installed inside a UUV main shell 1 and a UUV tail shell 2. The UUV main shell 1 and the UUV tail shell 2 provide a protection and installation basis for the entire propulsion system, ensuring its safety in a complex underwater environment. At the same time, the propulsion system is closely integrated with the overall structure of the UUV and is the core component for the UUV to achieve efficient underwater movement.

[0037] Figure 2 is a perspective view of the interior of the UUV tail propulsion system in the embodiment of the present invention. Through this figure, the specific installation position and size ratio of the propulsion system at the tail of the UUV can be intuitively observed. This is of great significance for understanding the layout of the entire propulsion system on the UUV and its coordinated work with other components, and provides a key reference for the overall design and optimization of the UUV.

[0038] Figure 3 is a schematic diagram of the appearance of a variable pitch coaxial reverse propeller tail-retracted jet propulsion system based on a UUV in an embodiment of the present invention, showing the external outline and general structure of the propulsion system. From the appearance, we can preliminarily understand its overall shape and the approximate location distribution of each part, laying the foundation for the subsequent in-depth understanding of the internal structure and working principle.

[0039] 2. Working process of variable pitch system (combined with Figure 4 - Figure 5, Figure 8) FIG4 is a schematic diagram of the structure of the variable pitch coaxial counter-propeller propulsion system in an embodiment of the present invention, and FIG5 is a top view of the structure of the variable pitch coaxial counter-propeller propulsion system in an embodiment of the present invention. By combining these two figures, the specific structural composition of the variable pitch system and the connection relationship between the various components can be clearly observed from different perspectives, thereby having a more intuitive three-dimensional understanding of the variable pitch system.

[0040] When the variable pitch system is running, the variable pitch motor 5 is fixed on the variable pitch motor bracket 4, and its start-up is precisely controlled by the control system of the UUV. When the UUV needs to adjust the propulsion force to adapt to different underwater working conditions, the control system will analyze and process the data collected by various sensors (such as the navigation speed, depth, water flow speed and direction of the UUV), and then send instructions to the variable pitch motor 5. After receiving the instruction, the variable pitch motor 5 drives the variable pitch worm 7 to produce rotational motion. The variable pitch worm 7 and the variable pitch rack 6 are mechanically meshed motions, and their meshing structures can be clearly seen from Figures 4 and 5. The rotation of the variable pitch worm 7 drives the variable pitch rack 6 to produce horizontal push-pull motion. Compared with other transmission schemes, this worm rack transmission method is not only simple in structure, but also completes the transmission through only two parts. It also has mechanical self-locking performance, which can ensure the stability of the variable pitch system under certain circumstances and effectively prevent accidental changes in pitch.

[0041] The pitch rack 6 is connected to the active push rod 9 through the left end cross roller bearing 8. The left end cross roller bearing 8 can effectively reduce the interference and friction on the active push rod 9 when the blade rotates at high speed, ensuring the stability of motion transmission. The active push rod 9 performs horizontal push-pull motion under the drive of the pitch rack 6. Since the active push rod 9 and the driven push rod 18 are both connected to the slider shaft 21, the movement of the active push rod 9 drives the driven push rod 18 to perform horizontal push-pull motion synchronously.

[0042] The push-pull movement of the active push rod 9 and the driven push rod 18 drives the slider shaft 21 to produce rotational movement, thereby driving the blades 22 to rotate. The right pitch slider 19 and the left pitch slider 19 are connected through the right end cross roller bearing 20. This structural design cooperates with the appropriate meshing movement of the slider, so that the left and right slider shafts 21 rotate in opposite directions, thereby realizing the reverse pitch of the left and right blades 22. For example, when the UUV is sailing at a low speed and needs to overcome a large resistance, the control system controls the pitch motor 5 to rotate the pitch worm 7, driving the pitch rack 6 to push the active push rod 9, thereby increasing the pitch of the blades 22 on both sides and providing greater thrust; while when sailing at high speed, the pitch motor 5 rotates in the opposite direction, causing the blades 22 on both sides to reduce the pitch, reduce resistance, and improve energy efficiency.

[0043] 3. Working process of coaxial reverse propeller system (combined with Figure 4 - Figure 5) The operation of the coaxial reverse propeller system depends on the drive of the main propulsion motor 11. Figures 4 and 5 show the position of the coaxial reverse propeller system in the entire propulsion system and the connection relationship of each component. The main propulsion motor 11 adopts a hollow motor, which is fixedly connected to the driving shaft 12 by bolts, and the variable pitch motor 5 and the main propulsion motor 11 coaxially output power and are sealed together in the UUV tail end shell 2. When the UUV starts propulsion, the control system sends an operation command to the main propulsion motor 11 according to the mission requirements and underwater environmental conditions.

[0044] The main propulsion motor 11 drives the driving shaft 12 to generate rotational motion. The driving shaft 12 is fixedly connected to the driving large bevel gear 14 by bolts, so the rotation of the driving shaft 12 drives the driving large bevel gear 14 to rotate synchronously. The driving large bevel gear 14 is meshed with the driven small bevel gears 15 on both sides. The rotation of the driving large bevel gear 14 drives the driven small bevel gears 15 on both sides to rotate. The driven small bevel gear 15 is connected to the driven large bevel gear 16. The rotation of the driven small bevel gear 15 drives the driven large bevel gear 16 to rotate, and the driven large bevel gear 16 then drives the driven shaft 17 to rotate.

[0045] Finally, the driving shaft 12 and the driven shaft 17 realize the same-speed reverse rotation movement, driving the blades 22 on both sides to produce the same-axis and same-speed reverse rotation movement, realizing the coaxial reverse propeller movement. This mode of movement effectively reduces the eddy current generated by the rotation and improves the propulsion efficiency. During the UUV mission, the control system can accurately control the speed of the main propulsion motor 11 according to the navigation attitude and required propulsion force of the UUV. When performing underwater fixed-point operations, reduce the speed of the main propulsion motor 11 to reduce the propulsion force; when fast movement is required, increase the speed of the main propulsion motor 11 to enhance the propulsion force, and cooperate with the variable pitch system to achieve precise control of the UUV propulsion force and navigation attitude.

[0046] 4. Working process of tail shrink spray system (combined with Figure 6 - Figure 8, Figure 10) FIG6 is a schematic diagram of the structure of the tail-retracted jet propulsion system in the embodiment of the present invention, and FIG7 is a top view of the structure of the tail-retracted jet propulsion system in the embodiment of the present invention. The combination of FIG6 and FIG7 can provide a more intuitive three-dimensional understanding of the tail-retracted jet propulsion system of the present invention. FIG8 is a schematic diagram of the structure of the tail-retracted jet motor turntable, tail-retracted jet sliding sleeve, tail-retracted jet bracket and tail-retracted jet blade in the embodiment of the present invention, and FIG10 is a schematic diagram of a UUV-based variable pitch coaxial reverse propeller tail-retracted jet propulsion system before and after the retracted jet in the embodiment of the present invention. FIG10 can fully understand the movement form of the tail-retracted jet propulsion system of the present invention, and the present invention has a large scaling ratio.

[0047] When the tail jet retracting system is working, the tail jet motor 24 drives the tail jet motor turntable 25 to rotate, and the crankshaft characteristics of the turntable are used to make the fisheye ball head long connecting rod 26 pull the tail jet sliding sleeve 27 to produce push-pull movement. The tail jet sliding sleeve 27 moves horizontally in the slide grooves on the propulsion system sealing shell 23 and the tail jet bracket 28. The movement of the tail jet sliding sleeve 27 drives the fisheye ball head short connecting rod 29 to push and pull, thereby making the tail jet blade 30 rotate on the tail jet bracket 28 to realize the tail jet retracting movement.

[0048] When the UUV is sailing at high speed, the control system controls the tail jet motor 24 to start, so that the tail jet motor turntable 25 rotates, and the tail jet blade 30 rotates through the transmission of the fish eye ball head long connecting rod 26 and the fish eye ball head short connecting rod 29, thereby reducing the area of ​​the tail nozzle. According to the principle of fluid mechanics, when the water flows through the contracted nozzle, the flow rate increases, thereby increasing the thrust and improving the propulsion performance of the UUV. When the UUV does not need high-speed propulsion, the tail jet motor 24 reverses or stops, and the tail jet blade 30 returns to the initial position, expanding the area of ​​the nozzle to adapt to different navigation conditions.

[0049] 5. Specific implementation of the control system In practical applications, the control system is a key part to achieve efficient operation of the variable pitch coaxial reverse propeller tail jet propulsion system. The core of the control system usually uses a high-performance microprocessor, such as an embedded chip with powerful computing power and rich interface resources, to ensure that a large amount of sensor data can be quickly processed and control instructions can be issued in a timely manner.

[0050] In terms of sensors, the UUV is equipped with a variety of sensors to collect key information. The speed sensor monitors the UUV's navigation speed in real time, the depth sensor measures the depth of the UUV, and the water flow sensor obtains data such as the speed and direction of the water flow. These sensors convert the collected analog signals into digital signals through the analog-to-digital conversion module and transmit them to the microprocessor.

[0051] The control algorithm is the core part of the control system. Advanced adaptive control algorithms are used, such as the model predictive control (MPC) method. The algorithm predicts the motion state of the UUV in the future based on the current state (speed, depth, attitude, etc.) and sensor data of the UUV, combined with the mathematical model of the propulsion system. Then, the optimal control parameters (pitch, speed and tail jet blade angle) of the variable pitch motor 5, the main propulsion motor 11 and the tail jet motor 24 are calculated through the optimization algorithm to achieve efficient and stable operation of the UUV in a complex underwater environment.

[0052] For example, when the UUV encounters a strong current in a shallow sea area, the speed sensor and the current sensor detect the speed change and current information, and the microprocessor uses the MPC algorithm to predict the movement trend of the UUV based on these data. If the UUV is likely to be washed away by the current, the control system will instruct the variable pitch motor 5 to increase the pitch and increase the speed of the main propulsion motor 11, so that the UUV can generate greater thrust to resist the current. In addition, according to the navigation speed requirements of the UUV, the tail jet motor 24 is controlled to adjust the angle of the tail jet blade 30, and additional thrust support is provided through the tail retracted jet system to maintain a stable navigation trajectory.

[0053] The communication module is used to realize data transmission between the control system and the pitch motor 5, the main propulsion motor 11 and the tail jet motor 24. A high-speed and reliable communication protocol, such as the CAN bus protocol, is used to ensure that the control instructions can be accurately and timely transmitted to the motor driver, and the motor driver accurately controls the operation of the motor according to the received instructions.

[0054] In addition, the control system also has fault diagnosis and fault tolerance functions. By monitoring the current, voltage and other parameters of the motor, as well as the rationality of the sensor data, it can be determined whether the propulsion system has a fault. If a fault is detected, the control system will take corresponding measures in a timely manner, such as reducing the power of the propulsion system, switching to backup equipment or issuing an alarm to ensure the safe operation of the UUV.

[0055] 6. Examples of actual application scenarios In marine scientific research missions, UUVs need to conduct long-term fixed-point observations and sample collection in sea areas of different depths. When the UUV reaches the target depth, the control system controls the variable pitch system to adjust the pitch based on the sensor data to keep the UUV in a stable hovering state. At the same time, the speed of the main propulsion motor 11 is fine-tuned according to the water flow conditions to ensure that the UUV is not disturbed by the water flow during fixed-point observation. When it is necessary to move to the next observation point, the control system coordinates the variable pitch system, coaxial reverse propeller system and tail retracted spray system to adjust the pitch, speed and tail spray blade angle to enable the UUV to move quickly and smoothly to the designated position.

[0056] In military reconnaissance missions, UUVs need to have high maneuverability and concealment. When the UUV approaches the enemy area, the control system controls the variable pitch system to reduce the pitch, reduce the noise of the propeller, and increase the speed of the main propulsion motor 11, so that the UUV can sail at a higher speed. When it is necessary to avoid enemy detection, the tail retracted spray system is used to improve the maneuverability of the UUV, quickly change the navigation direction, and cooperate with the variable pitch and coaxial reverse propeller system to achieve precise maneuvering control and ensure the concealment and survivability of the UUV.

[0057] Through the above detailed explanation of the working processes of the variable pitch system, coaxial reverse propeller system, and tail retracted injection system, as well as the description of the specific implementation and actual application scenarios of the control system, combined with the display of the structure and working principle of each part of the entire propulsion system in the accompanying drawings, the working principle and implementation method of the variable pitch coaxial reverse propeller tail retracted injection propulsion system based on UUV of the present invention in actual application are clearer and more complete, which is helpful to further understand and apply the invention technology.

[0058] The above embodiments are only used to illustrate the technical solutions of the present invention rather than to limit the same. Although the present invention has been described in detail with reference to the above embodiments, a person skilled in the art should understand that the specific implementation modes of the present invention may still be modified or replaced by equivalents, and any modification or equivalent replacement that does not depart from the spirit and scope of the present invention shall be included in the scope of protection of the claims of the present invention.

Claims

1. A variable pitch coaxial reverse propeller tail-retractable jet propulsion system based on UUV, characterized in that: The invention comprises a variable pitch system, a coaxial reverse propeller system and a tail retracting spray system; the variable pitch system comprises a variable pitch motor (5), a variable pitch worm (7), a variable pitch rack (6), an active push rod (9), a driven push rod (18), a slider shaft (21), a fan blade (22), a variable pitch motor bracket (4), a main push motor bracket (10), a left end cross roller bearing (8), a right end cross roller bearing (20) and a variable pitch slider (19); the variable pitch motor (5) is fixed to the variable pitch motor bracket (4 ), the pitch worm (7) is connected to the pitch motor (5) by bolts, the pitch worm (7) and the pitch rack (6) are mechanically meshed, the pitch rack (6) and the main propulsion motor (11) are fixed to the main propulsion motor bracket (10), the pitch rack (6) and the active push rod (9) are connected by a left end cross roller bearing (8), the right end of the active push rod (9) is connected to the right pitch slider (19), the right pitch slider (19) and the left pitch slider (19) are connected by a right end cross roller The left variable pitch slider (19) is connected to a driven push rod (18), the driven push rod (18) and the driving push rod (9) are both connected to a slider rotating shaft (21), and the slider rotating shaft (21) is connected to a fan blade (22); the coaxial reverse propeller system comprises a main propulsion motor (11), a driving shaft (12), a driving large bevel gear (14), a driven small bevel gear (15), a driven large bevel gear (16), a driven shaft (17), and a bevel gear set bracket (13); the main propulsion motor (11) and the driving shaft (1 2) The driving shaft (12) is connected to the driving large bevel gear (14) by bolts, the driven large bevel gear (16) is connected to the driven shaft (17) by bolts, the driving large bevel gear (14) and the driven small bevel gears (15) on both sides are meshed with each other, and the driven small bevel gear (15) is connected to the driven large bevel gear (16), wherein the main propulsion motor (11) adopts a hollow motor, the pitch motor (5) and the main propulsion motor (11) are coaxial and collinear to output power, and the two are sealed together in the UUV The tail end shell (2) comprises a tail jet retracting system comprising a tail jet motor (24), a tail jet motor turntable (25), a fisheye ball head long connecting rod (26), a tail jet sliding sleeve (27), a tail jet bracket (28), a fisheye ball head short connecting rod (29), and a tail jet blade (30); the tail jet motor (24) is connected to the tail jet motor turntable (25) by bolts; the two ends of the fisheye ball head long connecting rod (26) are respectively connected to the tail jet motor turntable (25) and the tail jet sliding sleeve (27); the tail jet bracket (28) is fixed to the propulsion system sealing shell (23) by bolts; the two ends of the fisheye ball head short connecting rod (29) are respectively connected to the tail jet sliding sleeve (27) and the tail jet blade (30); the tail jet blade (30) is connected to the tail jet bracket (28) by bolts; the tail jet motor (24), the variable pitch motor (5), the main propulsion motor (11), the worm rack (6, 7), the bevel gear set (13 - 17) and other structural components are sealed in the propulsion system sealing shell (23).

2. According to claim 1, a variable pitch coaxial reverse propeller tail-retracted jet propulsion system based on UUV is characterized in that: The variable pitch system uses a variable pitch motor (5) to drive the variable pitch worm (7) to rotate, and the variable pitch worm (7) drives the variable pitch rack (6) to generate horizontal push-pull movement.

3. The variable pitch coaxial reverse propeller tail-retracted jet propulsion system based on UUV according to claim 1, characterized in that: The variable pitch system uses two crossed roller bearings (8, 20) to reduce the interference and friction caused by the high-speed rotation of the blades on the active push rod (9) and the driven push rod (18).

4. The variable pitch coaxial reverse propeller tail-retracted jet propulsion system based on UUV according to claim 1, characterized in that: The variable pitch system converts the push-pull motion of the active push rod (9) and the driven push rod (18) into the rotational motion of the slider shaft (21) through the meshing motion of the slider (19), thereby directly driving the fan blades (22) to rotate.

5. The variable pitch coaxial reverse propeller tail-retracted jet propulsion system based on UUV according to claim 1, characterized in that: The variable pitch system uses the right-end cross roller bearing (20) to enable the active push rod (9) and the driven push rod (18) to perform push-pull movements, and at the same time, through the appropriate meshing movement of the slider (19), the slider shafts (21) on both sides rotate in opposite directions, thereby enabling the fan blades (22) on both sides to change pitch in opposite directions.

6. The variable pitch coaxial reverse propeller tail-retracted jet propulsion system based on UUV according to claim 1, characterized in that: The coaxial counter-propeller system uses a bevel gear set to achieve coaxial and speed counter-rotating motion of the driving shaft (12) and the driven shaft (17).

7. The variable pitch coaxial reverse propeller tail-retracted jet propulsion system based on UUV according to claim 1, characterized in that: The tail retractable spray system drives a long fisheye ball head connecting rod (26) to pull a tail spray sliding sleeve (27) through a tail spray motor (24); a short fisheye ball head connecting rod (29) connects the tail spray sliding sleeve (27) and the tail spray blade (30); and a connecting rod slider mechanism is used to realize the rotation of the tail spray blade (30).

8. The variable pitch coaxial reverse propeller tail-retracted jet propulsion system based on UUV according to claim 1, characterized in that: The tail nozzle retracting system is designed such that the side surfaces of the tail nozzle sliding sleeve (27) and the three support connecting rods of the tail nozzle support (28) are in a colinear form.

9. The variable pitch coaxial reverse propeller tail-retracted jet propulsion system based on UUV according to claim 1, characterized in that: The tail nozzle retracting system utilizes a sliding block slot to achieve horizontal sliding of the tail nozzle sliding sleeve (27), and the slots are respectively provided on the propulsion system sealing shell (23) and the tail nozzle bracket (28).

10. The variable pitch coaxial reverse propeller tail-retracted jet propulsion system based on UUV according to claim 1, characterized in that: The tail nozzle reduction system can be installed with an appropriate number of tail nozzle blades (30) according to actual needs. The greater the number of tail nozzle blades (30), the closer the shape of the tail nozzle reduction port is to a circle.

11. The variable pitch coaxial reverse propeller tail-retracted jet propulsion system based on UUV according to claim 1, characterized in that: The tail reduction spray system adopts fisheye ball head connecting rods (26, 29) at multiple locations.

12. The variable pitch coaxial reverse propeller tail-retracted jet propulsion system based on UUV according to claim 1, characterized in that: Structural components such as the tail jet motor (24), the pitch motor (5), the main propulsion motor (11), the worm gear rack (6, 7), and the bevel gear set (13-17) are sealed in a propulsion system sealing shell (23).

13. A control method for a variable pitch coaxial reverse propeller tail-retracted jet propulsion system based on a UUV, applied to the propulsion system according to any one of claims 1 to 12, characterized in that: include: The sensors on the UUV collect data such as the navigation speed, depth, water flow speed and direction of the UUV; the collected analog signals are converted into digital signals through an analog-to-digital conversion module and transmitted to the microprocessor of the control system; the control system adopts a model predictive control (MPC) method to predict the motion state of the UUV in the future based on the current state of the UUV and sensor data, combined with the mathematical model of the propulsion system; the optimal control parameters of the variable pitch motor (5), the main propulsion motor (11) and the tail jet motor (24), including the pitch, speed and tail jet blade angle, are calculated through an optimization algorithm; a high-speed and reliable communication protocol, such as the CAN bus protocol, is used to transmit control instructions to the motor driver, and the motor driver accurately controls the operation of the motor according to the received instructions; the control system determines whether the propulsion system has a fault by monitoring the current, voltage and other parameters of the motor and the rationality of the sensor data. If a fault is detected, corresponding measures are taken in time, such as reducing the power of the propulsion system, switching to backup equipment or issuing an alarm.

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